inter chack back + ui

Car.py

@@ -1,7 +1,7 @@
 import sumolib
 from math import dist, ceil, sqrt, log, cos, sin, atan2, pi
 from random import randint, uniform
-from PySide6.QtGui import QPainter
+from PySide6.QtGui import QPainter, QColor
 from PySide6.QtCore import QPointF, Signal, QObject, Qt
 from itertools import islice
 
@@ -51,6 +51,8 @@ class Car():
         self.dynSpeed=(dynSpeed == '1') if isinstance(dynSpeed, str) else dynSpeed
         self.IA=(IA == '1') if isinstance(IA, str) else IA
         self.cligno=[]
+        self.isLeader=0
+        self.leaderStopped=0
 
         self.pos=[0,0]
         self.dir=0
@@ -260,20 +262,37 @@ class Car():
                 carsInEdge = zip([self.getCarDist(c, intEdge, intLane.getIndex()) for c in carsInEdge], carsInEdge)
                 closest = min(carsInEdge, key=lambda c: c[0])
                 cars.append(closest)
-            
+
             # On cherche aussi dans les edges du node precedent et les edge d'avant
             prevLanesLgt = intLaneLgt + conn[i].getFromLane().getLength()
             prevNode = edge.getFromNode()
             for intLaneID in prevNode.getInternal():
                 intLane = self.map.getLane(intLaneID)
                 intEdge = intLane.getEdge()
-                carsInEdge = self.controller.getCarsOnLane(intEdge.getID(), intLane.getIndex())
+                carsInEdge = list(self.controller.getCarsOnLane(intEdge.getID(), intLane.getIndex()))
-                carsInEdge = list(filter(lambda c: c.nextNonSpecialEdge() == edge and c.nextNonSpecialEdge(3) == conn[i].getTo(), carsInEdge))
                 if len(carsInEdge) != 0:
                     carsInEdge = zip([self.getCarDist(c, intEdge, intLane.getIndex())+prevLanesLgt for c in carsInEdge], carsInEdge)
                     closest = min(carsInEdge, key=lambda c: c[0])
-                    cars.append(closest)
+                    cl = closest[1]
-
+                    if cl.nextNonSpecialEdge() == edge and cl.nextNonSpecialEdge(3) == conn[i].getTo(): 
+                        cars.append(closest)
+            
+            for incEdge in prevNode.getIncoming():
+                if incEdge.isSpecial():
+                    continue
+                incLane = incEdge.getLane(0)
+                intConn = incEdge.getConnections(edge)
+                intLaneLgt = 0
+                if len(intConn) != 0:
+                    intLaneLgt = self.map.getLane(intConn[0].getViaLaneID()).getLength()
+                carsInEdge = list(self.controller.getCarsOnEdge(incEdge.getID()))
+                #carsInEdge = list(filter(lambda c: c.nextNonSpecialEdge() == edge and c.nextNonSpecialEdge(3) == conn[i].getTo() and (c.leader is None or c.leader.getCurrentEdge().getID() != c.getCurrentEdge().getID()), carsInEdge))
+                if len(carsInEdge) != 0:
+                    carsInEdge = zip([self.getCarDist(c, incEdge, incLane.getIndex())+prevLanesLgt+intLaneLgt for c in carsInEdge], carsInEdge)
+                    closest = min(carsInEdge, key=lambda c: c[0])
+                    cl = closest[1]
+                    if cl.nextNonSpecialEdge() == edge and cl.nextNonSpecialEdge(3) == conn[i].getTo(): 
+                        cars.append(closest)
 
         if(len(cars) == 0):
             return None
@@ -287,12 +306,17 @@ class Car():
     def nextNonSpecialEdge(self, startOffset = 1):
         return next(filter(lambda e: not e.isSpecial(), islice(self.route, self.index + startOffset, None)))
 
-    def draw(self,painter):
+    def draw(self,painter, colorOverride):
         pt = QPointF(*self.pos)
-        if self.forceThrough:
+        if colorOverride:
+            pass
+        elif self.forceThrough:
             painter.setPen(Qt.blue)
+        elif self.isLeader > 0:
+            painter.setPen(QColor(255,0,255))
         elif self.leader is None:
             painter.setPen(Qt.gray)
+
         painter.drawEllipse(pt,self.size,self.size)
         painter.drawLine(self.pos[0], self.pos[1], self.pos[0]+5*cos(self.dir), self.pos[1]+5*sin(self.dir))
         
@@ -444,13 +468,17 @@ class Car():
                 self.leader = None # On supprime le leader (pour que seulement la premiere voiture detecte la dependance circulaire)
                 self.v = min(vmax, self.v + self.a*dt)
                 return
+            
+            if self.leaderStopped > 1:
+                self.v = min(vmax, self.v + self.a*dt)
+                return
 
