feat(sumo): LaneChangeMode.OFF should do no lane changes at all (#383)

* feat(sumo): new lane change mode "FOLLOW_ROUTE" * fix(utils): remove elements of RingBuffer when calling clear() * fix(rti): fixed realTimeSynchronization when pausing
eclipse · Mar 22, 2024 · e58293c · e58293c
1 parent b68eac3
commit e58293c
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Showing 6 changed files with 21 additions and 19 deletions.
diff --git a/...aic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/ambassador/AbstractSumoAmbassador.java b/...aic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/ambassador/AbstractSumoAmbassador.java
@@ -739,7 +739,7 @@ private synchronized void receiveInteraction(VehicleLaneChange vehicleLaneChange
                     log.warn("VehicleLaneChange failed: unsupported lane change mode.");
                     return;
             }
-            bridge.getVehicleControl().changeLane(vehicleLaneChange.getVehicleId(), targetLaneId, vehicleLaneChange.getDuration());
+            bridge.getVehicleControl().changeLane(vehicleLaneChange.getVehicleId(), Math.max(0, targetLaneId), vehicleLaneChange.getDuration());
 
             if (sumoConfig.highlights.contains(CSumo.HIGHLIGHT_CHANGE_LANE)) {
                 VehicleData vehicleData = bridge.getSimulationControl().getLastKnownVehicleData(vehicleLaneChange.getVehicleId());

diff --git a/...sumo/src/main/java/org/eclipse/mosaic/fed/sumo/bridge/api/complex/SumoLaneChangeMode.java b/...sumo/src/main/java/org/eclipse/mosaic/fed/sumo/bridge/api/complex/SumoLaneChangeMode.java
@@ -38,11 +38,15 @@ public static SumoLaneChangeMode translateFromEnum(final LaneChangeMode laneChan
         switch (laneChangeMode) {
             case OFF:
                 mode.setSublaneChanges(false, false);
-                mode.setStrategicChanges(true, true);
                 mode.setRespectOtherDrivers(RESPECT_SPEED_GAPS_OF_OTHER_DRIVERS_ADAPT_SPEED);
                 break;
             // For strategic lane changes (change lanes to continue the route),
             // we always let SUMO overwrite requested lane changes (overrideTraci = true)
+            case FOLLOW_ROUTE:
+                mode.setSublaneChanges(false, false);
+                mode.setStrategicChanges(true, true);
+                mode.setRespectOtherDrivers(RESPECT_SPEED_GAPS_OF_OTHER_DRIVERS_ADAPT_SPEED);
+                break;
             case AGGRESSIVE:
                 mode.setStrategicChanges(true, true);
                 mode.setSpeedChanges(true, false);
@@ -51,16 +55,10 @@ public static SumoLaneChangeMode translateFromEnum(final LaneChangeMode laneChan
                 mode.setStrategicChanges(true, true);
                 mode.setCooperativeChanges(true, false);
                 mode.setSpeedChanges(true, false);
-                mode.setRightDriveChanges(true, true);
+                mode.setRightDriveChanges(true, false);
                 mode.setRespectOtherDrivers(RESPECT_SPEED_GAPS_OF_OTHER_DRIVERS_DO_NOT_ADAPT_SPEED);
                 break;
             case PASSIVE:
-                mode.setStrategicChanges(true, true);
-                mode.setCooperativeChanges(true, false);
-                mode.setSpeedChanges(true, false);
-                mode.setRightDriveChanges(true, true);
-                mode.setRespectOtherDrivers(RESPECT_SPEED_GAPS_OF_OTHER_DRIVERS_ADAPT_SPEED);
-                break;
             case COOPERATIVE:
             case DEFAULT:
                 mode.setStrategicChanges(true, true);

