1 | /************************************************************************************ |
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2 | * Copyright (C) 2008 by Politehnica University of Bucharest and Rutgers University |
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3 | * All rights reserved. |
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4 | * Refer to LICENSE for terms and conditions of use. |
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5 | ***********************************************************************************/ |
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6 | package vnsim.applications.vitp.routing; |
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7 | |
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8 | |
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9 | |
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10 | import java.util.*; |
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11 | import java.io.*; |
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12 | |
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13 | import vnsim.applications.trafficview.SimulatedCarInfo; |
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14 | import vnsim.applications.vitp.CarRunningVITP; |
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15 | import vnsim.applications.vitp.Statistics; |
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16 | import vnsim.applications.vitp.peer.Peer; |
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17 | import vnsim.applications.vitp.utils.*; |
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18 | import vnsim.core.CarInfo; |
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19 | import vnsim.core.Engine; |
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20 | import vnsim.map.object.*; |
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21 | import vnsim.map.utils.GPSutil; |
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22 | import vnsim.vehicular.simulator.CarInstance; |
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23 | import vnsim.vehicular.simulator.Location; |
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24 | import vnsim.vehicular.simulator.RouteSegment; |
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25 | import vnsim.vehicular.simulator.RoutingUtils; |
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26 | |
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27 | |
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28 | |
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29 | |
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30 | |
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31 | |
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32 | |
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33 | |
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34 | public class RoutingModule { |
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35 | |
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36 | java.util.Random random=new Random(System.currentTimeMillis()); |
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37 | |
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38 | MessageIndexModule mim; |
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39 | public CarRunningVITP car; |
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40 | Peer peer; |
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41 | |
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42 | public void attachModules(CarRunningVITP car, MessageIndexModule mim, Peer p){ |
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43 | this.car=car; |
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44 | this.mim=mim; |
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45 | this.peer=p; |
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46 | } |
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47 | |
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48 | public boolean postMessageFromAbove(VITPMessage msg) { |
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49 | //method to be called by the layer above, in order to send a message |
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50 | //to this routing module; returns true, if the message was properly |
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51 | //dealt with, false otherwise |
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52 | |
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53 | //the routing module has received a message from the peer; first, it |
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54 | //checks whether it has a valid id; if not, it provides a new one |
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55 | |
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56 | if(msg.isIdInval()) { |
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57 | msg.setMsgId(MessageIndexModule.getNewMessageIdentifier()); |
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58 | mim.addToPending(msg.getId()); |
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59 | //also set the correct source |
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60 | msg.source=getCurrentRouteSegment(); |
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61 | } |
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62 | |
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63 | //System.out.println("Has to route a message:"+msg); |
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64 | |
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65 | //build a RoutingPacket and route it |
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66 | |
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67 | //msg came from above; if it's destination is exactly the current location, then we |
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68 | //are during the computation phase or during the reply delivery phase; in either way, |
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69 | //the routing module should search for the closest neighbor, along the current segmentId |
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70 | |
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71 | Location myloc=new Location(car.getRoadIdx(), car.getPointIdx()); |
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72 | //check whether destination fits my current location |
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73 | |
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74 | //ONLY FOR SOME TESTING PURPOSES! SHOULD NOT BE HERE!!! |
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75 | // if(msg.isRequest()) { |
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76 | // VITPRequest req=(VITPRequest) msg; |
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77 | // if(req.isPost()){ |
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78 | // |
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79 | // if(!mim.wasBroadcasted(req.getId())) { |
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80 | // //broadcast it now and reschedule it |
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81 | // //periodically |
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82 | // |
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83 | //// System.out.println("OK : "+car.getVehicleId()); |
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84 | // |
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85 | // mim.addToBroacasted(req.getId()); |
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86 | // return broadcastPostMessage(req); |
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87 | // } else { |
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88 | //// System.out.println("ALREADY : "+car.getVehicleId()); |
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89 | // } |
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90 | // return true; |
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91 | // } |
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92 | // } |
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93 | // END !!!!!!!!!!!!!!!!!!!!!!!!!!! |
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94 | |
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95 | if(msg.getDest().contains(myloc)) { |
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96 | //is it a POST? Then broadcast it |
