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Road.py
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Road.py
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from Coordinate import Coordinate
from Env import Env
from Position import Position
from Vehicle import Vehicle
from Simcar import Simcar
import math
# Primary class that defines a road
class Road:
segments = segments.zeros()
lanes = 3
def __init__(self):
class Segment:
left, middle, right = Position()
h = Position()
l_left, l_right = Position()
ll_left, rr_right = Position()
lll_left, rrr_right = Position()
ll_mid, lr_mid, rl_mid, rr_mid = Position()
l_lmid, r_lmid, l_rmid, r_rmid = Position()
def Segment(self, a1, a2, a3, a4, a5, a6):
left = Position(a1, a2)
middle = Position(a3, a4)
right = Position(a5, a6)
h = Position(right.x - left.x, right.z - left.z)
h = h.normalize()
HALF_STRIPW = 0.08
STRIPW = (2 * HALF_STRIPW)
SHOULDER = 1.5
WALL = 40
dx = 0.05 * h.x
dz = 0.05 * h.z
l_left = Position(left.x - (2 * STRIPW * h.x) - dx, left.z - (2 * STRIPW * h.z) - dz)
r_right = Position(right.x + (2 * STRIPW * h.x) + dx, right.z + (2 * STRIPW * h.z) + dz)
ll_left = Position(left.x - (SHOULDER * h.x) - dx, left.z - (SHOULDER * h.z) - dz)
rr_right = Position(right.x + (SHOULDER * h.x) + dx, right.z + (SHOULDER * h.z) + dz)
lll_left = Position(left.x - (WALL * h.x), left.z - (WALL * h.z))
rrr_right = Position(right.x + (WALL * h.x), right.z + (WALL * h.z))
ll_mid = Position(middle.x - (3 * HALF_STRIPW * h.x), middle.z - (3 * HALF_STRIPW * h.z))
lr_mid = Position(middle.x - (HALF_STRIPW * h.x), middle.z - (HALF_STRIPW * h.z))
rl_mid = Position (middle.x + (HALF_STRIPW * h.x), middle.z + (HALF_STRIPW * h.z))
rr_mid = Position(middle.x + (3 * HALF_STRIPW * h.x), middle.z + (3 * HALF_STRIPW * h.z))
if(lanes == 4):
l_lmid = Position((0.5 * ll_mid.x + 0.5 * left.x) - HALF_STRIPW * h.x, (0.5 * ll_mid.z + 0.5 * left.z) - HALF_STRIPW * h.z)
r_lmid = Position((0.5 * ll_mid.x + 0.5 * left.x) + HALF_STRIPW * h.x, (0.5 * ll_mid.z + 0.5 * left.z) + HALF_STRIPW * h.z)
l_rmid = Position((0.5 * rr_mid.x + 0.5 * right.x) - HALF_STRIPW * h.x, (0.5 * rr_mid.z + 0.5 * right.z) - HALF_STRIPW * h.z)
r_rmid = Position((0.5 * rr_mid.x + 0.5 * right.x) + HALF_STRIPW * h.x, (0.5 * rr_mid.z + 0.5 * right.z) + HALF_STRIPW * h.z)
elif(lanes == 3):
l_lmid = Position((0.666 * middle.x + 0.334 * left.x) - HALF_STRIPW * h.x, (0.666 * middle.z + 0.334 * left.z) - HALF_STRIPW * h.z)
r_lmid = Position((0.666 * middle.x + 0.334 * left.x) + HALF_STRIPW * h.x, (0.666 * middle.z + 0.334 * left.z) + HALF_STRIPW * h.z)
l_rmid = Position((0.666 * middle.x + 0.334 * right.x) - HALF_STRIPW * h.x, (0.666 * middle.z + 0.334 * right.z) - HALF_STRIPW * h.z)
r_rmid = Position((0.666 * middle.x + 0.334 * right.x) + HALF_STRIPW * h.x, (0.666 * middle.z + 0.334 * right.z) + HALF_STRIPW * h.z)
def startup(self):
curved = Env.scenario.curvedRoad
p = Position(0.0, 0.0, 0.0)
h = Position(1.0, 0.0, 0.0)
h = h.normalize()
seglen = 200
segcount = 0
curving = False
da = 0
dascale = 0.02
d = lanes * 3.66/2.0
for i in range(0, 40000):
if (segcount >= seglen):
