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inter check intEdge

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This commit is contained in:
leo 2022-05-13 15:20:55 +02:00
parent 00be5580a1
commit 3370a466a9
Signed by: leo
GPG Key ID: 0DD993BFB2B307DB
4 changed files with 47 additions and 10 deletions
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35
Car.py
View File

@ -260,17 +260,32 @@ 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(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)
if(len(cars) == 0):
return None
cDist,closest = min(cars, key=lambda c: c[0])
return (cDist,closest)
def turnNext(self):
return self.cligno[self.index] != self.CLIGNO_NONE
def nextNonSpecialEdge(self):
return next(filter(lambda e: not e.isSpecial(), islice(self.route, self.index + 1, None)))
def nextNonSpecialEdge(self, startOffset = 1):
return next(filter(lambda e: not e.isSpecial(), islice(self.route, self.index + startOffset, None)))
def draw(self,painter):
pt = QPointF(*self.pos)
@ -389,7 +404,7 @@ class Car():
vd = min(self.v + self.a * dt, vmax)
self.v = max(0, vd-self.nu)
return
vleader = leader.v
bleader = leader.b
@ -403,13 +418,17 @@ class Car():
# on calcule le temps qu'on va mettre à arriver à l'intersection
# et le temps que le leader va mettre
lvmax = leader.vmax
if leader.getCurrentEdge().isSpecial():
lvmax = leader.nextNonSpecialEdge().getSpeed()
nextInternalIndex = self.index # Pour la voiture actuelle, dans l'ideal on calculerait la durée selon la vitesse sur chaque troncon
while not self.route[nextInternalIndex].isSpecial(): # Mais pour l'instant on prend juste la vitesse sur le troncon interne (le plus lent en general)
nextInternalIndex += 1
tti, sai = self.calcTti(self.distToInter, self.v, self.route[nextInternalIndex].getLane(0).getSpeed(), self.a) # TODO : laneID
ltti, lsai = self.calcTti(self.leaderDist, vleader, leader.vmax, leader.a)
ltti, lsai = self.calcTti(self.leaderDist, vleader, lvmax, leader.a)
lta = (leader.vmax-vleader) / leader.a # temps ou le leader accelere (i.e on ne gagne pas de vitesse relative) (on considere que leader.a==self.a)
lta = (lvmax-vleader) / leader.a # temps ou le leader accelere (i.e on ne gagne pas de vitesse relative) (on considere que leader.a==self.a)
marg = lta + (lsai-sai) / self.a # marge à prendre pour accelerer après l'intersection sans que le leader nous rattrape
tts = self.v/self.b # time to stop, temps pour s'arreter si on freine mnt
@ -431,12 +450,12 @@ class Car():
# 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 (not self.IA and self.distToInter < 5) or (tti + leader.T + marg) < ltti:
if self.distToInter > self.interMinSpace + dts or (tti + leader.T + marg) < ltti:
self.v = min(vmax, self.v + self.a*dt)
#print(self.id, "ca passe")
else:# sinon on freine
self.v = max(0, self.v - self.b*dt)
self.updateGraph(self.v, vmax, 0)
self.updateGraph(self.v, vmax, self.leaderDist)
return
vb = (vleader + self.v) / 2
@ -454,7 +473,7 @@ class Car():
while l is not None and timeout > 0:
ls.append(l.id)
if l.id == self.id:
print(ls)
#print(ls)
return True
timeout -= 1
l = l.leader

13
comp_rdp_t1.rou.xml Normal file
View File

@ -0,0 +1,13 @@
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on 2022-05-13 14:31:11 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="E1 E10 E9 -E20 -E7"/>
</vehicle>
<vehicle id="v_1" depart="4.50">
<route edges="E8 E4 E11 E10 E9 -E20 -E7"/>
</vehicle>
</routes>

5
main.py
View File

@ -14,6 +14,7 @@ from mainLoop import mainLoop
class MainWindow(QMainWindow):
stopMainLoopTimer = Signal()
startMainLoop = Signal()
def __init__(self):
super().__init__()
self.ui = Ui_MainWindow()
@ -49,6 +50,8 @@ class MainWindow(QMainWindow):
self.ui.startButton.clicked.connect(self.mainLoop.startTimer)
self.ui.stopButton.clicked.connect(self.mainLoop.stopTimer)
self.startMainLoop.connect(self.mainLoop.startTimer)
self.stopMainLoopTimer.connect(self.mainLoop.stopTimer)
self.ui.mainFPS_set.valueChanged.connect(self.drawTimer.setInterval)
@ -65,6 +68,8 @@ class MainWindow(QMainWindow):
self.mainLoop.controller.vroomEnable = not self.mainLoop.controller.vroomEnable
elif e.key() == Qt.Key_S:
self.mainLoop.quickLoad()
elif e.key() == Qt.Key_G:
self.startMainLoop.emit()
def updateFPS(self):
self.fpsAverage += 1

4
mainLoop.py
View File

@ -88,9 +88,9 @@ class mainLoop(QObject):
@threadSafe
def quickLoad(self):
self.map.fromPath("comp_inter.net.xml")
self.map.fromPath("comp_rdp.net.xml")
self.painter.generateTransform()
self.controller.fromPath("comp_inter.rou.xml")
self.controller.fromPath("comp_rdp_t1.rou.xml")
self.controller.prepareRoute()
def updateFps(self):