def __init__(self, car):
self.car = car
self.rules = [
['1', ['signal:RED'], ['acceleration:N']
], # rule base for signal, stop sign and speed limit
['2', ['signal:AMBER'], ['acceleration:N']],
['3', ['signal:GREEN'], ['acceleration:Y']],
['4', ['sign:STOP'], ['acceleration:N']],
['5', ['speed:Y'], ['aceleration:Y']],
['6', ['speed:N'], ['acceleration:N']]
]
self.evtgen = EventGenerator.EventGenerator(
) # creating random event generator object
self.rt = Retriever(
'casebasedplan.txt') # Retriever object for case retrieval
self.exception_event = ExceptionalEvent()
self.laneChanged = False
def __init__(self, car):
self.car = car
self.rules = [['1',['signal:RED'],['acceleration:N']], # rule base for signal, stop sign and speed limit
['2',['signal:AMBER'],['acceleration:N']],
['3',['signal:GREEN'],['acceleration:Y']],
['4',['sign:STOP'],['acceleration:N']],
['5',['speed:Y'],['aceleration:Y']],
['6',['speed:N'],['acceleration:N']]]
self.evtgen = EventGenerator.EventGenerator() # creating random event generator object
self.rt = Retriever('casebasedplan.txt') # Retriever object for case retrieval
self.exception_event = ExceptionalEvent()
self.laneChanged = False
class EventHandler(object):
g = 127008
displayCount = -1
sig_cnt = -1
speed_limit_flag = False
def __init__(self, car):
self.car = car
self.rules = [['1',['signal:RED'],['acceleration:N']], # rule base for signal, stop sign and speed limit
['2',['signal:AMBER'],['acceleration:N']],
['3',['signal:GREEN'],['acceleration:Y']],
['4',['sign:STOP'],['acceleration:N']],
['5',['speed:Y'],['aceleration:Y']],
['6',['speed:N'],['acceleration:N']]]
self.evtgen = EventGenerator.EventGenerator() # creating random event generator object
self.rt = Retriever('casebasedplan.txt') # Retriever object for case retrieval
self.exception_event = ExceptionalEvent()
self.laneChanged = False
# Below method handles the basic driving events
def handleEvent(self, event): #all the event handling goes here
action = ''
self.speed_limit = self.car.maxSpeed
if event['turn'] != '' and self.car.currentLane == 'M':
if self.car.distanceCovered >= .65*self.car.laneDist and self.laneChanged == False: # changes lane after distance covered
print("\nAttempting to change lanes...") # crosses the threshold (65% of lane dist)
self.laneChanged = self.handleLaneChange(event)
if 'signal' in event: # checking if signal is present at the end of the lane
signal = event['signal']
if 'sign' in event: # checking for lane signs (speed limit)
sign = event['sign']
if 'speed' in sign:
self.speed_limit = int(sign[sign.find('~')+1:])
if self.speed_limit_flag == False:
print("\nSpeed Limit Sign in view...Speed Limit: "+str(self.speed_limit))
self.handleSpeedSign()
excp_event = self.exception_event.giveExceptionalEvent() # event generator generates exception event
if excp_event != False:
print("\nExceptional Event in Progress...")
self.handleExpCase(excp_event) # method for handling exceptional events
time.sleep(1)
if signal == True: # if signal is present at the end of the lane. Either signal or STOP sign at the end of the lane.
if self.car.remainingDist <= self.getBrakingDist():
print("\nBraking Distance Reached...Signal in view...")
self.evtgen.resetSignal()
time.sleep(2)
action = self.handleSignalStopSign(1, 'SIGNAL', event)
return action
else: # indicates stop sign is present at the end of the lane.
if self.car.remainingDist <= self.getBrakingDist():
print("\nBraking Distance Reached...STOP sign in view...")
time.sleep(2)
action = self.handleSignalStopSign(1, 'STOP', event)
return action
self.speed_limit = self.car.maxSpeed
if(self.car.speed < self.speed_limit): # if speed is less than speed limit then accelerate
self.car.accelerate(1, self.speed_limit)
self.car.move()
return False
# Below method handles the exceptional events
def handleExpCase(self, event):
event.speed['me'] = self.car.speed
retrievedCase = self.rt.findClosestMatch(event) # case retrieved from case base
self.printExcpCase(event,retrievedCase) # prints the details of the event
result = retrievedCase[1][0]
action = result[0]
priority = result[2]
speed_limit = result[3]
if action == 'decelerate':
print("Reducing Speed to speed limit of "+str(speed_limit)+"\n")
else:
print("Increasing Speed to speed limit of "+str(speed_limit)+"\n")
time.sleep(1)
while True:
self.displayFullDtls('Y')
time.sleep(0.1)
if action == 'decelerate':
if self.car.speed > speed_limit:
self.car.decelerate(priority, speed_limit) # decelerate the car
self.car.move()
if speed_limit == 0 and self.car.speed <= 0.35: # if the car's speed goes below 0.35 kmph, reduce speed to 0.