diff --git a/.../src/test/java/org/eclipse/mosaic/fed/sumo/bridge/api/complex/SumoLaneChangeModeTest.java b/.../src/test/java/org/eclipse/mosaic/fed/sumo/bridge/api/complex/SumoLaneChangeModeTest.java
@@ -91,11 +91,12 @@ public void testGetAsInteger_overrideTraci() {
     @Test
     public void testTranslateFromEnum() {
         assertEquals(1622, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.DEFAULT).getAsInteger());
-        assertEquals(514, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.OFF).getAsInteger());
+        assertEquals(512, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.OFF).getAsInteger());
+        assertEquals(514, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.FOLLOW_ROUTE).getAsInteger());
         assertEquals(1042, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.AGGRESSIVE).getAsInteger());
         assertEquals(1622, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.COOPERATIVE).getAsInteger());
-        assertEquals(1942, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.CAUTIOUS).getAsInteger());
-        assertEquals(1686, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.PASSIVE).getAsInteger());
+        assertEquals(1878, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.CAUTIOUS).getAsInteger());
+        assertEquals(1622, SumoLaneChangeMode.translateFromEnum(LaneChangeMode.PASSIVE).getAsInteger());
     }
 
 }
diff --git a/lib/mosaic-objects/src/main/java/org/eclipse/mosaic/lib/enums/LaneChangeMode.java b/lib/mosaic-objects/src/main/java/org/eclipse/mosaic/lib/enums/LaneChangeMode.java
@@ -17,9 +17,10 @@
 
 public enum LaneChangeMode {
     DEFAULT, // == COOPERATIVE
-    OFF, // no lane changes except strategic (514 in SUMO)
-    CAUTIOUS, //strategic, cooperative, speed changes, keep right, no speed adaption when changing lanes (917 in SUMO)
-    COOPERATIVE, //strategic, cooperative, speed changes, keep right, avoid collisions (597 in SUMO)
-    AGGRESSIVE, //strategic, no cooperative, speed changes, stay left, do not respect other drivers (17 in SUMO)
-    PASSIVE //strategic, no cooperative, speed changes, stay right, do not respect other drivers (661 in SUMO)
+    OFF, // no lane changes at all, only by explicit calls of changeLane
+    FOLLOW_ROUTE, // no lane changes except strategic
+    CAUTIOUS, //strategic, cooperative, speed changes, keep right, no speed adaption when changing lanes
+    COOPERATIVE, //strategic, cooperative, speed changes, keep right, avoid collisions
+    AGGRESSIVE, //strategic, no cooperative, speed changes, stay left, do not respect other drivers
+    PASSIVE //strategic, no cooperative, speed changes, stay right, do not respect other drivers
 }
diff --git a/lib/mosaic-utils/src/main/java/org/eclipse/mosaic/lib/util/RingBuffer.java b/lib/mosaic-utils/src/main/java/org/eclipse/mosaic/lib/util/RingBuffer.java
@@ -103,6 +103,7 @@ public T next() {
     }
 
     public void clear() {
+        Arrays.fill(elements, null);
         ringMode = false;
         head = 0;
     }

diff --git a/rti/mosaic-rti-core/src/main/java/org/eclipse/mosaic/rti/time/RealtimeSynchronisation.java b/rti/mosaic-rti-core/src/main/java/org/eclipse/mosaic/rti/time/RealtimeSynchronisation.java
@@ -52,13 +52,14 @@ public RealtimeSynchronisation(double realtimeFactor) {
     public void sync(long timestamp) {
 
         if (realtimeFactor > 0d && realNanoTimeLastSync > 0) {
-            long realTimeSinceLastSync = System.nanoTime() - realNanoTimeLastSync;
+            // Consider real time difference of 1s at maximum, to prevent "catching up" behavior when pausing a simulator on purpose
+            long realTimeSinceLastSync = Math.min(TIME.SECOND, System.nanoTime() - realNanoTimeLastSync);
             long simTimeSinceLastSync = timestamp - simNanoTimeLastSync;
 
             // Conversion from simulation to wanted realtime according to the given realtime factor 
             long realTimeSinceLastSyncWanted = (long) (simTimeSinceLastSync * (1 / realtimeFactor));
 
-            // The real nano seconds we now have to wait to fulfill the requirement above
+            // The real nanoseconds we now have to wait to fulfill the requirement above
             long nanoTimeToWait = realTimeSinceLastSyncWanted - realTimeSinceLastSync + waitOffset;
 
             // The actual waiting