WIP screen: Show lane types
TODO: Actually draw on screen
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3213667eea
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c40756adee
3 changed files with 98 additions and 37 deletions
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@ -106,6 +106,7 @@ pub struct GlosaSignalInfo {
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pub struct SignalGroupData {
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pub phase: SignalPhase,
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pub maneuver: map::Maneuvers,
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pub usages: Vec<map::UsageType>,
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pub timing: Option<TimingData>,
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}
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@ -383,35 +384,29 @@ impl State {
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}),
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)
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} else {
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// get signal groups which are in our approach
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// get signal groups which are in our approach and have a maneuver
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let mut approach_sig_grps = intersection
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.signal_groups()
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.iter()
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.filter(|i| {
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info.signal_groups
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.iter()
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.find(|sg_id| **sg_id == i.id())
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.is_some()
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})
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.collect::<Vec<_>>();
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// sort signal groups by maneuver
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approach_sig_grps.sort_by_key(|v| v.maneuvers());
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// display signal phases
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let sig_grps = approach_sig_grps
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.iter()
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.filter_map(|sig| {
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if let Some(maneuver) = sig.maneuvers() {
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let phase = sig
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.filter_map(|i| {
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if let Some(maneuver) = i.maneuvers()
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&& info
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.signal_groups
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.iter()
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.find(|sg_id| **sg_id == i.id())
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.is_some()
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{
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let phase = i
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.phase()
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.map(core::convert::Into::into)
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.unwrap_or_default();
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let timing = TimingData::new(sig, self.time.and_utc());
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let timing = TimingData::new(i, self.time.and_utc());
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let usages = i.source_lane_usages().to_vec();
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Some(SignalGroupData {
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phase,
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maneuver,
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usages,
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timing,
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})
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} else {
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@ -420,11 +415,39 @@ impl State {
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})
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.collect::<Vec<_>>();
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// sort signal groups by maneuver
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approach_sig_grps.sort_by_key(|v| v.maneuver);
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// // display signal phases
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// let sig_grps = approach_sig_grps
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// .iter()
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// .filter_map(|sig| {
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// if let Some(maneuver) = sig.sig_group.maneuvers() {
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// let phase = sig
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// .sig_group
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// .phase()
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// .map(core::convert::Into::into)
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// .unwrap_or_default();
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// let timing =
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// TimingData::new(&sig.sig_group, self.time.and_utc());
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// Some(SignalGroupData {
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// phase,
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// maneuver,
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// timing,
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// usages: sig.lane_types.clone(),
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// })
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// } else {
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// None
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// }
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// })
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// .collect::<Vec<_>>();
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(
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None,
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GlosaOutput::Locked(GlosaSignalInfo {
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intersection_id: intersection.id(),
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signal_groups: sig_grps,
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signal_groups: approach_sig_grps,
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}),
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) // keep state, return signal groups
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}
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@ -191,27 +191,35 @@ impl Intersection {
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fn collect_signal_groups(lanes: &[Lane]) -> Vec<SignalGroup> {
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let mut connections = lanes
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.iter()
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.flat_map(|i| i.connections.clone())
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.filter(|i| i.signal_group.is_some())
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.flat_map(ConnectionExt::from_lane)
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.filter(|i| i.conn.signal_group.is_some())
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.collect::<Vec<_>>();
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connections.sort_by_key(|i| i.signal_group.unwrap_or_default());
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connections.sort_by_key(|i| i.conn.signal_group.unwrap_or_default());
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let chunks = connections.chunk_by(|a, b| a.signal_group == b.signal_group);
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let chunks = connections.chunk_by(|a, b| a.conn.signal_group == b.conn.signal_group);
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chunks
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.map(|chunk| {
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let (sig_grp_id, maneuvers, mut target_lanes) = chunk.iter().fold(
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(None, Maneuvers::default(), vec![]),
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|(sig_grp_id, maneuvers, mut lanes), i| {
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let new_maneuvers = i
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.maneuvers
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.map(|v| core::ops::Add::add(maneuvers, v))
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.unwrap_or_default();
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lanes.push(i.target_lane_id);
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let (sig_grp_id, maneuvers, mut target_lanes, mut source_lane_usages) =
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chunk.iter().fold(
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(None, Maneuvers::default(), vec![], vec![]),
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|(sig_grp_id, maneuvers, mut lanes, mut usages), i| {
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let new_maneuvers = i
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.conn
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.maneuvers
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.map(|v| core::ops::Add::add(maneuvers, v))
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.unwrap_or_default();
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lanes.push(i.conn.target_lane_id);
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(i.signal_group, new_maneuvers, lanes)
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},
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);
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let lane_usages = i.source_lane_usages.clone();
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usages.extend_from_slice(&lane_usages);
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usages.sort_unstable();
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usages.dedup(); // TODO: only do this after all lanes were added?
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(i.conn.signal_group, new_maneuvers, lanes, usages)
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},
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);
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// unwrap is fine since we removed all connections without signal group beforehand
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let id = sig_grp_id.unwrap();
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@ -226,6 +234,7 @@ impl Intersection {
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SignalGroup {
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id,
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maneuvers,
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source_lane_usages,
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target_lanes,
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phase: None,
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min_end_time: None,
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@ -402,6 +411,28 @@ impl From<&etsi_its_dsrc::Connection> for Connection {
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}
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}
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#[derive(Debug, Clone)]
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#[allow(unused)]
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struct ConnectionExt {
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source_lane_id: u8,
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source_lane_usages: Vec<UsageType>,
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conn: Connection,
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}
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impl ConnectionExt {
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fn from_lane(value: &Lane) -> Vec<Self> {
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value
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.connections
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.iter()
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.map(|conn| Self {
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source_lane_id: value.id,
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source_lane_usages: value.usages.clone(),
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conn: *conn,
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})
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.collect()
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}
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}
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/// Different view on a lane connection
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///
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/// Technically this data is redundant with the `Connection` data of a `Lane`,
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@ -411,7 +442,8 @@ impl From<&etsi_its_dsrc::Connection> for Connection {
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pub struct SignalGroup {
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id: u8,
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maneuvers: Option<Maneuvers>,
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target_lanes: Vec<u8>, // mainly for debugging
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source_lane_usages: Vec<UsageType>, // for easier signal group evaluation
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target_lanes: Vec<u8>, // mainly for debugging
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// SPAT data
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/// current signal phase
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@ -441,6 +473,9 @@ impl SignalGroup {
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pub fn maneuvers(&self) -> Option<Maneuvers> {
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self.maneuvers
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}
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pub fn source_lane_usages(&self) -> &[UsageType] {
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&self.source_lane_usages
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}
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pub fn phase(&self) -> Option<etsi_its_dsrc::MovementPhaseState> {
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self.phase
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}
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@ -356,6 +356,9 @@ where
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.draw(&mut self.target)?;
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// TODO: draw lane type?
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// for usage in sig.usages {
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// esp_println::println!("TODO: {usage}")
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// }
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// draw maneuver
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text::Text::with_alignment(
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