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Set parameters required by assignment

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This commit is contained in:
Tobias Eidelpes 2021-06-13 23:00:58 +02:00
parent 8b0a60d9ab
commit 086aada295
2 changed files with 37 additions and 21 deletions
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2
components/i_feed/devices/vehicle.py
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@ -27,7 +27,7 @@ UPDATE_INTERVAL = 1
# At x km the NCE shall happen
NCE_KM = 2.4
# Time in seconds to recover from NCE (will be scaled)
TIME_TO_RECOVER = 5
TIME_TO_RECOVER = 15
# Resets vehicle at km x
RESET_KM = 4

56
components/orchestration/orchestrator.py
View File

@ -3,6 +3,7 @@ import pickle
import sys
from typing import List, Dict
from datetime import datetime, timedelta
from math import floor, ceil
import requests
from dse_shared_libs import daf, traffic_light_state, traffic_light_color, target_velocity
@ -99,34 +100,49 @@ class Orchestrator:
params={'lat': loc.latitude, 'lon': loc.longitude})
traffic_lights_geo = response.json()
current_vel = received_daf_object.velocity
target_vel = 130
target_vel = 130 * SCALING
print('Nearest traffic lights: {}'.format(traffic_lights_geo['cursor']))
for traffic_light in traffic_lights_geo['cursor']:
# Should only ever contain one traffic light
# Should only ever contain one traffic light (the next in line)
tl_id = traffic_light['id']
distance = traffic_light['calculatedRange']
next_switch_time = self.tls[tl_id]['last_switch'] + timedelta(seconds=self.tls[tl_id]['switching_time'])
time_until_switch = next_switch_time - datetime.now()
switching_time = self.tls[tl_id]['switching_time'] / float(SCALING)
# Time until next switch must be scaled accordingly
next_switch_time = self.tls[tl_id]['last_switch'] + timedelta(seconds=switching_time)
time_until_switch = (next_switch_time - datetime.now()).total_seconds()
print('Distance to TL: {}'.format(distance))
print('Time until switch in seconds: {}'.format(time_until_switch.total_seconds()))
print('Time until switch in seconds: {}'.format(time_until_switch))
if self.tls[tl_id]['color'] is TrafficLightColor.RED:
# Ceil because we want to get there AFTER the light changed
speed_needed = (distance / float(time_until_switch.total_seconds())) * 3.6
if current_vel > speed_needed:
print('Current velocity too high ({}), adjusting to {}'.format(current_vel, speed_needed))
target_vel = speed_needed
speed_needed_max = (distance / float(time_until_switch)) * 3.6
if speed_needed_max < 130 * SCALING:
if current_vel < speed_needed_max:
target_vel = current_vel
else:
target_vel = floor(speed_needed_max)
else:
print('Current velocity lower ({})'.format(current_vel))
target_vel = current_vel
# Cannot make it on next green
i = 2
while speed_needed_max > 130 * SCALING:
next_green_phase_start = time_until_switch + switching_time * i
speed_needed_max = (distance / float(next_green_phase_start)) * 3.6
i = i + 2
target_vel = floor(speed_needed_max)
else:
# Check if we can cross in time with max speed (130)
speed_needed = (distance / float(time_until_switch.total_seconds())) * 3.6
if speed_needed >= 130:
# Cannot make it in time, wait for next green
print('Wait on green -> red -> green switch')
time_until_green = time_until_switch + timedelta(seconds=self.tls[tl_id]['switching_time'])
target_vel = (distance / float(time_until_green.total_seconds())) * 3.6
print('Speed lower than 130: {}'.format(target_vel))
# Check if we can reach TL in time
speed_needed_min = (distance / float(time_until_switch)) * 3.6
if speed_needed_min < 130 * SCALING:
if current_vel < speed_needed_min:
target_vel = 130 * SCALING
else:
target_vel = current_vel
else:
i = 1
speed_needed_max = 132 * SCALING
while speed_needed_max > 130 * SCALING:
next_green_phase_start = time_until_switch + switching_time * i
speed_needed_max = (distance / float(next_green_phase_start)) * 3.6
i = i + 2
target_vel = floor(speed_needed_max)
response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number]
print('Target velocity: {}'.format(target_vel))