def __init__(self, controllers, bgeCars, racingLine, lap=2):
self.controllers = controllers
self.bgeCars = bgeCars
self.registerCars()
self.racingLine = racingLine
self.lap = lap
self.raceLapManager = RaceLapManager(bgeCars)
self.raceRankingManager = RaceRankingManager(bgeCars, racingLine, self.raceLapManager)
self.logger = LoggerHandler(appname=self.__class__.__name__)
def __init__(self,bgeCar):
self.bgeCar = bgeCar
self.logger = LoggerHandler(appname=self.bgeCar.carname + self.__class__.__name__)
class BGECarPositionHandler:
def __init__(self,bgeCar):
self.bgeCar = bgeCar
self.logger = LoggerHandler(appname=self.bgeCar.carname + self.__class__.__name__)
#update internal state based on recent position
def update(self):
self.logger.info(str(self.bgeCar))
idx_inf = self.bgeCar.racingLinePointInf
idx_sup = self.bgeCar.racingLinePointSup
iprev = self.bgeCar.racingLine.getPreviousIndex(idx_inf)
inext = self.bgeCar.racingLine.getNextIndex(idx_sup)
carobj_position = self.bgeCar.getPosition()
vecSupInf = self.bgeCar.racingLine.getCoord(idx_sup) - self.bgeCar.racingLine.getCoord(idx_inf)
vecSupCar = self.bgeCar.racingLine.getCoord(idx_sup) - carobj_position
vecInfCar = self.bgeCar.racingLine.getCoord(idx_inf) - carobj_position
vecInfSup = self.bgeCar.racingLine.getCoord(idx_inf) - self.bgeCar.racingLine.getCoord(idx_sup)
#get previous/next interface point index
next_interface_idx = self.bgeCar.next_interface_idx
next_interface_point_idx = self.bgeCar.tiManager.getInterface(next_interface_idx).racingLinePointIdx
prev_interface_point_idx = self.bgeCar.tiManager.getPreviousInterface(next_interface_idx).racingLinePointIdx
#check angle at point_idx_inf (inf to car and inf to sup): if superior to 90 degree, need to increment idx
#ie: car is moving forward as expected
if tools3d.angleFormated(vecSupInf,vecSupCar)>90.0:
#print('going forward: ' + str(vecSupInf.angle(vecSupCar)))
self.bgeCar.racingLinePointInf = idx_sup
self.bgeCar.racingLinePointSup = inext
#check if need to increment interface (idx_sup is then the new 'point_idx_inf')
if idx_sup==next_interface_point_idx:
self.shiftInterfaceByOne(1)
#check for new lap (idx_sup is then the new 'point_idx_inf')
if idx_sup == 0:
self.bgeCar.notifyEndOfLap()
self.bgeCar.start_race = False
#self.logger.info(str(self.bgeCar))
#check angle at point_idx_sup (sup to car and sup to inf): if superior to 90 degree, need to decrement idx
#ie: car is somehow moving backward for some reason
elif tools3d.angleFormated(vecInfSup,vecInfCar)>90.0:
#print('going backward: ' + str(vecSupInf.angle(vecInfCar)))
self.bgeCar.racingLinePointInf = iprev
self.bgeCar.racingLinePointSup = idx_inf
#check if need to decrement interface (idx_inf is then the new 'point_idx_sup')
if idx_inf==next_interface_point_idx:
self.shiftInterfaceByOne(-1)
#project car position orthogonally on the racing line
orth_pos = self.bgeCar.getOrthPosition()
#distance to next interface
self.bgeCar.dist_next_interface = self.getDistanceToNextInterface(orth_pos)
#distance in current lap
self.bgeCar.dist_lap = self.getDistanceLap(orth_pos)
#increment/decrement car object's next interface by one
def shiftInterfaceByOne(self,iShift):
if iShift==1:
self.bgeCar.next_interface_idx = self.bgeCar.tiManager.getNextInterfaceIdx(self.bgeCar.next_interface_idx)
elif iShift==-1:
self.bgeCar.next_interface_idx = self.bgeCar.tiManager.getPreviousInterfaceIdx(self.bgeCar.next_interface_idx)
