def execute(dsrc_unit):
receiver_module = Plugin.get_receiver_module()
if receiver_module.stopSign:
# print "Stop"
dsrc_unit.job_processor.pause_processor()
elif receiver_module.slowSign:
# print "Slow down"
if dsrc_unit.job_processor.currentJob:
arg1 = dsrc_unit.job_processor.currentJob.arg1
if arg1 > 15:
arg2 = dsrc_unit.job_processor.currentJob.arg2
time = dsrc_unit.job_processor.currentJob.get_current_left_time()
new_time = arg1 * time / 15
# print "Slow New time:" + str(new_time)
job = Job(dsrc_unit, DSRC_JobProcessor.GO, new_time, 15, arg2)
dsrc_unit.job_processor.insert_new_job(job)
dsrc_unit.job_processor.cancel_current_job()
else:
# print "Normal"
if dsrc_unit.job_processor.pause:
dsrc_unit.job_processor.resume_processor()
else:
if dsrc_unit.job_processor.currentJob:
arg1 = dsrc_unit.job_processor.currentJob.arg1
if 0 < arg1 < 30:
arg2 = dsrc_unit.job_processor.currentJob.arg2
time = dsrc_unit.job_processor.currentJob.get_current_left_time()
new_time = arg1 * time / 30
# print "Normal New time:" + str(new_time)
job = Job(dsrc_unit, DSRC_JobProcessor.GO, new_time, 30, arg2)
dsrc_unit.job_processor.insert_new_job(job)
dsrc_unit.job_processor.cancel_current_job()
def customized_event_handler(dsrc_unit, event):
if dsrc_unit.seq == event.seq:
return
else:
if event.seq:
dsrc_unit.seq = event.seq
dsrc_unit.send_ack(event.seq)
if event.type == DSRC_Event.TYPE_CUSTOMIZED:
if event.subtype == 'auto_setup':
setup_lock.acquire()
current_time = time.time()
global auto_time
if current_time - auto_time > time_duration:
# print "cross auto setup"
x = event.x
y = event.y
d = event.r
jobs = dsrc_unit.position_tracker.jobs_to_go(x, y)
if jobs:
job1_arg = jobs['job1']
job2_arg = jobs['job2']
current_r = dsrc_unit.position_tracker.radian / (math.pi *
2) * 360
changebyjob1 = job1_arg[2] * job1_arg[1]
d_after_change = current_r + changebyjob1
diff = (d - d_after_change) % 360
rotate_speed = 45
if diff > 180:
diff = 360 - diff
rotate_speed = -45
job3_time = abs(diff / float(rotate_speed))
job1 = Job(dsrc_unit, DSRC_JobProcessor.GO, job1_arg[2],
job1_arg[0], job1_arg[1])
job2 = Job(dsrc_unit, DSRC_JobProcessor.GO, job2_arg[2],
job2_arg[0], job2_arg[1])
job3 = Job(dsrc_unit, DSRC_JobProcessor.GO, job3_time, 0,
rotate_speed)
dsrc_unit.job_processor.add_new_job(job1)
dsrc_unit.job_processor.add_new_job(job2)
dsrc_unit.job_processor.add_new_job(job3)
auto_time = time.time()
setup_lock.release()
elif event.subtype == 'automove':
move_lock.acquire()
current_time = time.time()
global execute_time
if current_time - execute_time > time_duration:
# print "cross auto move"
global do
do = event.do_it
execute_time = time.time()
job = Job(dsrc_unit, DSRC_JobProcessor.GO, 8, 30, 0)
dsrc_unit.job_processor.add_new_job(job)
move_lock.release()
def execute(dsrc_unit):
receiver_module = Plugin.get_receiver_module()
# print "execute"
if receiver_module.do:
job1 = Job(dsrc_unit, DSRC_JobProcessor.GO, 3, 30, 0)
job2 = Job(dsrc_unit, DSRC_JobProcessor.GO, 2, 20, 45)
job3 = Job(dsrc_unit, DSRC_JobProcessor.GO, 2, 20, -45)
job4 = Job(dsrc_unit, DSRC_JobProcessor.GO, 3, 30, 0)
dsrc_unit.job_processor.add_new_job(job1)
dsrc_unit.job_processor.add_new_job(job2)
dsrc_unit.job_processor.add_new_job(job3)
dsrc_unit.job_processor.add_new_job(job4)
receiver_module.execute_time = time.time()
receiver_module.do = False
def customized_cmd(dsrc_unit, user_input):