segcount = 0
seglen = 100
if(curved):
curving = not curving
if (curving):
if (da > 0):
da = -1 * dascale * 17
else:
da = 1 * dascale * 17
if (curving):
h = h.rotate(da)
p = p.add(h)
s = Segment(p.x + d * h.z, p.z - d * h.x, p.x, p.z, p.x - d * h.z, p.z + d * h.x)
segments.addElement(s)
segcount = segcount + 1
i = i + 1
def getSetment(self, i):
return(From(segments).elementAt(i))
def location(self = Position(), fracIndex, lanePos):
i = (math.floor(fracIndex))
r = fracIndex - i
laner = (lanePos - 1) / 3
#Look into getSetment.left/right for the if/else statement
if(i == fracIndex):
locL = Position(getSegment(i).left)
locR = Position(getSegment(i).right)
return (locL.average(locR, laner))
else:
loc1L = Position(getSegment(i).left)
loc1R = Position(getSegment(i).right)
loc1 = loc1L.average(loc1R, laner)
loc2L = Position(getSegment(i + 1).left)
loc2R = Position(getSegment(i + 1).right)
loc2 = loc2L.average(loc2R, laner)
return (loc1.average(loc2, r))
def left(self, fracIndex):
return (location(fracIndex, 4))
def left(self, fracIndex, lane):
return (location(fracIndex, lane + 1))
def middle(self, fracIndex):
return (location(fracIndex, 2.5))
def middle(self, fracIndex, lane):
return (location(fracIndex, lane + 0.5))
def right(self, fracIndex):
return (location(fracIndex, 1))
def right(self, fracIndex, lane):
return (location(fracIndex, lane))
def heading(self, fracIndex):
locdiff = Position(middle (fracIndex + 1)).math.subtract(middle(fracIndex - 1))
return (normalize(locdiff))
def vehicleReset(self, v = Vehicle(), lane, fracIndex):
p = Position(middle(fracIndex, lane))
h = Position(heading(fracIndex))
v.position_p.x = p.x
v.position_p.z = p.z
v.position_h.x = h.x
v.position_h.x = h.x
v.fracIndex = fracIndex
# Boolean
def sign(self, x):
return (x >= 0)
def sqr(self, x):
result = x * x
return (result)
def vehicleLanePosition(self, v = Vehicle()):
i = v.fracIndex
lloc = Position(left(i))
rloc = Position(right(i))
head = Position(head(i))
ldx = head.x * (v.position_p.z - rloc.z)
ldx = head.z * (v.position_p.x - rloc.x)
wx = head.x * (lloc.z - rloc.z)
wz = head.z * (lloc.x - rloc.x)
ldist = abs(ldx) - abs(ldz)
width = abs(wx) - abs(wz)
lanepos = (ldist / width) * 3
if(abs(wx) > abs(wz) and (sign(ldx) != sign(wx)) or (abs(wz) > abs(wx) and (sign(ldz) != sign(wz)):
lanepos = lanepos - 1
lanepos = lanepos + 1
return (lanepos)
def vehicleLane (self, v = Vehicle()):
return (int(math.floor(vehicleLanePosition(v))))
nearDistance = 10.0
farDistance = 100.0
nearTime = 0.5
farTime = 4.0
def nearPoint(self, simcar = Simcar()):
return (Position(middle(simcar.fracIndex + nearDistance)))
def nearPoint(self, simcar = Simcar(), lane):
return (Position(middle(simcar.fracIndex + nearDistance, lane)))
fpText = ""
fpTPfracIndex = 0
def farPoint(self, simcar = Simcar(), autocars, lane):
fracNearestRP = simcar.fracIndex
nearestRP = int(math.floor(fracNearestRP))
j = nearestRP + 1
simcarLoc = Position(simcar.position_p.x, simcar.position_p.z)
turn = 0 #left = 1, right = 2
aheadMin = nearDistance + 10
aheadMax = max(aheadMin, simcar.speed * farTime)
if(lane != 0):
rln = lane
lln = lane
else:
rln = 1
lln = 2
