priorités (à peu prés) respectées

Car.py

@@ -1,5 +1,5 @@
 import sumolib
-from math import dist, ceil, sqrt
+from math import dist, ceil, sqrt, log
 from random import randint
 from PySide6.QtGui import QPainter
 from PySide6.QtCore import QPointF, Signal, QObject
@@ -99,6 +99,7 @@ class Car():
     def getLeader(self, maxDist):
         shapeInd = self.laneInd
         edgeInd = self.index
+        prevInd = edgeInd
         laneShape = self.laneShape
         laneId = self.laneId
         l = 0
@@ -126,6 +127,12 @@ class Car():
                 if(shapeInd>=len(laneShape)-1):
                     shapeInd = 0
                     edgeInd+=1
+                    carComing = self.getLeaderAtIntersection(prevInd,edgeInd)
+                    if(carComing is not None):
+                        self.leaderDist = l
+                        return carComing
+                    if(not self.route[edgeInd].isSpecial()):
+                        prevInd = edgeInd
                     carsHere = self.controller.getCarsOnLane(self.route[edgeInd].getID(), laneId)
                     carsHere = list(filter(lambda c: c.id != self.id, carsHere)) # me demande pas pourquoi mais si on le convertit pas en liste ici le filter original est modifié
                     if(edgeInd>=len(self.route)-1):
@@ -145,6 +152,35 @@ class Car():
                     return
         return
 
+    def getLeaderAtIntersection(self, prevInd, edgeInd):
+        if(self.route[edgeInd].isSpecial()):
+            return None
+        inter = self.route[edgeInd-1].getFromNode()
+        connection = self.route[prevInd].getConnections(self.route[edgeInd])[0]
+        linkInd = inter.getLinkIndex(connection)
+        if(linkInd == -1): # Ca devrait pas arriver, mais de toute évidence ça arrive
+            return;
+        resp = inter._prohibits[linkInd] # Si je me souvient bien les variables précédées d'un _ doivent pas être touchées?
+        connRaw = inter.getConnections()
+        conn = [0] * len(resp)
+        for c in connRaw:
+            ind = inter.getLinkIndex(c)
+            if(ind == -1):
+                continue
+            conn[ind] = c
+        cars = None
+        for i,f in enumerate(reversed(resp)):
+            if(f == '0'):
+                continue
+            edge = conn[i].getFrom()
+            cars = self.controller.getCarsOnLane(edge.getID(), conn[i].getFromLane().getIndex())
+        if(cars is None):
+            return
+        cars = list(cars)
+        if(len(cars) == 0):
+            return None
+        return cars[0] # TODO: récuperer la voiture la plus proche au lieu d'un au hasard
+
     def draw(self,painter):
         pt = QPointF(*self.pos)
         painter.drawEllipse(pt,self.size,self.size)

Map.py

@@ -50,7 +50,7 @@ class Map:
     @safeCall
     def getLane(self,laneID):
         return self.net.getLane(laneID)
-    
+
     @safeCall
     def getBounds(self):
         return self.net.getBBoxXY()

mainLoop.py

@@ -64,7 +64,7 @@ class mainLoop(QObject):
             self.controller.update()
         except:
             (type, value, traceback) = sys.exc_info()
-            print(type, value, traceback)
+            print(type, value, traceback.print_tb())
     
     @threadSafe
     def openNetwork(self, filename):

test12.rou.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 
-<!-- generated on 2022-03-13 21:05:20 by Eclipse SUMO netedit Version 1.12.0
+<!-- generated on 2022-03-14 22:49:39 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="E3 E7 E6 E9 E60"/>
+    </vehicle>
     <vehicle id="v_1" depart="0.00">
         <route edges="-E6 E8 E7 E6 E50"/>
     </vehicle>
-    <vehicle id="v_0" depart="1.00">
-        <route edges="E3 E7 E6 E9 E60"/>
-    </vehicle>
 </routes>