opti forceThrough

Car.py

@@ -433,8 +433,14 @@ class Car():
             #print(self.distToInter, self.minSpace, dts)
 
             # Si on est bloqué dans une dépendance circulaire
-            if self.timeAtInter >= 1 and self.leader is None and self.circularLeaderDep(self.leaderAtInter, 20):
-                self.forceThrough = True
+            if self.leader is None and self.timeAtInter >= 0:
+                cd, maxInterTime = self.circularLeaderDep(self.leaderAtInter, 0, 20)
+                if cd and self.timeAtInter >= maxInterTime:
+                    print(maxInterTime)
+                    self.forceThrough = True
+            # Ou si notre leader est bloqué devant un autre leader
+            #if self.leader is None and self.leaderAtInter.v == 0 and self.leaderAtInter.leaderAtInter is not None and self.leaderAtInter.leaderAtInterDist > 20:
+            #    self.forceThrough = True
                 
             # si on est suffisement loin de l'intersection (i.e on s'en fout du leader)
             # ou si on as le temps d'arriver à l'intersection avant le leader (plus un marge pour garder un distance de sécu)
@@ -447,7 +453,6 @@ class Car():
                 vsecInter = max(0, self.v - self.b*dt)
 
             if self.forceThrough:
-                self.leaderAtInter = None # On supprime le leader (pour que seulement la premiere voiture detecte la dependance circulaire)
                 vsecInter = min(vmax, self.v + self.a*dt)
         
         vsec = vmax
@@ -464,21 +469,27 @@ class Car():
         self.updateGraph(self.v, vmax, vsec, vsecInter)
     
     # fonction pour verifier si on as pas une dependence circulaire de leader
-    def circularLeaderDep(self, car, timeout):
+    def circularLeaderDep(self, car, maxTimeStopped, timeout):
         if timeout <= 0:
-            return False
+            return False, 0
 
         if car is None:
-            return False
+            return False, 0
+
+        if car.forceThrough:
+            return False, 0
+
+        maxTimeStopped = max(maxTimeStopped, car.timeAtInter)
 
         if car.id == self.id:
-            return True
+            return True, maxTimeStopped
         
         timeout -= 1
-        res = self.circularLeaderDep(car.leader, timeout)
-        res |= self.circularLeaderDep(car.leaderAtInter, timeout)
+        res,mts = self.circularLeaderDep(car.leader, maxTimeStopped, timeout)
+        res2,mts2 = self.circularLeaderDep(car.leaderAtInter, maxTimeStopped, timeout)
+        maxTimeStopped = max(mts, mts2)
 
-        return res
+        return (res or res2), maxTimeStopped
 
     def updateGraph(self, v, vmax, vsec, interVsec):
         if self.infoWidg is None:

main.py

@@ -76,6 +76,10 @@ class MainWindow(QMainWindow):
             self.setPhTimerInterval.emit(17)
         elif e.key() == Qt.Key_F:
             self.setPhTimerInterval.emit(500)
+        elif e.key() == Qt.Key_C:
+            self.mainLoop.controller.dt = 0.3
+        elif e.key() == Qt.Key_P:
+            self.mainLoop.controller.dt = 1/60
         else:
             self.mainLoop.quickLoad(e.key())
 

mainLoop.py

@@ -16,7 +16,8 @@ class mainLoop(QObject):
             Qt.Key_2 : ["comp_rdp.net.xml", "comp_rdp.rou.xml"],
             Qt.Key_3 : ["comp_rdp.net.xml", "comp_rdp_t3.rou.xml"],
             Qt.Key_4 : ["rdpt_polytech_fixed.net.xml", "rdpt_polytech_burst.rou.xml"],
-            Qt.Key_5 : ["rdpt_polytech_fixed.net.xml", "rdpt_polytech_burst_2.rou.xml"]
+            Qt.Key_5 : ["rdpt_polytech_fixed.net.xml", "rdpt_polytech_burst_2.rou.xml"],
+            Qt.Key_6 : ["rdpt_polytech_fixed.net.xml", "rdpt_polytech_burst_2_IA.rou.xml"]
             }
     
     def __init__(self, parent):