#get distance between car position (orthogonally projected on the spline)
#and the next interface
def getDistanceToNextInterface(self,carobj_position_orth):
idx_inf = self.bgeCar.racingLinePointInf
idx_sup = self.bgeCar.racingLinePointSup
#distance between proj orth and next point
dist = (carobj_position_orth - self.bgeCar.racingLine.getCoord(idx_sup)).length
#remaining distance to next interface
remaining_dist = self.bgeCar.racingLine.getRelativeDistance(
idx_sup,self.bgeCar.tiManager.getInterfaceRLIdx(self.bgeCar.next_interface_idx))
#case when AI are thrown far from the track
#the interface count may then be screwed up
#in that case we just need to reset next interface idx
if dist + remaining_dist > max(self.bgeCar.tiManager.interfaceDistances):
#TO DO
print('issue')
return dist + remaining_dist
#compute distance in current lap
#-> used by RaceManager to get ranking
def getDistanceLap(self,carobj_position_orth):
#special case - start of the race
if self.bgeCar.start_race:
return 0.0
#get distance between pos orth and previous point
dist_orth_prev = (carobj_position_orth - self.bgeCar.racingLine.getCoord(self.bgeCar.racingLinePointInf)).length
#get distance between previous point and racing line starting point (point[0])
dist_prev_start = self.bgeCar.racingLine.getDistanceToStart(self.bgeCar.racingLinePointInf)
return dist_orth_prev + dist_prev_start
class RaceManager:
def __init__(self, controllers, bgeCars, racingLine, lap=2):
self.controllers = controllers
self.bgeCars = bgeCars
self.registerCars()
self.racingLine = racingLine
self.lap = lap
self.raceLapManager = RaceLapManager(bgeCars)
self.raceRankingManager = RaceRankingManager(bgeCars, racingLine, self.raceLapManager)
self.logger = LoggerHandler(appname=self.__class__.__name__)
# observer pattern - need to register each car to race manager
def registerCars(self):
for bgeCar in self.bgeCars:
bgeCar.registerRaceManager(self)
# return list of carname ordered by crossed distance DESC
def getRanking(self):
return self.raceRankingManager.getRanking()
# log current ranking
def logCurrentRanking(self):
self.logger.info(self.raceRankingManager.printCurrentRankingNicely())
# log final ranking
def logFinalRanking(self):
self.logger.info(self.raceRankingManager.printFinalRankingNicely())
# log best lap times
def logBestLapTimes(self):
self.logger.info(self.raceLapManager.printBestLapTimesNicely())
# kind of observer pattern:
# bgeCar will call this method and pass itself as argument
# to notify raceManager that it has finished a lap
# raceManager then handles all necessary action
def notifyEndOfLap(self, bgeCar):
# update list of lap time
self.raceLapManager.notifyEndOfLap(bgeCar)
# test race completion for given car
if self.raceCompletedForCar(bgeCar):
self.raceRankingManager.addToFinalRanking(bgeCar)
# update controller to end of race state - if AI
if bgeCar.carname[:3] == "cpu":
controller = self.controllers[bgeCar.carname]
controller.setControl("eor")
# test race completion
if self.raceCompleted():
self.logger.info(
"\n"
+ "############################################\n"
+ "######### RACE COMPLETED ###################\n"
+ "############################################\n"
)
self.logFinalRanking()
self.logBestLapTimes()
# test race completion
def raceCompleted(self):
return self.raceLapManager.raceCompleted(self.lap)
# test race completion
def raceCompletedForCar(self, bgeCar):
return self.raceLapManager.raceCompletedForCar(self.lap, bgeCar)