             
             # 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)
             # alors on accelere pour s'inserer
             #print(tti, leader.T, marg, ltti)
-            if self.distToInter > self.interMinSpace + dts or (tti + leader.T + marg) < ltti:
+            if self.distToInter > self.interMinSpace + dts or self.distToInter < 3 or (tti + leader.T + marg) < ltti:
                 self.v = min(vmax, self.v + self.a*dt)
                 #print(self.id, "ca passe")
             else:# sinon on freine
@@ -468,7 +496,7 @@ class Car():
     # fonction pour verifier si on as pas une dependence circulaire de leader
     def circularLeaderDep(self):
         l = self.leader
-        timeout = 5
+        timeout = 4
         ls = []
         while l is not None and timeout > 0:
             ls.append(l.id)
@@ -493,7 +521,25 @@ class Car():
         if self.v < 1 and self.getCurrentEdge().isSpecial():
             print(f"{self.id} stalled where he souldn't have")
         """
+        oldLeaderId = "None"
+        if self.leader is not None:
+            oldLeaderId = self.leader.id
+            if self.leaderBefore:
+                self.leader.isLeader -= 1
+
         self.leader=self.getLeader(100)
+
+        if self.leader is not None:
+            if self.leader.id != oldLeaderId:
+                self.leaderStopped = 0
+
+            if self.leaderBefore:
+                self.leader.isLeader += 1
+                if self.leader.v == 0:
+                    self.leaderStopped += dt
+                    print(self.leaderStopped)
+
+
         
         vmax = self.vmax
         if self.dynSpeed:
@@ -547,7 +593,7 @@ class Car():
         copy.route = self.route
         copy.cligno = self.cligno
         copy.pos = self.pos.copy()
-        copy.laneShape = self.laneShape
+        copy.laneShape = self.laneShape.copy()
         copy.laneId = self.laneId
         copy.vmax = self.vmax
         return copy

CarController.py

@@ -110,6 +110,7 @@ class CarController:
         self.dynSpeedRat = 1
 
         self.infoWidget = None
+        self.selectedId = 0
 
         self.vroomEnable=True
 
@@ -210,16 +211,22 @@ class CarController:
                     #print(f"nope, y as déjà une voiture ici : n°{self.spawnFailed}")
 
     def draw(self,painter):
+        selectedCar = [c for c in self.cars if c.id == self.selectedId]        
         for ind,car in enumerate(self.cars):
-            selectedId = self.infoWidget.currentIndex()
+            #selectedId = self.infoWidget.currentIndex()
-            selectedCar = self.cars[selectedId]
+            colorOverride = False
-            if ind == selectedId:
+            if len(selectedCar) == 0:
+                pass
+            elif car.id == self.selectedId:
                 painter.setPen(Qt.green)
-            elif(selectedCar.leader is not None and selectedCar.leader.id == car.id):
+                colorOverride = True
+            elif(selectedCar[0].leader is not None and selectedCar[0].leader.id == car.id):
                 painter.setPen(Qt.red)
+                colorOverride = True
             else:
                 painter.setPen(Qt.white)
-            car.draw(painter)
+                colorOverride = False
+            car.draw(painter, colorOverride)
 
     def destroyCar(self, car):
         self.carsDestroyed += 1
@@ -236,3 +243,9 @@ class CarController:
 
     def getFlowBacklog(self):
         return sum([f.backlog(self.t) for f in self.flows])
+
+    def selectClosest(self, pos):
+        if len(self.cars) == 0:
+            return
+        closest = min(self.cars, key=lambda c: dist(c.pos, [pos.x(), pos.y()]))
+        self.selectedId = closest.id

comp_rdp_t2.rou.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2022-05-13 15:45:26 by Eclipse SUMO netedit Version 1.12.0
+-->
+
+<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
+    <vehicle id="v_0" depart="1.00">
+        <route edges="E5 E1 E10 E9 E0 -E40 -E8"/>
+    </vehicle>
+    <vehicle id="v_1" depart="6.00">
+        <route edges="E6 E3 E9 E0 E11 -E10 -E5"/>
+    </vehicle>
+    <vehicle id="v_2" depart="0.00">
+        <route edges="E7 E2 E0 E11 E10 -E30 -E6"/>
+    </vehicle>
+    <vehicle id="v_3" depart="6.50">
+        <route edges="E8 E4 E11 E10 E9 -E20 -E7"/>
+    </vehicle>
+</routes>