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97 | if(msg.isRequest()) { |
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98 | VITPRequest req=(VITPRequest) msg; |
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99 | if(req.isPost()){ |
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100 | if(!mim.wasBroadcasted(req.getId())) { |
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101 | //broadcast it now and reschedule it |
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102 | //periodically |
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103 | mim.addToBroacasted(req.getId()); |
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104 | return broadcastPostMessage(req); |
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105 | } else { |
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106 | // System.out.println("ID="+car.getVehicleId()+";WAS BROADCASTED!!!"); |
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107 | } |
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108 | return true; |
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109 | } |
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110 | } |
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111 | |
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112 | //fits |
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113 | //assume P1 -- C -- N -- P2, where P1,P2=end points of destination route segment, |
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114 | //C=current location ; N=candidate nodes; |
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115 | //look among N for the node farthest from P2 |
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116 | |
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117 | ArrayList<CarInfo> neighbors=car.trafficDB; |
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118 | // System.out.println("I am at:"+myloc); |
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119 | // System.out.println("My neighbors:"+neighbors); |
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120 | double distance=0; |
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121 | int indice=-1; |
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122 | |
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123 | Integer sentTo=mim.sentTo(msg.getId()); |
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124 | |
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125 | for(int i=0;i<neighbors.size();i++) { |
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126 | try { |
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127 | if(sentTo!=null) { |
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128 | if(neighbors.get(i).getVehicleId()==sentTo) |
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129 | continue; |
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130 | } |
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131 | Location neig=new Location(neighbors.get(i).getRoadIdx(), neighbors.get(i).getPointIdx()); |
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132 | if(msg.getDest().checkOrder(myloc, neig)) { |
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133 | //neighbor is between C and P2 |
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134 | // System.out.println("NEIGHBOR IS GOOD:"+neig); |
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135 | // System.out.println("DIST BETWEEN:"+msg.getDest().distanceBetween(neig.getLocation())); |
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136 | if(msg.getDest().distanceBetween(neig)>distance) { |
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137 | distance=msg.getDest().distanceBetween(neig); |
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138 | indice=i; |
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139 | } |
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140 | } |
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141 | } catch (Exception ex) { |
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142 | continue; //try another neighbor |
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143 | } |
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144 | } |
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145 | if(distance!=0) { |
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146 | return unicastPacketToNeighbor( new RoutingPacket(msg, null), neighbors.get(indice) ); |
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147 | //unicast to neighbor 'indice' |
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148 | } else { |
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149 | if(msg.isReply()) { |
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150 | System.out.println("ROUTING MODULE: No node found during the reply delivery phase! Discarding!"); |
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151 | return false; |
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152 | } |
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153 | try{ |
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154 | if(((VITPRequest)msg).isPost()) |
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155 | return true; //a POST message is discarded, as there is no |
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156 | //other node to send it to. |
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157 | } catch (ClassCastException ex){ |
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158 | System.out.println("RoutingModule:ClassCastException:"+ex.toString()); |
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159 | return false; |
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160 | } |
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161 | System.out.println("ROUTING MODULE: No node found during the computation phase; Building the reply!"); |
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162 | //build reply |
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163 | RoutingPacket packet=buildReply(msg, myloc); |
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164 | |
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165 | try{ |
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166 | System.out.println("BEFORE!"); |
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167 | return standardRouting(packet); |
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168 | } catch(Exception ex){ |
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169 | System.out.println("RoutingModule.postMessageFromAbove()-EXCEPTION!"+ex.toString()); |
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170 | return false; |
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171 | } |
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172 | } |
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173 | } |
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174 | |
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175 | //the destination is not the current segment, so use standard routing, the VITP packet just |
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176 | //came from a peer module, thus the route should be calculated; |
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177 | // ArrayList<RouteSegment> route=RoutingUtils.getUnmergedDijkstraPath(msg.source, msg.dest); |
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178 | ArrayList<RouteSegment> route=RoutingUtils.getUnmergedDijkstraPath(myloc, new Location(msg.dest.roadIndex, msg.dest.pt1)); |
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179 | |
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180 | route.add(msg.dest); |
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181 | |
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182 | // System.out.println("ROUTING MODULE: I have calculated route for packet:"+msg); |
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183 | // System.out.println("THE ROUTE IS: "+route); |
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184 | |
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185 | RoutingPacket packet=new RoutingPacket(msg, route); |
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186 | try{ |
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187 | return standardRouting(packet); |
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188 | } catch (Exception ex){ |