self.car.speed = 0 # This is done because the car's speed never reaches 0, only close to 0.
else:
break
elif action == 'accelerate':
if self.car.speed < speed_limit:
self.car.accelerate(priority, speed_limit) # accelerate the car
self.car.move()
else:
break
print("\nExceptional event concluded...")
if self.car.speed <= self.speed_limit:
temp_str = "increased"
else:
temp_str = "decreased"
if action == 'decelerate':
print("\nSpeed reduced to "+str(self.car.speed)+". Speed will be "+temp_str+" to speed limit: "+\
str(self.speed_limit)+"\n")
else:
print("\nSpeed increased to "+str(self.car.speed)+". Speed will be "+temp_str+" to speed limit: "+\
str(self.speed_limit)+"\n")
time.sleep(1)
# Below method handles the speed sign
def handleSpeedSign(self):
if self.car.speed <= self.speed_limit:
if self.speed_limit_flag == False:
print("Increasing speed to "+str(self.speed_limit)+"\n")
self.speed_limit_flag = True
action = self.getAction('speed:' + 'Y')
else:
if self.speed_limit_flag == False:
print("Reducing speed to "+str(self.speed_limit)+"\n")
self.speed_limit_flag = True
action = self.getAction('speed:' + 'N')
self.changeSpeed(1, action, self.speed_limit)
# Below method returns the action based on the rule
def getAction(self, event):
event_value = event[event.find(':')+1:]
event_type = event[:event.find(':')]
for rule in self.rules:
ante = rule[1][0]
evalue = ante[ante.find(':')+1:]
etype = ante[:ante.find(':')]
if etype == event_type and evalue == event_value: # if event type and event value matches, then return the action
result = rule[2][0]
result_value = result[result.find(':')+1:]
return result_value
#Below method handles the Signal as well as the Stop sign depending on the event type
def handleSignalStopSign(self, priority, event_type, event):
flag = True
is_last = False
turn = event['turn']
if turn == 'D': # checking if this is the last lane i.e. is the destination on this lane
is_last = True
while 1:
time.sleep(Car.Car().sleepTime)
if event_type == 'SIGNAL': # if event type is Signal
currentSignal = self.evtgen.probeSignal() # probe the event value generator for signal value
if self.laneChanged == False:
self.laneChanged = self.handleLaneChange(event) # handle lane change if lane not already changed
if event_type == 'SIGNAL':
self.displayFullDtls('N',currentSignal)
action = self.getAction('signal:' + currentSignal)
elif event_type == 'STOP':
action = self.getAction('sign:' + event_type)
if action == 'Y':
speed_limit = self.car.maxSpeed
else:
speed_limit = 0
flag = self.changeSpeed(priority, action, speed_limit) #adjust speed based on the action (acceleration/deceleration)
if flag == False:
self.car.speed = 0 # car has stopped
break
else:
self.displayFullDtls('N')
if self.car.distanceCovered >= self.car.laneDist: # checking if the lane distance has been reached
print("\nLane Distance Reached")
if is_last == False:
return False
return True
print("Lane Distance covered: " + str(self.car.distanceCovered*1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: "+str(self.car.remainingDist*1000))
print("\nCar STOPPED...")
