zenon/dse-assignment
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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
Tobias Eidelpes 2021-06-17 22:26:42 +02:00
commit e66f1fcab8
1 changed files with 27 additions and 21 deletions
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48
components/orchestration/orchestrator.py
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@ -88,7 +88,7 @@ class Orchestrator:
""" """
Gets the daf object's pickle binary dump. Gets the daf object's pickle binary dump.
Unpickle, calculate new target velocity based on daf and current tl data and Unpickle, calculate new target velocity based on daf and current tl data and
respond new target velicity for this vehicle. respond new target velocity for this vehicle.
:param pickle_binary: daf object pickle binary dump :param pickle_binary: daf object pickle binary dump
""" """
@ -100,6 +100,31 @@ 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 = self._compute_velocity(traffic_lights_geo, current_vel)
response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number]
print('Target velocity: {}'.format(target_vel))
response_channel.send(pickle.dumps(
TargetVelocity(vin=received_daf_object.vehicle_identification_number, target_velocity=target_vel,
timestamp=datetime.now())))
def handle_tl_state_receive(self, msg):
"""
Gets a dict full of traffic light state information:
{
'tlid': str,
'color': TrafficLightColor,
'last_switch': datetime
}
Updates internal information about available TLs
"""
tl_state: TrafficLightState = pickle.loads(msg)
self.tls[tl_state.tlid]['color'] = tl_state.color
self.tls[tl_state.tlid]['last_switch'] = tl_state.last_switch
print(tl_state)
def _compute_velocity(self, traffic_lights_geo, current_vel):
target_vel = 130 * SCALING target_vel = 130 * SCALING
print('Nearest traffic lights: {}'.format(traffic_lights_geo['cursor'])) print('Nearest traffic lights: {}'.format(traffic_lights_geo['cursor']))
@ -148,23 +173,4 @@ class Orchestrator:
i = i + 2 i = i + 2
target_vel = floor(speed_needed_max) target_vel = floor(speed_needed_max)
response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number] return target_vel
print('Target velocity: {}'.format(target_vel))
response_channel.send(pickle.dumps(
TargetVelocity(vin=received_daf_object.vehicle_identification_number, target_velocity=target_vel,
timestamp=datetime.now())))
def handle_tl_state_receive(self, msg):
"""
Gets a dict full of traffic light state information:
{
'tlid': str,
'color': TrafficLightColor,
'last_switch': datetime
}
Updates internal information about available TLs
"""
tl_state: TrafficLightState = pickle.loads(msg)
self.tls[tl_state.tlid]['color'] = tl_state.color
self.tls[tl_state.tlid]['last_switch'] = tl_state.last_switch
print(tl_state)