# global Lane_sign
# if user_input == "auto":
# print "Auto driving!"
# Lane_sign = True
# elif user_input == "back":
# print "Back to manual mode"
# Lane_sign = False
# elif user_input == 'plugin':
# print "I am lane executor!"
if user_input == "auto":
job = Job(dsrc_unit, DSRC_JobProcessor.GO, 8, 30, 0)
dsrc_unit.job_processor.add_new_job(job)
elif user_input == "help":
print "auto"
def execute(dsrc_unit):
global DO_IT
if DO_IT:
job1 = Job(dsrc_unit, DSRC_JobProcessor.GO, 12, SPEED, 0)
job2 = Job(dsrc_unit, DSRC_JobProcessor.GO, 2, 0, 45)
job3 = Job(dsrc_unit, DSRC_JobProcessor.GO, 12, SPEED, 0)
job4 = Job(dsrc_unit, DSRC_JobProcessor.GO, 2, 0, 45)
job5 = Job(dsrc_unit, DSRC_JobProcessor.GO, 12, SPEED, 0)
job6 = Job(dsrc_unit, DSRC_JobProcessor.GO, 2, 0, 45)
job7 = Job(dsrc_unit, DSRC_JobProcessor.GO, 12, SPEED, 0)
job8 = Job(dsrc_unit, DSRC_JobProcessor.GO, 2, 0, 45)
dsrc_unit.job_processor.add_new_job(job1)
dsrc_unit.job_processor.add_new_job(job2)
dsrc_unit.job_processor.add_new_job(job3)
dsrc_unit.job_processor.add_new_job(job4)
dsrc_unit.job_processor.add_new_job(job5)
dsrc_unit.job_processor.add_new_job(job6)
dsrc_unit.job_processor.add_new_job(job7)
dsrc_unit.job_processor.add_new_job(job8)
DO_IT = False
def customized_event_handler(dsrc_unit, event):
global stopSign
global slowSign
if event.type == Event.TYPE_CAR_CAR:
x1 = dsrc_unit.position_tracker.x
y1 =dsrc_unit.position_tracker.y
r1 = dsrc_unit.position_tracker.radian
coord = event.coordinates
x2 = coord.x
y2 = coord.y
r2 = coord.radian
if dsrc_unit.job_processor.currentJob:
speed1 = dsrc_unit.job_processor.currentJob.arg1
else:
speed1 = 0
speed2 = event.action.arg1
p = calculate_collision_point(x1, y1, r1, x2, y2, r2, speed1, speed2)
if not p:
# print "No collision!"
stopSign = False
slowSign = False
else:
x = p[0]
y = p[1]
safe_distance = p[2]
# distance = calc_dis(x1, y1, x, y)
time1_fast = calc_time(x1, y1, x, y, 30)
time1_slow = calc_time(x1, y1, x, y, 15)
time1_fast_safe = safe_distance / 30
time1_slow_safe = safe_distance / 15
# time2 = calc_time(x2, y2, x, y, speed2)
# print str(x) + ":" + str(y) + ":time_f:" + str(time1_f) + ":time_s:" + str(time1_s) + ":time2:" + str(time2)
if time1_slow < time1_slow_safe + 4:
stopSign = True
elif time1_fast < time1_fast_safe + 4:
stopSign = False
slowSign = True
else:
stopSign = False
slowSign = False
# if abs(time1_s - time2) <= 3 and time1_s <= 3:
# # print "Stop sign"
# stopSign = True
# elif abs(time1_f - time2) <= 5 and time1_f <= 5:
# # print "Slow sign"
# stopSign = False
# slowSign = True
# else:
# # print "No sign"
# stopSign = False
# slowSign = False
elif event.type == Event.TYPE_CUSTOMIZED:
if dsrc_unit.seq == event.seq:
return
else:
if event.seq:
dsrc_unit.seq = event.seq
dsrc_unit.send_ack(event.seq)
# print str(event.subtype)
if event.subtype == 'auto_setup':
setup_lock.acquire()
current_time = time.time()
global auto_time
if current_time - auto_time > time_duration:
# print "lane new auto setup"
x = event.x
y = event.y
d = event.r
jobs = dsrc_unit.position_tracker.jobs_to_go(x, y)
if jobs:
job1_arg = jobs['job1']
job2_arg = jobs['job2']