if is_last == False:
if event_type == 'SIGNAL':
print("Waiting for signal to turn GREEN...\n")
elif event_type == 'STOP':
print("Waiting to move...\n")
time.sleep(2)
if is_last == False: # not the last lane
while 1:
if event_type == 'SIGNAL':
signal = self.evtgen.probeSignal() #probe for signal till "GREEN" is received
elif event_type == 'STOP':
signal = self.evtgen.probeAllClear() #probe for all clear signal from the value generator
if signal == 'GREEN': # if signal is GREEN, accelerate the car and start moving
while 1:
self.car.accelerate(1, self.speed_limit)
self.car.move()
self.displayFullDtls('N')
if self.car.distanceCovered >= self.car.laneDist:
print("Lane Distance covered: " + str(self.car.distanceCovered*1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: "+str(self.car.remainingDist*1000))
print("\nLane Distance Reached")
time.sleep(2)
return False # Once lane distance is reached, return back to caller
return True
# Below method adjusts the speed of the car based on the priority
def changeSpeed(self, priority, acc_yn, speed_limit): # acc_yn: 'Y' - Acceleration, 'N' - Deceleration
if acc_yn == 'N':
self.car.decelerate(priority, speed_limit)
self.car.move()
if self.car.speed < 0.35 or self.car.remainingDist <= 0.001:
return False
else:
if(self.car.speed < speed_limit):
self.car.accelerate(1, speed_limit)
else:
self.car.decelerate(1, speed_limit)
self.car.move()
return True
# braking distance - distance at which the brakes should be applied to stop the car
def getBrakingDist(self):
brakingDistance = self.car.speed*self.car.speed/2/0.7/self.g
return brakingDistance
# Below method handles the lane change
def handleLaneChange(self, event):
changeLane = ''
laneChangeRules = [[{'lane':1,'turn':'L', 'car':'Y'},'notrequired'], # rules for lane change
[{'lane':1, 'turn':'R', 'car':'Y'},'notrequired'],
[{'lane':1, 'turn':'L', 'car':'N'},'notrequired'],
[{'lane':1, 'turn':'R', 'car':'N'},'notrequired'],
[{'lane':2, 'turn':'L', 'car':'Y'},'no'],
[{'lane':2,'turn':'R','car':'Y'},'notrequired'],
[{'lane':2,'turn':'R','car':'N'},'notrequired'],
[{'lane':2,'turn':'L','car':'N'},'yes'],
[{'lane':3,'turn':'R','car':'Y'}, 'no'],
[{'lane':3,'turn':'L','car':'Y'}, 'no'],
[{'lane':3,'turn':'R','car':'N'}, 'yes'],
[{'lane':3,'turn':'L','car':'N'}, 'yes']]
turn = event.get('turn')
lane = event.get('lane')
car = self.evtgen.checkMirror() # probe value generator to check if its safe to change the lane
for rules in laneChangeRules:
ante = rules[0]
if turn == ante.get('turn') and lane == ante.get('lane') and car == ante.get('car'):
changeLane = rules[1]
break
if changeLane == 'yes':
print "Lane change successful...\n"
time.sleep(2)
return True
elif changeLane == 'notrequired':
print "No need to change lanes but turn ahead...\n"
time.sleep(2)
return True
elif changeLane == 'no':
print "Cannot change lane right now...\n"
time.sleep(2)
return False
# Below method displays the full or partial output based on the argument 'full_yn'. Required as output is displayed very often.
# full_yn = 'Y' is used when the change in speed needs to be displayed when the priority for deceleration is high.
def displayFullDtls(self, full_yn, signal_color = ''):
displayLimit = 20 # counter used to limit the number of display
signalLimit = 500 # counter used to limit the number of display while probing signal
if signal_color != '':
self.sig_cnt = self.sig_cnt + 1
if self.sig_cnt%signalLimit == 0:
print("Current Signal: "+signal_color+". Reducing the speed of the car...\n")
if self.sig_cnt != 0:
self.sig_cnt = -1
else:
if full_yn == 'N':
self.displayCount = self.displayCount + 1
if self.displayCount%displayLimit == 0:
print("Lane Distance covered: " + str(self.car.distanceCovered*1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: "+str(self.car.remainingDist*1000))
if self.displayCount != 0:
self.displayCount = -1
else:
print("Lane Distance covered: " + str(self.car.distanceCovered*1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: "+str(self.car.remainingDist*1000))
# Below method prints the details of the exceptional case - the occurred event and the retrieved case
def printExcpCase(self, event, retrievedCase):
print("Object: "+str(event.target))
print("Object Distance from Car: "+str(abs(event.distance[event.target])))
print("Object Speed: "+str(event.speed[event.target]))
print("Object Direction wrt Car: "+str(event.direction[event.target]))
