sim leader alg
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c18d11bc17
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98
Car.py
98
Car.py
@ -322,7 +322,14 @@ class Car():
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return self.cligno[self.index] != self.CLIGNO_NONE
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def nextNonSpecialEdge(self, startOffset = 1):
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return next(filter(lambda e: not e.isSpecial(), islice(self.route, self.index + startOffset, None)))
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res = None
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try:
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res = next(filter(lambda e: not e.isSpecial(), islice(self.route, self.index + startOffset, None)))
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except StopIteration:
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return
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else:
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return res
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def draw(self,painter, colorOverride):
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pt = QPointF(*self.pos)
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@ -370,7 +377,7 @@ class Car():
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if(leader is None):
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self.v = vmax
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self.updateGraph(self.v, vmax, 0)
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self.updateGraph(self.v, vmax, 0, 0)
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return
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vleader=50#self.v
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bleader=self.b
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@ -426,7 +433,7 @@ class Car():
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sai = vmax
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return (tti, sai)
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def conduiteKrauss(self, vmax, leader, dt):
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def conduiteKrauss(self, vmax, leader, leaderAtInter, dt):
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"""if self.id == "f_00" and self.controller.t%10>5:
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self.v = 0
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return
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@ -439,38 +446,39 @@ class Car():
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self.v = 0
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return
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if self.leaderAtInter is None:
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if leaderAtInter is None:
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self.forceThrough = False
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if leader is None:
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if leader is None and leaderAtInter is None:
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vd = min(self.v + self.a * dt, vmax)
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self.v = max(0, vd-self.nu)
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return
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vleader = leader.v
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bleader = leader.b
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vsecInter = vmax
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# si on est à une intersection
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if(self.leaderAtInter is not None):
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if(leaderAtInter is not None):
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if self.v == 0:
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self.timeAtInter += dt
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else:
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self.timeAtInter = 0
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vleader = leaderAtInter.v
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# on calcule le temps qu'on va mettre à arriver à l'intersection
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# et le temps que le leader va mettre
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lvmax = leader.vmax
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if leader.getCurrentEdge().isSpecial():
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lvmax = leader.nextNonSpecialEdge().getSpeed()
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lvmax = leaderAtInter.vmax
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if leaderAtInter.getCurrentEdge().isSpecial():
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lvmax = leaderAtInter.nextNonSpecialEdge().getSpeed()
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nextInternalIndex = self.index # Pour la voiture actuelle, dans l'ideal on calculerait la durée selon la vitesse sur chaque troncon
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while not self.route[nextInternalIndex].isSpecial(): # Mais pour l'instant on prend juste la vitesse sur le troncon interne (le plus lent en general)
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nextInternalIndex += 1
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tti, sai = self.calcTti(self.distToInter, self.v, self.route[nextInternalIndex].getLane(0).getSpeed(), self.a) # TODO : laneID
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ltti, lsai = self.calcTti(self.leaderDist, vleader, lvmax, leader.a)
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ltti, lsai = self.calcTti(self.leaderAtInterDist, vleader, lvmax, leaderAtInter.a)
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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)
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lta = (lvmax-vleader) / leaderAtInter.a # temps ou le leader accelere (i.e on ne gagne pas de vitesse relative) (on considere que leader.a==self.a)
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marg = lta + (lsai-sai) / self.a # marge à prendre pour accelerer après l'intersection sans que le leader nous rattrape
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tts = self.v/self.b # time to stop, temps pour s'arreter si on freine mnt
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@ -479,58 +487,60 @@ class Car():
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#print(self.distToInter, self.minSpace, dts)
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# Si on est bloqué dans une dépendance circulaire
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if self.timeAtInter >= 0 and self.circularLeaderDep():
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if self.timeAtInter >= 0 and self.leader is None and self.circularLeaderDep(self.leaderAtInter, 20):
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self.forceThrough = True
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if self.forceThrough:
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self.leader = None # On supprime le leader (pour que seulement la premiere voiture detecte la dependance circulaire)
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self.v = min(vmax, self.v + self.a*dt)
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return
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if False and self.leaderStopped > 1:
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self.v = min(vmax, self.v + self.a*dt)
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return
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# si on est suffisement loin de l'intersection (i.e on s'en fout du leader)
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# ou si on as le temps d'arriver à l'intersection avant le leader (plus un marge pour garder un distance de sécu)
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# alors on accelere pour s'inserer
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#print(tti, leader.T, marg, ltti)
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if self.distToInter > self.interMinSpace + dts or (tti + leader.T + marg) < ltti:
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self.v = min(vmax, self.v + self.a*dt)
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if self.distToInter > self.interMinSpace + dts or (tti + leaderAtInter.T + marg) < ltti:
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vsecInter = min(vmax, self.v + self.a*dt)
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#print(self.id, "ca passe")
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else:# sinon on freine
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self.v = max(0, self.v - self.b*dt)
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self.updateGraph(self.v, vmax, self.leaderDist)
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return
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vsecInter = max(0, self.v - self.b*dt)
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if self.forceThrough:
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self.leaderAtInter = None # On supprime le leader (pour que seulement la premiere voiture detecte la dependance circulaire)
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vsecInter = min(vmax, self.v + self.a*dt)
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vsec = vmax
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if leader is not None:
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vleader = leader.v
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bleader = leader.b
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vb = (vleader + self.v) / 2
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bb = (bleader + self.b) / 2
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vsec = vleader + (self.leaderDist - vleader * self.T - self.minSpace)/((vb/bb) + self.T)
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vd = min(self.v + self.a * dt, vsec, vmax)
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vd = min(self.v + self.a * dt, vsec, vmax, vsecInter)
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self.v = max(0, vd-self.nu)
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self.updateGraph(self.v, vmax, vsec)
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self.updateGraph(self.v, vmax, vsec, vsecInter)
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# fonction pour verifier si on as pas une dependence circulaire de leader
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def circularLeaderDep(self):
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l = self.leader
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timeout = 4
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ls = []
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while l is not None and timeout > 0:
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ls.append(l.id)
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if l.id == self.id:
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#print(ls)
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return True
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timeout -= 1
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l = l.leader
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def circularLeaderDep(self, car, timeout):
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if timeout <= 0:
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return False
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def updateGraph(self, v, vmax, vsec):
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if car is None:
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return False
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if car.id == self.id:
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return True
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timeout -= 1
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res = self.circularLeaderDep(car.leader, timeout)
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res |= self.circularLeaderDep(car.leaderAtInter, timeout)
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return res
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def updateGraph(self, v, vmax, vsec, interVsec):
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if self.infoWidg is None:
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return
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self.signals.addGraphPt.emit((2,self.controller.t,v))
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self.signals.addGraphPt.emit((0,self.controller.t,vmax))
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self.signals.addGraphPt.emit((1,self.controller.t,vsec))
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self.signals.addGraphPt.emit((3,self.controller.t,interVsec))
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def update(self,dt):
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if self.controller.t < self.startTime:
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@ -546,7 +556,7 @@ class Car():
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if self.dynSpeed:
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vmax = max(min(self.vmax * self.controller.dynSpeedRat, self.vmax), 8)
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self.conduiteKrauss(vmax,self.leader,dt)
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self.conduiteKrauss(vmax,self.leader,self.leaderAtInter,dt)
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if self.v == 0:
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self.timeStopped += dt
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@ -16,13 +16,13 @@ class carInfo(QWidget):
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self.ui.setupUi(self)
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self.maxV = 0
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self.parent = parent
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self.pointsCount = [0,0,0]
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self.pointsCount = [0] * 4
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self.minX = 0
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self.chart = self.ui.speedGraph.chart()
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#self.chart.setAnimationOptions(QChart.AllAnimations)
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speedsNames = ["vmax","vsec","Vitesse (m.s^-1)"]
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speedsNames = ["vmax","vsec","Vitesse (m.s^-1)","inter vsec"]
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self.speedSeries = []
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for ind,s in enumerate(speedsNames):
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self.speedSeries.append(QLineSeries())
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