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189 | System.out.println("RoutingModule.postMessageFromAbove()-EXCEPTION!"+ex.toString()); |
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190 | return false; |
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191 | } |
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192 | } |
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193 | |
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194 | private RoutingPacket buildReply(VITPMessage msg, Location myloc) { |
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195 | VITPReply repret=msg.getReversedVITP(); |
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196 | repret.setStatus("ERROR"); |
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197 | |
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198 | repret.source=new RouteSegment((short)myloc.roadIdx, (short)myloc.ptIdx, (short)myloc.ptIdx); |
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199 | |
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200 | System.out.println("ROUTING MODULE: calculating route for packet:"+repret); |
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201 | // ArrayList<RouteSegment> route=RoutingUtils.getUnmergedDijkstraPath(new RouteSegment((short)myloc.roadIdx, (short)myloc.ptIdx, (short)myloc.ptIdx), repret.dest); |
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202 | |
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203 | ArrayList<RouteSegment> route=RoutingUtils.getUnmergedDijkstraPath(myloc, new Location(repret.dest.roadIndex, repret.dest.pt1)); |
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204 | route.add(repret.dest); |
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205 | System.out.println("DONE CALCULATING ROUTE! ROUTE IS:"+route); |
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206 | |
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207 | RoutingPacket packet=new RoutingPacket(repret, route); |
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208 | return packet; |
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209 | } |
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210 | |
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211 | public boolean postMessageFromBelow(RoutingPacket packet) { |
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212 | //method to be called by the layer below, in order to send a message |
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213 | //to this routing module; returns true, if the message was properly |
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214 | //dealt with, false otherwise |
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215 | |
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216 | //the routing module has received a message from the layer below |
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217 | |
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218 | if(peer==null){ |
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219 | System.out.println("ERROR! Routing module not connected with a peer module!"); |
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220 | return false; |
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221 | } |
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222 | VITPMessage msg=packet.msg; |
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223 | Location myloc=new Location(car.getRoadIdx(), car.getPointIdx()); |
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224 | |
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225 | //System.out.println("ROUTING MODULE; location="+myloc+"; I have received a packet:"+packet); |
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226 | |
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227 | if(packet.getNextSegment()!=null) { |
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228 | if(packet.getNextSegment().contains(myloc)) |
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229 | packet.incrementIndex(); |
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230 | } |
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231 | |
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232 | //check if it's a reply for a pending request |
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233 | if(msg.isReply()) { |
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234 | if(mim.isPending(msg.getId())) { |
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235 | mim.removeFromPending(msg.getId()); |
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236 | return peer.postMessageFromBelow(msg); |
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237 | }; |
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238 | |
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239 | if(packet.toBroadcast) { |
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240 | //if I am in the broadcast zone and I did not |
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241 | //broadcast this message before, then broadcast it |
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242 | if(!mim.wasBroadcasted(msg.getId())) { |
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243 | Point p1=Globals.map.roads.get(myloc.roadIdx).points.get(myloc.ptIdx); |
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244 | Point p2=Globals.map.roads.get(packet.roadIndex).points.get(packet.pointIndex); |
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245 | double dist=GPSutil.distance(p1, p2); |
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246 | if(dist < packet.radius) { |
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247 | mim.addToBroacasted(msg.getId()); |
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248 | return broadcastPacket(packet); |
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249 | } else { |
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250 | //do not broadcast it further |
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251 | // System.out.println("DIST="+dist+"; RADIUS="+packet.radius); |
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252 | return true; |
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253 | } |
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254 | } |
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255 | return true; |
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256 | } |
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257 | |
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258 | //is it for the current location? |
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259 | if(msg.getDest().contains(myloc)) { |
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260 | //it's the first time the message has arrived in |
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261 | //the destination area; change it to a broadcast |
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262 | //message |
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263 | RoutingPacket newPacket=new RoutingPacket(msg, new ArrayList<RouteSegment>()); |
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264 | newPacket.toBroadcast=true; |
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265 | newPacket.roadIndex=msg.dest.roadIndex; |
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266 | newPacket.pointIndex=msg.dest.pt2; |
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267 | newPacket.radius=0.100; //100 meters |
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268 | mim.addToBroacasted(msg.getId()); |
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269 | return broadcastPacket(newPacket); |
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270 | } |
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271 | |
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272 | /* |
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273 | |
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274 | OLD METHOD : route the message from vehicle to vehicle |
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275 | |
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276 | //fits |
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277 | //assume P1 -- C -- N -- P2, where P1,P2=end points of destination route segment, |
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278 | //C=current location ; N=candidate nodes; |