print("")
print("Retrieved Case:")
if len(retrievedCase[0]) == 0:
print("No Similar Case found. Applying Default Case...\n")
else:
object = retrievedCase[0][2]
object = object[object.find('=')+1:]
dist = retrievedCase[0][0]
dist = dist[dist.find(':')+1:dist.find('}')]
dist = dist.strip(' ')
dir = retrievedCase[0][1]
dir = dir[dir.find(':')+1:dir.find('}')]
dir = dir.strip(' ')
speed = retrievedCase[0][4]
speed = speed[speed.find('{')+1:speed.find('}')]
print("Object: "+object)
print("Distance from Car: "+str(abs(float(dist))))
print("Direction wrt Car: "+dir)
print("Speed of Car and Object: "+speed)
print("")
time.sleep(1)
class EventHandler(object):
g = 127008
displayCount = -1
sig_cnt = -1
speed_limit_flag = False
def __init__(self, car):
self.car = car
self.rules = [
['1', ['signal:RED'], ['acceleration:N']
], # rule base for signal, stop sign and speed limit
['2', ['signal:AMBER'], ['acceleration:N']],
['3', ['signal:GREEN'], ['acceleration:Y']],
['4', ['sign:STOP'], ['acceleration:N']],
['5', ['speed:Y'], ['aceleration:Y']],
['6', ['speed:N'], ['acceleration:N']]
]
self.evtgen = EventGenerator.EventGenerator(
) # creating random event generator object
self.rt = Retriever(
'casebasedplan.txt') # Retriever object for case retrieval
self.exception_event = ExceptionalEvent()
self.laneChanged = False
# Below method handles the basic driving events
def handleEvent(self, event): #all the event handling goes here
action = ''
self.speed_limit = self.car.maxSpeed
if event['turn'] != '' and self.car.currentLane == 'M':
if self.car.distanceCovered >= .65 * self.car.laneDist and self.laneChanged == False: # changes lane after distance covered
print("\nAttempting to change lanes..."
) # crosses the threshold (65% of lane dist)
self.laneChanged = self.handleLaneChange(event)
if 'signal' in event: # checking if signal is present at the end of the lane
signal = event['signal']
if 'sign' in event: # checking for lane signs (speed limit)
sign = event['sign']
if 'speed' in sign:
self.speed_limit = int(sign[sign.find('~') + 1:])
if self.speed_limit_flag == False:
print("\nSpeed Limit Sign in view...Speed Limit: " +
str(self.speed_limit))
self.handleSpeedSign()
excp_event = self.exception_event.giveExceptionalEvent(
) # event generator generates exception event
if excp_event != False:
print("\nExceptional Event in Progress...")
self.handleExpCase(
excp_event) # method for handling exceptional events
time.sleep(1)
if signal == True: # if signal is present at the end of the lane. Either signal or STOP sign at the end of the lane.
if self.car.remainingDist <= self.getBrakingDist():
print("\nBraking Distance Reached...Signal in view...")
self.evtgen.resetSignal()
time.sleep(2)
action = self.handleSignalStopSign(1, 'SIGNAL', event)
return action
else: # indicates stop sign is present at the end of the lane.
if self.car.remainingDist <= self.getBrakingDist():
print("\nBraking Distance Reached...STOP sign in view...")
time.sleep(2)
action = self.handleSignalStopSign(1, 'STOP', event)
return action
self.speed_limit = self.car.maxSpeed
if (self.car.speed < self.speed_limit
): # if speed is less than speed limit then accelerate
self.car.accelerate(1, self.speed_limit)
self.car.move()
return False
# Below method handles the exceptional events
def handleExpCase(self, event):
event.speed['me'] = self.car.speed
retrievedCase = self.rt.findClosestMatch(
event) # case retrieved from case base
self.printExcpCase(event,
retrievedCase) # prints the details of the event
result = retrievedCase[1][0]
action = result[0]
priority = result[2]
speed_limit = result[3]
if action == 'decelerate':
print("Reducing Speed to speed limit of " + str(speed_limit) +
"\n")
else:
print("Increasing Speed to speed limit of " + str(speed_limit) +
"\n")
time.sleep(1)
while True:
self.displayFullDtls('Y')
time.sleep(0.1)
if action == 'decelerate':
if self.car.speed > speed_limit:
self.car.decelerate(priority,
speed_limit) # decelerate the car
self.car.move()
if speed_limit == 0 and self.car.speed <= 0.35: # if the car's speed goes below 0.35 kmph, reduce speed to 0.
self.car.speed = 0 # This is done because the car's speed never reaches 0, only close to 0.
else:
break
elif action == 'accelerate':
if self.car.speed < speed_limit:
self.car.accelerate(priority,
speed_limit) # accelerate the car
self.car.move()
else:
break
print("\nExceptional event concluded...")
