class Truck(object):
"""Truck Class"""
# les attribus: pos: qui indique la position du camion utile pour la position de la grue,
# busy:"True":le camion porte toujours des objets,
# "false":il ne porte plus d'objet donc il est libre de se déplacer
def __init__(self,
length=50,
width=20,
road=None,
shape=None,
track=0,
vel=5,
busy=True,
waiting_time=0,
pos=(0, 0),
arrived=False):
self.length = length
self.width = width
self.road = road
self.shape = shape
self.track = track
self.vel = vel
self.busy = busy
self.waiting_time = waiting_time
self.first_stop = waiting_time
self.pos = pos
self.arrived = arrived
def road_part(self):
cum_dist = numpy.cumsum(self.road.dist)
cum_dist = numpy.insert(arr=cum_dist, obj=0, values=0)
for i in range(0, len(cum_dist) - 1, 1):
if cum_dist[i] <= self.track < cum_dist[i + 1]:
return i, cum_dist[i]
def pos_on_road(self):
rp = self.road_part()
ind = rp[0]
dist = rp[1]
alpha = math.atan2(self.road.pos[ind + 1][1] - self.road.pos[ind][1],
self.road.pos[ind + 1][0] - self.road.pos[ind][0])
pos = (self.road.pos[ind][0] + (self.track - dist) * math.cos(alpha),
self.road.pos[ind][1] + (self.track - dist) * math.sin(alpha))
if not self.arrived:
self.pos = pos
# print("truck position "+ str(self.pos))
return pos, alpha - math.pi / 2
def move_along(self, direction):
if direction == "forward" and self.track < sum(
self.road.dist) - self.vel:
self.track += self.vel
if direction == "backward" and self.track > self.vel:
self.track -= self.vel
def move_to(self, delivery, screen):
if delivery.is_completely_inside(truck=self, screen=screen) is False:
self.move_along("forward")
return False
else:
self.vel = 0
self.arrived = True
self.pos = delivery.pos
return True
def calculate_waiting_time(self):
if self.vel == 0:
if self.waiting_time == 0:
self.first_stop = time.time()
self.waiting_time = 10**-8
else:
self.waiting_time = time.time() - self.first_stop
def deliver(self, delivery, screen):
if self.move_to(delivery=delivery, screen=screen):
self.calculate_waiting_time()
if not self.busy:
if self.waiting_time >= 5:
self.vel = 5
self.move_along("forward")
def display(self, screen):
if self.shape is None:
self.shape = Area(name="Truck",
pos=self.road.pos[0],
angle=-90,
width=self.width,
length=self.length)
self.shape.set_color()
self.shape.pos = self.pos_on_road()[0]
self.shape.angle = math.degrees(self.pos_on_road()[1])
self.shape.display_from_center(screen)