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279 | //look among N for the node farthest from P2 |
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280 | ArrayList<SimulatedCarInfo> neighbors=car.neighbors; |
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281 | double distance=0.0; |
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282 | int indice=-1; |
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283 | for(int i=0;i<neighbors.size();i++) { |
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284 | Location neig=new Location (neighbors.get(i).getRoadIdx(), neighbors.get(i).getPointIdx()); |
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285 | |
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286 | if(msg.getDest().checkOrder(myloc, neig)) { |
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287 | // System.out.println("Dest="+msg.getDest()+";Neighbor:"+neig.getLocation()+" is ok!"); |
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288 | //neighbor is between C and P2 |
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289 | if(msg.getDest().distanceBetween(neig)>distance) { |
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290 | distance=msg.getDest().distanceBetween(neig); |
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291 | indice=i; |
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292 | } |
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293 | } |
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294 | } |
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295 | if(indice!=-1) { |
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296 | return unicastPacketToNeighbor( new RoutingPacket(msg, null), neighbors.get(indice)); |
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297 | //unicast to neighbor 'indice' |
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298 | } else { |
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299 | //cannot route this reply! Discard it |
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300 | System.out.println("Discarding reply:"+msg); |
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301 | return false; |
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302 | } |
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303 | |
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304 | */ |
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305 | |
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306 | } |
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307 | |
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308 | //check if it's a request intended for the local peer |
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309 | if(msg.isRequest()) { |
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310 | if(msg.getDest().contains(myloc) ) { |
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311 | return peer.postMessageFromBelow(msg); |
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312 | } else { |
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313 | //is it a POST broadcasted from inside its destination area? |
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314 | //(and it got to me by chance) |
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315 | //then discard it! |
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316 | VITPRequest req=(VITPRequest) msg; |
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317 | if(req.isPost() && packet.toBroadcast) |
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318 | return true; |
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319 | } |
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320 | } |
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321 | |
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322 | //if not, then try to route the packet, based on the routing information in it, |
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323 | //find the appropriate neighbor in the neighbors list and |
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324 | //send the packet to it; |
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325 | try{ |
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326 | boolean ret=standardRouting(packet); |
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327 | if(!ret) { |
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328 | if(msg.isRequest()) { |
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329 | //build reply |
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330 | RoutingPacket pack=buildReply(msg, myloc); |
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331 | return standardRouting(pack); |
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332 | } else |
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333 | return false; |
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334 | } |
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335 | return true; |
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336 | } catch(Exception ex) { |
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337 | System.out.println("EXCEPTION-RoutingModule.postMessageFromBelow()"); |
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338 | return false; |
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339 | } |
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340 | } |
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341 | |
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342 | public boolean standardRouting(RoutingPacket packet) { |
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343 | //try to find the first node on the next segment (closest to the origin of the next |
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344 | //segment), or the farthest along the same segment (closest to the end of the current |
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345 | //segment); prefer next segment, if there is a node there; |
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346 | |
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347 | ArrayList<CarInfo> neighbors=car.trafficDB; |
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348 | Location myloc=new Location(car.getRoadIdx(), car.getPointIdx()); |
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349 | // if(myloc==null) { |
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350 | // System.out.println("ROUTING MODULE: unknown current location - can't route!"); |
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351 | // return false; |
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352 | // } |
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353 | |
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354 | if(neighbors==null) { |
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355 | System.out.println("ROUTING MODULE: No neighbors! Can't route!"); |
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356 | return false; |
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357 | } |
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358 | |
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359 | double distance1 = Double.MAX_VALUE; |
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360 | int index1=-1; |
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361 | |
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362 | double distance2 = Double.MAX_VALUE; |
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363 | int index2=-1; |
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364 | |
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365 | // System.out.println("STANDARD ROUTING! I AM AT:"+car.getVehicleId()+"; POS="+car.getRoadIdx()+";"+car.getPointIdx()+ " SIZE="+car.neighbors.size()); |
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366 | |
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367 | for(int i=0;i<neighbors.size();i++){ |
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368 | |
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369 | //CHECK IF THE REAL DISTANCE IS IN FACT LOWER THAN THE WIRELESS RANGE |
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370 | //THIS CODE IS RELATED TO THE SIMULATION PART, AND SHOULD NOT BE PRESENT HERE |
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371 | //INSERTED HERE FOR SIMPLICITY |
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372 | |