if self.car.speed <= self.speed_limit:
temp_str = "increased"
else:
temp_str = "decreased"
if action == 'decelerate':
print("\nSpeed reduced to "+str(self.car.speed)+". Speed will be "+temp_str+" to speed limit: "+\
str(self.speed_limit)+"\n")
else:
print("\nSpeed increased to "+str(self.car.speed)+". Speed will be "+temp_str+" to speed limit: "+\
str(self.speed_limit)+"\n")
time.sleep(1)
# Below method handles the speed sign
def handleSpeedSign(self):
if self.car.speed <= self.speed_limit:
if self.speed_limit_flag == False:
print("Increasing speed to " + str(self.speed_limit) + "\n")
self.speed_limit_flag = True
action = self.getAction('speed:' + 'Y')
else:
if self.speed_limit_flag == False:
print("Reducing speed to " + str(self.speed_limit) + "\n")
self.speed_limit_flag = True
action = self.getAction('speed:' + 'N')
self.changeSpeed(1, action, self.speed_limit)
# Below method returns the action based on the rule
def getAction(self, event):
event_value = event[event.find(':') + 1:]
event_type = event[:event.find(':')]
for rule in self.rules:
ante = rule[1][0]
evalue = ante[ante.find(':') + 1:]
etype = ante[:ante.find(':')]
if etype == event_type and evalue == event_value: # if event type and event value matches, then return the action
result = rule[2][0]
result_value = result[result.find(':') + 1:]
return result_value
#Below method handles the Signal as well as the Stop sign depending on the event type
def handleSignalStopSign(self, priority, event_type, event):
flag = True
is_last = False
turn = event['turn']
if turn == 'D': # checking if this is the last lane i.e. is the destination on this lane
is_last = True
while 1:
time.sleep(Car.Car().sleepTime)
if event_type == 'SIGNAL': # if event type is Signal
currentSignal = self.evtgen.probeSignal(
) # probe the event value generator for signal value
if self.laneChanged == False:
self.laneChanged = self.handleLaneChange(
event) # handle lane change if lane not already changed
if event_type == 'SIGNAL':
self.displayFullDtls('N', currentSignal)
action = self.getAction('signal:' + currentSignal)
elif event_type == 'STOP':
action = self.getAction('sign:' + event_type)
if action == 'Y':
speed_limit = self.car.maxSpeed
else:
speed_limit = 0
flag = self.changeSpeed(
priority, action, speed_limit
) #adjust speed based on the action (acceleration/deceleration)
if flag == False:
self.car.speed = 0 # car has stopped
break
else:
self.displayFullDtls('N')
if self.car.distanceCovered >= self.car.laneDist: # checking if the lane distance has been reached
print("\nLane Distance Reached")
if is_last == False:
return False
return True
print("Lane Distance covered: " +
str(self.car.distanceCovered * 1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: " +
str(self.car.remainingDist * 1000))
print("\nCar STOPPED...")
if is_last == False:
if event_type == 'SIGNAL':
print("Waiting for signal to turn GREEN...\n")
elif event_type == 'STOP':
print("Waiting to move...\n")
time.sleep(2)
if is_last == False: # not the last lane
while 1:
if event_type == 'SIGNAL':
signal = self.evtgen.probeSignal(
) #probe for signal till "GREEN" is received
elif event_type == 'STOP':
signal = self.evtgen.probeAllClear(
) #probe for all clear signal from the value generator
if signal == 'GREEN': # if signal is GREEN, accelerate the car and start moving
while 1:
self.car.accelerate(1, self.speed_limit)
self.car.move()
self.displayFullDtls('N')
if self.car.distanceCovered >= self.car.laneDist:
print("Lane Distance covered: " +
str(self.car.distanceCovered * 1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: " +
str(self.car.remainingDist * 1000))
print("\nLane Distance Reached")
time.sleep(2)
return False # Once lane distance is reached, return back to caller
return True
# Below method adjusts the speed of the car based on the priority
def changeSpeed(
self, priority, acc_yn,
speed_limit): # acc_yn: 'Y' - Acceleration, 'N' - Deceleration
if acc_yn == 'N':
self.car.decelerate(priority, speed_limit)
self.car.move()
