def _get_intersection_traffic_signs(self) -> List[TrafficSign]:
signs = []
if self.turn == Intersection.LEFT:
# sign "turn left" in south
signs.append(
TrafficSign(
TrafficSign.TURN_LEFT,
*self.cp_sign_south(Config.get_turn_sign_dist()).xy,
))
if self.rule != Intersection.YIELD:
# sign "turn right" in west
signs.append(
TrafficSign(
TrafficSign.TURN_RIGHT,
*self.cp_sign_west(Config.get_turn_sign_dist()).xy,
angle=self._alpha - 0.5 * math.pi,
visible=False,
))
elif self.turn == Intersection.RIGHT:
# sign "turn right" in south
signs.append(
TrafficSign(
TrafficSign.TURN_RIGHT,
*self.cp_sign_south(Config.get_turn_sign_dist()).xy,
))
if self.rule != Intersection.YIELD:
# sign "turn left" in east
signs.append(
TrafficSign(
TrafficSign.TURN_LEFT,
*self.cp_sign_east(Config.get_turn_sign_dist()).xy,
angle=self._alpha + 0.5 * math.pi,
visible=False,
))
type_map = {
Intersection.PRIORITY_YIELD: TrafficSign.PRIORITY,
Intersection.PRIORITY_STOP: TrafficSign.PRIORITY,
Intersection.YIELD: TrafficSign.YIELD,
Intersection.STOP: TrafficSign.STOP,
}
if self.rule in type_map:
signs.append(
TrafficSign(
type_map[self.rule],
*self.cp_sign_south(Config.get_prio_sign_dist(1)).xy,
))
signs.append(
TrafficSign(
type_map[self.rule],
*self.cp_sign_north(Config.get_prio_sign_dist(1)).xy,
angle=math.pi,
visible=False,
))
# stvo-206: Stoppschild,
# stvo-306: Vorfahrtsstraße
# todo: also add turning signal if we are not on the outer turn lane
# on the opposite side
type_map_opposite = {
Intersection.PRIORITY_YIELD: TrafficSign.YIELD,
Intersection.PRIORITY_STOP: TrafficSign.STOP,
Intersection.YIELD: TrafficSign.PRIORITY,
Intersection.STOP: TrafficSign.PRIORITY,
}
if self.rule in type_map_opposite:
signs.append(
TrafficSign(
type_map_opposite[self.rule],
*self.cp_sign_west(Config.get_prio_sign_dist(1)).xy,
angle=self._alpha - 0.5 * math.pi,
visible=False,
))
signs.append(
TrafficSign(
type_map_opposite[self.rule],
*self.cp_sign_east(Config.get_prio_sign_dist(1)).xy,
angle=self._alpha + 0.5 * math.pi,
visible=False,
))
for sign in signs:
sign.normalize_x = False
sign.set_transform(self.transform)
return signs
def cp_sign_east(self, sign_dist):
return (
Vector(self.z + self.x + self.u) + Vector(
(0.1 + sign_dist) * 1 / abs(self.u) * self.u) +
Vector(Config.get_sign_road_padding() * 1 / abs(self.v) * self.v))
def cp_surface_east(self):
return (Vector(self.z + 0.5 * self.x + self.u) + Vector(
(Config.get_surface_mark_dist() + Config.TURN_SF_MARK_LENGTH / 2) *
1 / abs(self.u) * self.u) + Vector(
Config.TURN_SF_MARK_WIDTH / 2 * 1 / abs(self.v) * self.v))
def cp_sign_north(self, sign_dist):
return Vector(self.z + self.x - self.u) + Vector(
0.1 + sign_dist, Config.get_sign_road_padding())
def cp_sign_west(self, sign_dist):
return (
Vector(self.z - self.x - self.u) - Vector(
(0.1 + sign_dist) * 1 / abs(self.u) * self.u) -
Vector(Config.get_sign_road_padding() * 1 / abs(self.v) * self.v))
def cp_surface_south(self):
return Vector(self.z - self.x + 0.5 * self.u) - Vector(
Config.get_surface_mark_dist() + Config.TURN_SF_MARK_LENGTH / 2, 0)
def cp_sign_south(self, sign_dist):
return Vector(self.z - self.x + self.u) - Vector(
0.1 + sign_dist, Config.get_sign_road_padding())
def cp_surface_east(self):
return (
Vector(self.z + 0.5 * self.x + self.u) +
Vector(Config.get_surface_mark_dist() * 1 / self.u.norm * self.u) +
Vector(Config.TURN_SF_MARK_WIDTH / 2 * 1 / self.v.norm * self.v))