def _determinePlatoonVType(self, mode):
'''_determinePlatoonVType(PlatoonMode) -> string
Returns the type ID corresponding to the given mode. Uses the vehicles vType and the global map PLATOON_VTYPES
between original and platoon-vTypes. If the original vType is not mapped to any platoon-vtypes,
the original vType is used for platooning as well
'''
global WARNED_DEFAULT
# original vType
origVType = self._vTypes[PlatoonMode.NONE]
if origVType not in cfg.PLATOON_VTYPES \
or mode not in cfg.PLATOON_VTYPES[origVType] \
or cfg.PLATOON_VTYPES[origVType][mode] is "":
if "default" in cfg.PLATOON_VTYPES and mode in cfg.PLATOON_VTYPES["default"]:
if rp.VERBOSITY >= 1 and not WARNED_DEFAULT[mode]:
warn(("Using default vType '%s' for vehicle '%s' (PlatoonMode: '%s'). " +
"This warning is issued only once.") %
(cfg.PLATOON_VTYPES["default"][mode], self._ID, PlatoonMode(mode).name))
WARNED_DEFAULT[mode] = True
return cfg.PLATOON_VTYPES["default"][mode]
else:
if rp.VERBOSITY >= 1 and not WARNED_DEFAULT[mode]:
warn(("No vType specified for PlatoonMode '%s' for vehicle '%s'. Behavior within " +
"platoon is NOT altered. This warning is issued only once.") % (
PlatoonMode(mode).name, self._ID))
WARNED_DEFAULT[mode] = True
return origVType
if rp.VERBOSITY >= 3:
report("Using vType '%s' for vehicle '%s' (PlatoonMode: '%s')." %
(cfg.PLATOON_VTYPES[origVType][mode], self._ID, PlatoonMode(mode).name))
return cfg.PLATOON_VTYPES[origVType][mode]
def setPlatoonMode(self, mode):
'''setPlatoonMode(PlatoonMode)
Assign this vehicle the vType corresponding to the given 'mode'
'mode' is from Globals.PlatoonMode Enum. (safety checks have to be done at caller site)
'''
if self._currentPlatoonMode == mode:
# do nothing mode is already chosen
return
if rp.VERBOSITY >= 3:
report("Vehicle '%s': Setting PlatoonMode '%s'" % (self._ID, PlatoonMode(mode).name))
if self._vTypes[mode] != self._vTypes[self._currentPlatoonMode]:
traci.vehicle.setType(self._ID, self._vTypes[mode])
# if self._speedFactors[mode] != self._speedFactors[self._currentPlatoonMode]:
# Safer to call always since active speed factor mechanism may have changed
# current speed factor from basic speedfactor
traci.vehicle.setSpeedFactor(self._ID, self._speedFactors[mode])
if self._laneChangeModes[mode] != self._laneChangeModes[self._currentPlatoonMode]:
traci.vehicle.setLaneChangeMode(self._ID, self._laneChangeModes[mode])
self.resetSplitCountDown()
self._splitConditions = False
self._currentPlatoonMode = mode