if self.car.speed < 0.35 or self.car.remainingDist <= 0.001:
return False
else:
if (self.car.speed < speed_limit):
self.car.accelerate(1, speed_limit)
else:
self.car.decelerate(1, speed_limit)
self.car.move()
return True
# braking distance - distance at which the brakes should be applied to stop the car
def getBrakingDist(self):
brakingDistance = self.car.speed * self.car.speed / 2 / 0.7 / self.g
return brakingDistance
# Below method handles the lane change
def handleLaneChange(self, event):
changeLane = ''
laneChangeRules = [
[{
'lane': 1,
'turn': 'L',
'car': 'Y'
}, 'notrequired'], # rules for lane change
[{
'lane': 1,
'turn': 'R',
'car': 'Y'
}, 'notrequired'],
[{
'lane': 1,
'turn': 'L',
'car': 'N'
}, 'notrequired'],
[{
'lane': 1,
'turn': 'R',
'car': 'N'
}, 'notrequired'],
[{
'lane': 2,
'turn': 'L',
'car': 'Y'
}, 'no'],
[{
'lane': 2,
'turn': 'R',
'car': 'Y'
}, 'notrequired'],
[{
'lane': 2,
'turn': 'R',
'car': 'N'
}, 'notrequired'],
[{
'lane': 2,
'turn': 'L',
'car': 'N'
}, 'yes'],
[{
'lane': 3,
'turn': 'R',
'car': 'Y'
}, 'no'],
[{
'lane': 3,
'turn': 'L',
'car': 'Y'
}, 'no'],
[{
'lane': 3,
'turn': 'R',
'car': 'N'
}, 'yes'],
[{
'lane': 3,
'turn': 'L',
'car': 'N'
}, 'yes']
]
turn = event.get('turn')
lane = event.get('lane')
car = self.evtgen.checkMirror(
) # probe value generator to check if its safe to change the lane
for rules in laneChangeRules:
ante = rules[0]
if turn == ante.get('turn') and lane == ante.get(
'lane') and car == ante.get('car'):
changeLane = rules[1]
break
if changeLane == 'yes':
print "Lane change successful...\n"
time.sleep(2)
return True
elif changeLane == 'notrequired':
print "No need to change lanes but turn ahead...\n"
time.sleep(2)
return True
elif changeLane == 'no':
print "Cannot change lane right now...\n"
time.sleep(2)
return False
# Below method displays the full or partial output based on the argument 'full_yn'. Required as output is displayed very often.
# full_yn = 'Y' is used when the change in speed needs to be displayed when the priority for deceleration is high.
def displayFullDtls(self, full_yn, signal_color=''):
displayLimit = 20 # counter used to limit the number of display
signalLimit = 500 # counter used to limit the number of display while probing signal
if signal_color != '':
self.sig_cnt = self.sig_cnt + 1
if self.sig_cnt % signalLimit == 0:
print("Current Signal: " + signal_color +
". Reducing the speed of the car...\n")
if self.sig_cnt != 0:
self.sig_cnt = -1
else:
if full_yn == 'N':
self.displayCount = self.displayCount + 1
if self.displayCount % displayLimit == 0:
print("Lane Distance covered: " +
str(self.car.distanceCovered * 1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: " +
str(self.car.remainingDist * 1000))
if self.displayCount != 0:
self.displayCount = -1
else:
print("Lane Distance covered: " +
str(self.car.distanceCovered * 1000)),
print(" Speed: " + str(self.car.speed)),
print(" Remaining Lane Distance: " +
str(self.car.remainingDist * 1000))
# Below method prints the details of the exceptional case - the occurred event and the retrieved case
def printExcpCase(self, event, retrievedCase):
print("Object: " + str(event.target))
print("Object Distance from Car: " +
str(abs(event.distance[event.target])))
print("Object Speed: " + str(event.speed[event.target]))
print("Object Direction wrt Car: " +
str(event.direction[event.target]))
print("")
print("Retrieved Case:")
if len(retrievedCase[0]) == 0:
print("No Similar Case found. Applying Default Case...\n")
else:
object = retrievedCase[0][2]
object = object[object.find('=') + 1:]
dist = retrievedCase[0][0]
dist = dist[dist.find(':') + 1:dist.find('}')]
dist = dist.strip(' ')
dir = retrievedCase[0][1]
dir = dir[dir.find(':') + 1:dir.find('}')]
dir = dir.strip(' ')
speed = retrievedCase[0][4]
speed = speed[speed.find('{') + 1:speed.find('}')]
print("Object: " + object)
print("Distance from Car: " + str(abs(float(dist))))
print("Direction wrt Car: " + dir)
print("Speed of Car and Object: " + speed)
print("")
time.sleep(1)
