def __carDecision(self):
if self.__arriveDest==1 or self.__ifCrash==1 or self.__ifDestReachable==0:
return carmovement(self.getDeviceID(),[])
self.__velocity = self.__maxVelocity
myMovement = carmovement(self.getDeviceID(),[])
for unitv in range(self.__velocity):
startCordinateStr = self.__carPath[self.__curPosInPath+unitv]
startPosOfComma = int(startCordinateStr.index(','))
startPosX = (int)(startCordinateStr[0:startPosOfComma])
startPosY = (int)(startCordinateStr[startPosOfComma+1:len(startCordinateStr)])
endCordinateStr = self.__carPath[self.__curPosInPath+unitv+1]
endPosOfComma = int(endCordinateStr.index(','))
endPosX = (int)(endCordinateStr[0:endPosOfComma])
endPosY = (int)(endCordinateStr[endPosOfComma+1:len(endCordinateStr)])
if startPosY==endPosY and endPosX==startPosX-1:
myMovement.addStep(0)
elif startPosX==endPosX and endPosY==startPosY+1:
myMovement.addStep(1)
elif startPosY==endPosY and endPosX==startPosX+1:
myMovement.addStep(2)
elif startPosX==endPosX and endPosY==startPosY-1:
myMovement.addStep(3)
else:
print ("Error in costructing steps")
return myMovement
def Update(self,simulatorIns):
candp = simulatorIns.checkCycleAndPosition(self.getDeviceID())
#print (candp)
if candp is None:
return carmovement(self.getDeviceID(),[])
self.__curCycle = candp[0]
self.setPosX(candp[1])
self.setPosY(candp[2])
if self.__arriveDest==1 or self.__ifCrash==1:
return carmovement(self.getDeviceID(),[])
if candp[1]==self.__destPosX and candp[2]==self.__destPosY:
self.__arriveDest = 1
print ("Car {0} has arrived.".format(self.getDeviceID()))
return carmovement(self.getDeviceID(),[])
#GPSListener work
#self.__carGPSListener.GPSMsgQueue.clear()
#newMsg = simulatorIns.feedGPSMessage(self.getDeviceID())
#self.__carGPSListener.receiveGPSMessageTest(newMsg,self.__curCycle)
if len(self.__gpsReceiver.GPSMsgQueue)>0:
#print("Car {} has a GPS message!".format(self.getDeviceID()))
self.dealGPSMessage()
if len(self.__carPath)==0:
return carmovement(self.getDeviceID(),[])
pathElement = str(self.getPosX())+','+str(self.getPosY())
for i in range(len(self.__carPath)):
if pathElement==self.__carPath[i]:
self.__curPosInPath = i
break
for s in self.__statusList:
carx = s.getStatusCarPosX()
cary = s.getStatusCarPosY()
self.__myMap[carx][cary].clearCarIDs()
self.__statusList.clear()
sList = simulatorIns.lookAround(self.getDeviceID())
self.__statusList = deepcopy(sList)
for s in self.__statusList:
carx = s.getStatusCarPosX()
cary = s.getStatusCarPosY()
self.__myMap[carx][cary].addCarID(s.getStatusCarDevID())
#print ("I am Car {0}".format(self.getDeviceID()))
#print ("My path is:")
#print (self.__carPath)
myMovement = self.__carDecision()
return myMovement
def Update(self,simulatorIns):
candp = simulatorIns.checkCycleAndPosition(self.getDeviceID())
#print (candp)
if candp is None:
return carmovement(self.getDeviceID(),[])
self.__curCycle = candp[0]
self.setPosX(candp[1])
self.setPosY(candp[2])
if self.__arriveDest==1 or self.__ifCrash==1:
return carmovement(self.getDeviceID(),[])
if candp[1]==self.__destPosX and candp[2]==self.__destPosY:
self.__arriveDest = 1
print ("Car {0} has arrived.".format(self.getDeviceID()))
return carmovement(self.getDeviceID(),[])
pathElement = str(self.getPosX())+','+str(self.getPosY())
for i in range(len(self.__carPath)):
if pathElement==self.__carPath[i]:
self.__curPosInPath = i
break
for s in self.__statusList:
carx = s.getStatusCarPosX()
cary = s.getStatusCarPosY()
self.__myMap[carx][cary].clearCarIDs()
self.__statusList.clear()
sList = simulatorIns.lookAround(self.getDeviceID())
self.__statusList = deepcopy(sList)
for s in self.__statusList:
carx = s.getStatusCarPosX()
cary = s.getStatusCarPosY()
self.__myMap[carx][cary].addCarID(s.getStatusCarDevID())
#print ("I am Car {0}".format(self.getDeviceID()))
#print ("My path is:")
#print (self.__carPath)
myMovement = self.__carDecision()
return myMovement
def __carDecision(self):
