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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 # At x km the NCE shall happen
NCE_KM = 2.4 NCE_KM = 2.4
# Time in seconds to recover from NCE (will be scaled) # Time in seconds to recover from NCE (will be scaled)
TIME_TO_RECOVER = 5 TIME_TO_RECOVER = 15
# Resets vehicle at km x # Resets vehicle at km x
RESET_KM = 4 RESET_KM = 4

56
components/orchestration/orchestrator.py
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@ -3,6 +3,7 @@ import pickle
import sys import sys
from typing import List, Dict from typing import List, Dict
from datetime import datetime, timedelta from datetime import datetime, timedelta
from math import floor, ceil
import requests import requests
from dse_shared_libs import daf, traffic_light_state, traffic_light_color, target_velocity 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}) params={'lat': loc.latitude, 'lon': loc.longitude})
traffic_lights_geo = response.json() traffic_lights_geo = response.json()
current_vel = received_daf_object.velocity current_vel = received_daf_object.velocity
target_vel = 130 target_vel = 130 * SCALING
print('Nearest traffic lights: {}'.format(traffic_lights_geo['cursor'])) print('Nearest traffic lights: {}'.format(traffic_lights_geo['cursor']))
for traffic_light in 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'] tl_id = traffic_light['id']
distance = traffic_light['calculatedRange'] distance = traffic_light['calculatedRange']
next_switch_time = self.tls[tl_id]['last_switch'] + timedelta(seconds=self.tls[tl_id]['switching_time']) switching_time = self.tls[tl_id]['switching_time'] / float(SCALING)
time_until_switch = next_switch_time - datetime.now() # 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('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: if self.tls[tl_id]['color'] is TrafficLightColor.RED:
# Ceil because we want to get there AFTER the light changed speed_needed_max = (distance / float(time_until_switch)) * 3.6
speed_needed = (distance / float(time_until_switch.total_seconds())) * 3.6 if speed_needed_max < 130 * SCALING:
if current_vel > speed_needed: if current_vel < speed_needed_max:
print('Current velocity too high ({}), adjusting to {}'.format(current_vel, speed_needed))
target_vel = speed_needed
else:
print('Current velocity lower ({})'.format(current_vel))
target_vel = current_vel target_vel = current_vel
else: else:
# Check if we can cross in time with max speed (130) target_vel = floor(speed_needed_max)
speed_needed = (distance / float(time_until_switch.total_seconds())) * 3.6 else:
if speed_needed >= 130: # Cannot make it on next green
# Cannot make it in time, wait for next green i = 2
print('Wait on green -> red -> green switch') while speed_needed_max > 130 * SCALING:
time_until_green = time_until_switch + timedelta(seconds=self.tls[tl_id]['switching_time']) next_green_phase_start = time_until_switch + switching_time * i
target_vel = (distance / float(time_until_green.total_seconds())) * 3.6 speed_needed_max = (distance / float(next_green_phase_start)) * 3.6
print('Speed lower than 130: {}'.format(target_vel)) i = i + 2
target_vel = floor(speed_needed_max)
else:
# 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] response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number]
print('Target velocity: {}'.format(target_vel)) print('Target velocity: {}'.format(target_vel))