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dist prio

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This commit is contained in:
leo 2022-03-21 15:22:33 +01:00
parent d7dd8e2fa2
commit ab8049e583
Signed by: leo
GPG Key ID: 0DD993BFB2B307DB
1 changed files with 34 additions and 11 deletions
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45
Car.py
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@ -11,16 +11,11 @@ class updateSignals(QObject):
class Car(): class Car():
def getShape(self, edgeInd): def getShape(self, edgeInd):
startEdge = self.route[edgeInd] startEdge = self.route[edgeInd]
nextEdge = self.route[edgeInd+1]
inverted = not (startEdge.getToNode()==nextEdge.getFromNode() or startEdge.getToNode()==nextEdge.getToNode()) laneId = 0
laneId = 0 if not inverted else 1
lane = startEdge.getLane(laneId) lane = startEdge.getLane(laneId)
vmax = lane.getSpeed() vmax = lane.getSpeed()
laneShape = lane.getShape() laneShape = lane.getShape()
if(inverted):
laneShape = laneShape.reverse()
return (laneShape, vmax, laneId) return (laneShape, vmax, laneId)
def initPath(self): def initPath(self):
@ -129,8 +124,8 @@ class Car():
edgeInd+=1 edgeInd+=1
carComing = self.getLeaderAtIntersection(prevInd,edgeInd) carComing = self.getLeaderAtIntersection(prevInd,edgeInd)
if(carComing is not None): if(carComing is not None):
self.leaderDist = l self.leaderDist = l+carComing[0]
return carComing return carComing[1]
if(not self.route[edgeInd].isSpecial()): if(not self.route[edgeInd].isSpecial()):
prevInd = edgeInd prevInd = edgeInd
carsHere = self.controller.getCarsOnLane(self.route[edgeInd].getID(), laneId) carsHere = self.controller.getCarsOnLane(self.route[edgeInd].getID(), laneId)
@ -152,6 +147,22 @@ class Car():
return return
return return
def getCurrentEdge(self):
return self.route[self.index]
def getCarDist(self, car, edge, laneInd, startFromEnd = True):
lanes = edge.getLane(laneInd).getShape().copy()
if startFromEnd:
lanes.reverse()
cDist = 0
for i,l in enumerate(lanes[:-1]):
if car.laneInd != (i if not startFromEnd else len(lanes)-i-2):
cDist += dist(l, lanes[i+1])
else:
cDist += dist(l, car.pos)
return cDist
return cDist
def getLeaderAtIntersection(self, prevInd, edgeInd): def getLeaderAtIntersection(self, prevInd, edgeInd):
if(self.route[edgeInd].isSpecial()): if(self.route[edgeInd].isSpecial()):
return None return None
@ -173,13 +184,25 @@ class Car():
if(f == '0'): if(f == '0'):
continue continue
edge = conn[i].getFrom() edge = conn[i].getFrom()
cars += list(self.controller.getCarsOnLane(edge.getID(), conn[i].getFromLane().getIndex())) # doit y avoir moyen de le faire en gardant les filters, flemme laneInd = conn[i].getFromLane().getIndex()
intLane = self.map.getLane(conn[i].getViaLaneID()) intLane = self.map.getLane(conn[i].getViaLaneID())
intLaneLgt = intLane.getLength()
carsInEdge = list(self.controller.getCarsOnLane(edge.getID(), laneInd)) # doit y avoir moyen de le faire en gardant les filters, flemme
if len(carsInEdge) != 0:
carsInEdge = zip([self.getCarDist(c, edge, laneInd)+intLaneLgt for c in carsInEdge], carsInEdge)
closest = min(carsInEdge, key=lambda c: c[0])
cars.append(closest)
intEdge = intLane.getEdge() intEdge = intLane.getEdge()
cars += list(self.controller.getCarsOnLane(intEdge.getID(), intLane.getIndex())) carsInEdge = list(self.controller.getCarsOnLane(intEdge.getID(), intLane.getIndex()))
if len(carsInEdge) != 0:
carsInEdge = zip([self.getCarDist(c, intEdge, intLane.getIndex()) for c in carsInEdge], carsInEdge)
closest = min(carsInEdge, key=lambda c: c[0])
cars.append(closest)
if(len(cars) == 0): if(len(cars) == 0):
return None return None
return cars[0] # TODO: récuperer la voiture la plus proche au lieu d'un au hasard cDist,closest = min(cars, key=lambda c: c[0])
return (cDist,closest)
def draw(self,painter): def draw(self,painter):
pt = QPointF(*self.pos) pt = QPointF(*self.pos)