# Need to look into left/right().subtract)
h_l = Position(left(j, lln).subtract(simcarLoc))
hrd_l = Position(left (j, lln)).subtract (left (j - 1, lln))
h_r = Position(right (j, rln)).subtract (simcarLoc)
hrd_r = Position(right (j, rln)).subtract (right (j - 1, rln))
lxprod1 = (h_l.x *hrd_l.z) - (h_l.z * hrd_l.x)
norm_lxp1 = abs(lxprod1 / (math.sqrt(sqr(h_l.x) + sqr(h_l.z)) + math.sqrt(sqr(hrd_l.x) + sqr(hrd_l.z))))
rxprod1 = (h_r.x *hrd_r.z) - (h_r.z * hrd_r.x)
# Note: Lisp code below has lxprod1 instead of rxprod1
norm_rxp1 = abs(rxprod1 / (math.sqrt(sqr(h_r.x) + sqr(h_r.z)) + math.sqrt(sqr(hrd_r.x) + sqr(hrd_r.z))))
go_on = True
while(go_on):
j = j + 1
# left/right().subtract check
h_l = (left (j, lln)).subtract (simcarLoc)
hrd_l = (left (j, lln)).subtract (left (j-1, lln))
h_r = (right (j, rln)).subtract (simcarLoc)
hrd_r = (right (j, rln)).subtract (right (j-1, rln))
lxprod2 = (h_l.x * hrd_l.z) - (h_l.z * hrd_l.x)
norm_lxp2 = abs(lxprod1 / (math.sqrt(sqr(h_l.x) + sqr(h_l.z)) + math.sqrt(sqr(hrd_l.x) + sqr(hrd_l.z))))
rxprod2 = (h_r.x * hrd_r.z) - (h_r.z * hrd_r.x)
# Note: Lisp code below has lxprod1 instead of rxprod1
norm_rxp2 = abs(rxprod1 / (math.sqrt(sqr(h_r.x) + sqr(h_r.z)) + math.sqrt(sqr(hrd_r.x) + sqr(hrd_r.z))))
if(sign(lxprod1) != sign(lxprod2)):
turn = 1
go_on = False
if(sign(rxprod1) != sign(rxprod2)):
turn = 2
go_on = False
lxprod1 = lxprod2
norm_lxp1 = norm_lxp2
rxprod1 = rxprod2
norm_rxp1 = norm_rxp2
if(j >= (fracNearestRP + aheadMax)):
turn = 0
go_on = False
if(j <= (fracNearestRP + aheadMin)):
j = long(fracNearestRP + aheadMin)
if(lane != 0):
if(turn == 1): # left
fi = ((norm_lxp1 * (j-1)) + (norm_lxp2 * (j-2))) / (norm_lxp1 + norm_lxp2)
fpText = "ltp"
fpTPfracIndex = fi
return (left(fi, lane))
elif(turn == 2): # right
fi = ((norm_rxp1 * (j-1)) + (norm_rxp2 * (j-2))) / (norm_rxp1 + norm_rxp2)
fpText = "rtp"
fpTPfracIndex = fi
return(right(fi, lane))
else:
fi = fracNearestRP + aheadMax
fpText = "vp"
fpTPfracIndex = 0
return (middle(fi, lane))
else:
# Not implemented: Only for lane changes
return None
distAhead = 400
# Need to look into Graphics()
def draw(self, g = Graphics(), env = Env()):
long ri = env.simcar.roadIndex;
# Look into how to set color, Polygon() function, and world2image in env
g.setColor (Color.darkGray)
Polygon p = new Polygon ()
Coordinate newLoc = env.world2image (location (ri+3, 1))
if (newLoc==null) return
p.addPoint (newLoc.x, newLoc.y)
newLoc = env.world2image (location (ri+distAhead, 1))
p.addPoint (newLoc.x, newLoc.y)
newLoc = env.world2image (location (ri+distAhead, 4))
p.addPoint (newLoc.x, newLoc.y)
newLoc = env.world2image (location (ri+3, 4))
p.addPoint (newLoc.x, newLoc.y)
g.fillPolygon (p)
di = long(3)
lps = [1, 2, 3, 4]
oldLocs = Coordiante([None, None, None, None])
while(di <= distAhead):
g.setColor(Color.white)
for(i in range (0, 4)):
lp = lps[i]
oldLoc = Coordinate(oldLocs[i])
newLoc = env.world2image(location(ri+di, lp))
if(((oldLoc != None) and (newLoc != None)) and ((lp == 1) or (lp == 4) or ((ri+di) % 5 < 2))):
oldLocs[i] = newLoc
if(di < 50):
di = di + 1
elif(di < 100):
di = di + 3
else:
di = di + 25