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373 | int id=neighbors.get(i).getVehicleId(); |
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374 | double distance=getRealDistance(car.getVehicleId(), id); |
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375 | if(distance > Engine.WIRELESS_RANGE) { |
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376 | continue; |
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377 | } |
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378 | |
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379 | try { |
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380 | Location neighbor=new Location(neighbors.get(i).getRoadIdx(), neighbors.get(i).getPointIdx()); |
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381 | // System.out.println("CHECKING : "+neighbor); |
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382 | |
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383 | if(packet.getNextSegment()!=null && packet.getNextSegment().contains(neighbor)) { |
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384 | //that's on the next segment |
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385 | // System.out.println("IS ON NEXT SEG!"); |
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386 | if(packet.getNextSegment().distanceFrom(neighbor) < distance1 ) { |
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387 | index1=i; |
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388 | // System.out.println("IS BETTER!"); |
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389 | distance1=packet.getNextSegment().distanceFrom(neighbor); |
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390 | } |
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391 | } |
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392 | // System.out.println("B--Neighbor:"+i); |
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393 | if( (packet.getCurrentSegment()!=null && packet.getCurrentSegment().contains(neighbor) && packet.getCurrentSegment().checkOrder(myloc, neighbor) |
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394 | || (packet.getCurrentSegment()!=null && !packet.getCurrentSegment().contains(myloc)))) { |
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395 | //it's in the same segment; also it's further that myself |
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396 | // System.out.println("IS ON SAME SEG!"); |
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397 | if(packet.getCurrentSegment().distanceBetween(neighbor) < distance2 ) { |
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398 | index2=i; |
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399 | // System.out.println("IS BETTER!"); |
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400 | distance2=packet.getCurrentSegment().distanceBetween(neighbor); |
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401 | } |
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402 | } |
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403 | } catch (Exception ex) { |
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404 | continue; //try another neighbor |
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405 | } |
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406 | } |
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407 | |
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408 | System.out.flush(); |
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409 | if(index1!=-1) { |
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410 | //there was one node on the next segment |
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411 | // System.out.println("There was some node on the next segment:"+packet.getNextSegment()+"; ID="+neighbors.get(index1).getVehicleId()); |
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412 | // packet.incrementIndex(); |
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413 | return unicastPacketToNeighbor(packet, neighbors.get(index1)); |
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414 | } |
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415 | if(index2!=-1) { |
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416 | //there was one node on the current segment |
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417 | // System.out.println("There was nobody on the next segment:"+packet.getNextSegment()); |
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418 | return unicastPacketToNeighbor(packet, neighbors.get(index2)); |
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419 | } |
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420 | System.out.println("ROUTING MODULE AT "+car.getRoadIdx()+" ; "+car.getPointIdx()+" : no suitable neighbor found! Discarding packet!"); |
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421 | return false; |
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422 | } |
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423 | |
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424 | private RouteSegment getCurrentRouteSegment() { |
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425 | //used to set the correct source for a newly generated |
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426 | //VITP request |
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427 | |
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428 | int pt1, pt2; |
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429 | int road=car.getRoadIdx(); |
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430 | int point=car.getPointIdx(); |
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431 | Road r=Globals.map.roads.get(road); |
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432 | |
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433 | if(r.points.size()<point+30) { |
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434 | pt2=r.points.size()-1; |
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435 | } else { |
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436 | pt2=point+25; |
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437 | } |
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438 | if(point<25) { |
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439 | pt1=0; |
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440 | } else { |
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441 | pt1=point-25; |
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442 | } |
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443 | if(car.getDirection()==0) { |
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444 | return new RouteSegment((short)road, (short)pt2, (short)pt1); |
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445 | } else { |
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446 | return new RouteSegment((short)road, (short)pt1, (short)pt2); |
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447 | } |
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448 | } |
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449 | |
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450 | private boolean broadcastPostMessage(VITPRequest req) { |
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451 | //probabilistic rebroadcast + delay |
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452 | |
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453 | // |
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454 | // double RAND1=random.nextDouble(); |
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455 | double RAND2=random.nextDouble(); |
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456 | |
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457 | // if(RAND1*100 > P) |
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458 | // return true; //probabilistic --> do not broadcast |
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459 | |
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460 | int delay= (int)( RAND2 * 2 * Globals.executionFPS ); |
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461 | |
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462 | int t=car.scheduleNewSendEvent(Globals.MESSAGE_PROCESSING_TIME+delay, 3000); |
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463 | |
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464 | //System.out.println("BROADCAST; T="+t); |