if self.__arriveDest==1 or self.__ifCrash==1 or self.__ifDestReachable==0:
return carmovement(self.getDeviceID(),[])
for i in range(1,self.__maxVelocity+1):
if self.__curPosInPath+i>=len(self.__carPath):
break
cordinateStr = self.__carPath[self.__curPosInPath+i]
posOfComma = int(cordinateStr.index(','))
aheadPosX = (int)(cordinateStr[0:posOfComma])
aheadPosY = (int)(cordinateStr[posOfComma+1:len(cordinateStr)])
if len(self.__myMap[aheadPosX][aheadPosY].getRoadDirecs())==0:
print ("Device {0} old path fail, recalculate path".format(self.getDeviceID()))
self.__recalculatePath()
if len(self.__carPath)==0:
return carmovement(self.getDeviceID(),[])
else:
break
self.__velocity = 0
posOfLightAhead = []
idOfLightAhead = []
posOfCarAhead = []
for i in range(1,self.__maxVelocity+1):
if self.__curPosInPath+i>=len(self.__carPath):
break
cordinateStr = self.__carPath[self.__curPosInPath+i]
posOfComma = int(cordinateStr.index(','))
aheadPosX = (int)(cordinateStr[0:posOfComma])
aheadPosY = (int)(cordinateStr[posOfComma+1:len(cordinateStr)])
if self.__myMap[aheadPosX][aheadPosY].getLightID()!=-1:
posOfLightAhead.append(i)
idOfLightAhead.append(self.__myMap[aheadPosX][aheadPosY].getLightID())
if len(self.__myMap[aheadPosX][aheadPosY].getCarIDs())>0:
posOfCarAhead.append(i)
if len(posOfLightAhead)==0:
#no light ahead
if len(posOfCarAhead)==0:
if self.__curPosInPath+self.__maxVelocity>=len(self.__carPath):
self.__velocity = len(self.__carPath)-1-self.__curPosInPath
#print ("no light no car dest ahead, my velocity is",self.__velocity)
else:
self.__velocity = self.__maxVelocity
#print ("no light no car, my velocity is",self.__velocity)
else:
self.__velocity = posOfCarAhead[0]-1
#print ("no light exist car, my velocity is",self.__velocity)
else:
#light ahead
for p in range(1,self.__maxVelocity+1):
if self.__curPosInPath+p>=len(self.__carPath):
break
aheadCordinateStr = self.__carPath[self.__curPosInPath+p]
aheadPosOfComma = int(aheadCordinateStr.index(','))
aheadPosX = (int)(aheadCordinateStr[0:aheadPosOfComma])
aheadPosY = (int)(aheadCordinateStr[aheadPosOfComma+1:len(aheadCordinateStr)])
if self.__myMap[aheadPosX][aheadPosY].getLightID()!=-1:
aheadLightSignalRule = self.__myMap[aheadPosX][aheadPosY].getPointLightRule()
aheadLightSignal = self.readLightSignal(aheadLightSignalRule)
if self.getPosX()==aheadPosX and aheadLightSignal==0:
break
elif self.getPosY()==aheadPosY and aheadLightSignal==1:
break
elif self.getPosX()!=aheadPosX and self.getPosY()!=aheadPosY:
formerCordinateStr = self.__carPath[self.__curPosInPath+p-1]
formerPosOfComma = int(formerCordinateStr.index(','))
formerPosX = (int)(formerCordinateStr[0:formerPosOfComma])
formerPosY = (int)(formerCordinateStr[formerPosOfComma+1:len(formerCordinateStr)])
if formerPosX==aheadPosX and aheadLightSignal==0:
break
elif formerPosY==aheadPosY and aheadLightSignal==1:
break
else:
continue
else:
continue
if len(self.__myMap[aheadPosX][aheadPosY].getCarIDs())!=0:
break
self.__velocity = p
myMovement = carmovement(self.getDeviceID(),[])
for unitv in range(self.__velocity):
startCordinateStr = self.__carPath[self.__curPosInPath+unitv]
startPosOfComma = int(startCordinateStr.index(','))
startPosX = (int)(startCordinateStr[0:startPosOfComma])
startPosY = (int)(startCordinateStr[startPosOfComma+1:len(startCordinateStr)])
endCordinateStr = self.__carPath[self.__curPosInPath+unitv+1]
endPosOfComma = int(endCordinateStr.index(','))
endPosX = (int)(endCordinateStr[0:endPosOfComma])
endPosY = (int)(endCordinateStr[endPosOfComma+1:len(endCordinateStr)])
if startPosY==endPosY and endPosX==startPosX-1:
myMovement.addStep(0)
elif startPosX==endPosX and endPosY==startPosY+1:
myMovement.addStep(1)
elif startPosY==endPosY and endPosX==startPosX+1:
myMovement.addStep(2)
elif startPosX==endPosX and endPosY==startPosY-1:
myMovement.addStep(3)
else:
print ("Error in costructing steps")
return myMovement