comp_rdp_t3.rou.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2022-05-13 18:17:05 by Eclipse SUMO netedit Version 1.12.0
+-->
+
+<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
+    <vehicle id="v_0" depart="0.00">
+        <route edges="E5 E1 E10 E9 E0 -E40 -E8"/>
+    </vehicle>
+    <vehicle id="v_1" depart="0.00">
+        <route edges="E6 E3 E9 E0 E11 -E10 -E5"/>
+    </vehicle>
+    <vehicle id="v_2" depart="0.00">
+        <route edges="E7 E2 E0 E11 E10 -E30 -E6"/>
+    </vehicle>
+    <vehicle id="v_5" depart="0.00">
+        <route edges="E8 E4 E11 -E10 -E5"/>
+    </vehicle>
+    <vehicle id="v_3" depart="1.00">
+        <route edges="E8 E4 E11 E10 E9 -E20 -E7"/>
+    </vehicle>
+    <vehicle id="v_4" depart="1.00">
+        <route edges="E8 E4 E11 E10 E9 -E20 -E7"/>
+    </vehicle>
+</routes>

main.py

@@ -5,7 +5,7 @@ if 'SUMO_HOME' in os.environ:
 else:
     print("please declare environment variable 'SUMO_HOME'")
 
-from PySide6.QtCore import Qt, QTimer, QElapsedTimer, QThread, Slot, Signal
+from PySide6.QtCore import Qt, QTimer, QElapsedTimer, QThread, Slot, Signal, QPointF
 from PySide6.QtWidgets import QApplication, QMainWindow, QLabel, QFileDialog
 from PySide6.QtGui import QSurfaceFormat, QAction
 from window import Ui_MainWindow
@@ -15,6 +15,7 @@ from mainLoop import mainLoop
 class MainWindow(QMainWindow):
     stopMainLoopTimer = Signal()
     startMainLoop = Signal()
+    setPhTimerInterval = Signal(int)
     def __init__(self):
         super().__init__()
         self.ui = Ui_MainWindow()
@@ -51,6 +52,7 @@ class MainWindow(QMainWindow):
         self.ui.stopButton.clicked.connect(self.mainLoop.stopTimer)
 
         self.startMainLoop.connect(self.mainLoop.startTimer)
+        self.setPhTimerInterval.connect(self.mainLoop.setTimerInterval)
 
         self.stopMainLoopTimer.connect(self.mainLoop.stopTimer)
 
@@ -70,6 +72,18 @@ class MainWindow(QMainWindow):
             self.mainLoop.quickLoad()
         elif e.key() == Qt.Key_G:
             self.startMainLoop.emit()
+        elif e.key() == Qt.Key_E:
+            self.setPhTimerInterval.emit(0)
+        elif e.key() == Qt.Key_D:
+            self.setPhTimerInterval.emit(17)
+        elif e.key() == Qt.Key_F:
+            self.setPhTimerInterval.emit(500)
+
+    def mousePressEvent(self, QMouseEvent):
+        tran = self.ui.mainSurf.transform.inverted()[0]
+        worldPoint = tran.map(QMouseEvent.position() - QPointF(5, 30))
+        self.mainLoop.controller.selectClosest(worldPoint)
+        self.ui.mainSurf.debugPoint = worldPoint
 
     def updateFPS(self):
         self.fpsAverage += 1
@@ -97,7 +111,8 @@ class MainWindow(QMainWindow):
         widget = self.findChild(QLabel,"physicsFPS")
         if(t == 0):
             return
-        widget.setText(f"ph fps : {1000/t:.1f}")
+        dt = self.mainLoop.controller.dt
+        widget.setText(f"ph fps : {1000/t:.1f}, speedup : {1000/t * dt:.1f}")
 
     def openNetwork(self):
         filename = QFileDialog.getOpenFileName(self,"Open Network", "./", "Network File (*.net.xml)")

mainLoop.py

@@ -90,7 +90,7 @@ class mainLoop(QObject):
     def quickLoad(self):
         self.map.fromPath("comp_rdp.net.xml")
         self.painter.generateTransform()
-        self.controller.fromPath("comp_rdp_t1.rou.xml")
+        self.controller.fromPath("comp_rdp.rou.xml")
         self.controller.prepareRoute()
 
     def updateFps(self):

mainPainter.py

@@ -1,5 +1,5 @@
 from PySide6.QtOpenGLWidgets import QOpenGLWidget
-from PySide6.QtCore import Qt, QThread
+from PySide6.QtCore import Qt, QThread, QPointF
 from PySide6.QtGui import QPainter, QFont, QColor, QTransform, QOpenGLContext, QOpenGLFunctions
 from PySide6 import QtOpenGL
 
@@ -10,6 +10,7 @@ class mainPainter(QOpenGLWidget):
         self.map = None
         self.carController = None
         self.transform = QTransform()
+        self.debugPoint = QPointF(0,0)
     
     def addMap(self, netMap):
         self.map = netMap
@@ -41,3 +42,4 @@ class mainPainter(QOpenGLWidget):
         painter.setTransform(self.transform)
         self.map.draw(painter)
         self.carController.draw(painter)
+        #painter.drawEllipse(self.debugPoint, 10, 10)