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465 | car.periodicalBroadcasts.put(t, req.dest); |
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466 | |
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467 | RoutingPacket packet=new RoutingPacket(req, null); |
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468 | packet.toBroadcast=true; |
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469 | ByteArrayOutputStream bos=new ByteArrayOutputStream(); |
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470 | try { |
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471 | ObjectOutputStream oos=new ObjectOutputStream(bos); |
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472 | oos.writeObject(packet); |
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473 | oos.flush(); |
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474 | car.messagesToSend.put(t, bos.toByteArray()); |
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475 | } catch (Exception ex) { |
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476 | System.out.println("EXCEPTION RoutingModule UNICAST TO NEIGHBOR:"+ex.toString()); |
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477 | ex.printStackTrace(); |
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478 | } |
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479 | return true; |
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480 | } |
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481 | |
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482 | private boolean broadcastPacket(RoutingPacket p) { |
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483 | |
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484 | Statistics.addBroadcast(p.msg.getId()); |
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485 | |
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486 | // System.out.println("BROADCASTING "+p); |
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487 | int t=car.scheduleSingleSendEvent(Globals.MESSAGE_PROCESSING_TIME, null); |
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488 | ByteArrayOutputStream bos=new ByteArrayOutputStream(); |
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489 | try { |
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490 | ObjectOutputStream oos=new ObjectOutputStream(bos); |
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491 | oos.writeObject(p); |
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492 | oos.flush(); |
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493 | car.messagesToSend.put(t, bos.toByteArray()); |
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494 | } catch (Exception ex) { |
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495 | System.out.println("EXCEPTION RoutingModule UNICAST TO NEIGHBOR:"+ex.toString()); |
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496 | ex.printStackTrace(); |
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497 | } |
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498 | return true; |
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499 | } |
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500 | |
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501 | private boolean unicastPacketToNeighbor(RoutingPacket p, CarInfo neighbor) { |
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502 | |
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503 | // System.out.println("UNICASTING "+p+" TO NEIGHBOR:"+neighbor); |
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504 | |
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505 | Statistics.addHop(p.msg.getId()); |
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506 | |
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507 | int delay = (int)(Globals.MESSAGE_PROCESSING_TIME + random.nextDouble()* 2 * Globals.executionFPS); |
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508 | int standardFPSPeriod = (int)((double)(SimulatedCarInfo.STANDARD_MESSAGE_PERIOD * Globals.engine.fps) / 1000); |
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509 | int t = car.scheduleNewSendEvent(delay, new Integer(standardFPSPeriod)); |
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510 | |
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511 | mim.addToSent(p.msg.getId(),neighbor.getVehicleId()); |
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512 | |
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513 | ByteArrayOutputStream bos=new ByteArrayOutputStream(); |
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514 | try { |
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515 | ObjectOutputStream oos=new ObjectOutputStream(bos); |
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516 | oos.writeObject(p); |
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517 | oos.flush(); |
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518 | car.messagesToSend.put(t, bos.toByteArray()); |
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519 | } catch (Exception ex) { |
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520 | System.out.println("EXCEPTION RoutingModule UNICAST TO NEIGHBOR:"+ex.toString()); |
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521 | ex.printStackTrace(); |
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522 | } |
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523 | |
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524 | return true; |
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525 | } |
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526 | |
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527 | public static double getRealDistance(int id1, int id2) { |
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528 | //id1, id2 = vehicle ids |
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529 | |
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530 | boolean found1=false, found2=false; |
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531 | synchronized(Globals.engine.cars) { |
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532 | Iterator<SimulatedCarInfo> iter=Globals.engine.cars.iterator(); |
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533 | int rd1=-1, rd2=-1, pt1=-1, pt2=-1; |
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534 | while(iter.hasNext()) { |
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535 | SimulatedCarInfo next=iter.next(); |
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536 | if(!found1 && next.getVehicleId()==id1) { |
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537 | rd1=next.getRoadIdx(); |
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538 | pt1=next.getPointIdx(); |
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539 | found1=true; |
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540 | } |
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541 | if(!found2 && next.getVehicleId()==id2) { |
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542 | rd2=next.getRoadIdx(); |
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543 | pt2=next.getPointIdx(); |
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544 | found2=true; |
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545 | } |
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546 | } |
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547 | if(!found1 || !found2) { |
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548 | System.out.println("ERROR! RoutingModule.getRealDistance() !"); |
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549 | return Double.MIN_VALUE; |
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550 | } |
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551 | |
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552 | Road r1=Globals.map.roads.get(rd1); |
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553 | Point p1=r1.points.get(pt1); |
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554 | Road r2=Globals.map.roads.get(rd2); |
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555 | Point p2=r2.points.get(pt2); |
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556 | return GPSutil.distance(p1, p2); |
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557 | } |
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558 | } |
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559 | } |
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