current_r = dsrc_unit.position_tracker.radian/(math.pi*2)*360
changebyjob1 = job1_arg[2] * job1_arg[1]
d_after_change = current_r + changebyjob1
diff = (d - d_after_change) % 360
rotate_speed = 45
if diff > 180:
diff = 360 - diff
rotate_speed = -45
job3_time = abs(diff/float(rotate_speed))
job1 = Job(dsrc_unit, DSRC_JobProcessor.GO, job1_arg[2], job1_arg[0], job1_arg[1])
job2 = Job(dsrc_unit, DSRC_JobProcessor.GO, job2_arg[2], job2_arg[0], job2_arg[1])
job3 = Job(dsrc_unit, DSRC_JobProcessor.GO, job3_time, 0, rotate_speed)
dsrc_unit.job_processor.add_new_job(job1)
dsrc_unit.job_processor.add_new_job(job2)
dsrc_unit.job_processor.add_new_job(job3)
auto_time = time.time()
setup_lock.release()
elif event.subtype == 'automove':
move_lock.acquire()
current_time = time.time()
global execute_time
if current_time - execute_time > time_duration:
# print "lane new auto move"
global do
do = event.do_it
execute_time = time.time()
job = Job(dsrc_unit, DSRC_JobProcessor.GO, 8, 30, 0)
dsrc_unit.job_processor.add_new_job(job)
# print str(do)
move_lock.release()
def customized_event_handler(dsrc_unit, event):
global stopSign
global slowSign
if event.type == Event.TYPE_CAR_CAR:
x1 = dsrc_unit.position_tracker.x
y1 =dsrc_unit.position_tracker.y
r1 = dsrc_unit.position_tracker.radian
coord = event.coordinates
x2 = coord.x
y2 = coord.y
r2 = coord.radian
if dsrc_unit.job_processor.currentJob:
speed1 = dsrc_unit.job_processor.currentJob.arg1
else:
speed1 = 0
speed2 = event.action.arg1
p = calculate_collision_point(x1, y1, r1, x2, y2, r2, speed1, speed2)
if not p:
# print "No collision!"
stopSign = False
slowSign = False
else:
x = p[0]
y = p[1]
time1_f = calc_time(x1, y1, x, y, 30)
time1_s = calc_time(x1, y1, x, y, 15)
time2 = calc_time(x2, y2, x, y, speed2)
# print str(x) + ":" + str(y) + ":time_f:" + str(time1_f) + ":time_s:" + str(time1_s) + ":time2:" + str(time2)
if abs(time1_s - time2) <= 3 and time1_s <= 5:
# print "Stop sign"
stopSign = True
elif abs(time1_f - time2) <= 5 and time1_f <= 7:
# print "Slow sign"
stopSign = False
slowSign = True
else:
# print "No sign"
stopSign = False
slowSign = False
elif event.type == Event.TYPE_CUSTOMIZED:
if dsrc_unit.seq == event.seq:
return
else:
if event.seq:
dsrc_unit.seq = event.seq
dsrc_unit.send_ack(event.seq)
if event.subtype == 'auto_setup':
x = event.x
y = event.y
d = event.r
jobs = dsrc_unit.position_tracker.jobs_to_go(x, y)
if jobs:
job1_arg = jobs['job1']
job2_arg = jobs['job2']
current_r = dsrc_unit.position_tracker.radian/(math.pi*2)*360
changebyjob1 = job1_arg[2] * job1_arg[1]
d_after_change = current_r + changebyjob1
diff = (d - d_after_change) % 360
rotate_speed = 45
if diff > 180:
diff = 360 - diff
rotate_speed = -45
job3_time = abs(diff/float(rotate_speed))
job1 = Job(dsrc_unit, DSRC_JobProcessor.GO, job1_arg[2], job1_arg[0], job1_arg[1])
job2 = Job(dsrc_unit, DSRC_JobProcessor.GO, job2_arg[2], job2_arg[0], job2_arg[1])
job3 = Job(dsrc_unit, DSRC_JobProcessor.GO, job3_time, 0, rotate_speed)
dsrc_unit.job_processor.add_new_job(job1)
dsrc_unit.job_processor.add_new_job(job2)
dsrc_unit.job_processor.add_new_job(job3)