271 lines
10 KiB
Python
271 lines
10 KiB
Python
import pickle
|
|
import threading
|
|
import time
|
|
from datetime import datetime
|
|
from typing import Union
|
|
|
|
import geopy
|
|
import geopy.distance
|
|
from circuitbreaker import circuit
|
|
from dse_shared_libs.daf import DAF
|
|
|
|
from dse_shared_libs.message_broker_wrapper import MBWrapper
|
|
|
|
# Lat, Long
|
|
from dse_shared_libs.target_velocity import TargetVelocity
|
|
from pika.exceptions import AMQPConnectionError
|
|
|
|
STARTING_POINT = geopy.Point(47.89053, 16.20703)
|
|
# Driving direction in degrees: 0=N, 90=E, 180=S, 270=W
|
|
BEARING = 2
|
|
# Scale speed of vehicles by factor x
|
|
SCALING = 6
|
|
# in km/h
|
|
STARTING_VELOCITY = 130 * SCALING
|
|
# Interval between status updates in seconds (is not scaled)
|
|
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 = 15
|
|
# Resets vehicle at km x
|
|
RESET_KM = 4.3
|
|
|
|
|
|
class Vehicle:
|
|
# vehicle identification number
|
|
vin: str
|
|
# velocity in km/h
|
|
velocity: float
|
|
# stores the timestamp most recently used to calculate driving distance
|
|
last_update: Union[datetime, None]
|
|
# marks if vehicle is currently driving, a new one isn't, has to be started via self.start_driving()
|
|
driving: bool = False
|
|
# stores last velocity before NCE, is used to recover after NCE
|
|
_last_velocity: float
|
|
# stores the so-far driven kilometers
|
|
_driven_kms: int
|
|
# stores the starting point for resetting the vehicle
|
|
_starting_point: geopy.Point
|
|
# stores the gps_location, shall be accessed by gps_location, where the actual value is calculated and returned
|
|
_gps_location: geopy.Point
|
|
# stores if nce possible
|
|
_nce_possible = True
|
|
# stores if nce already happened, it only happens (up to) once
|
|
_nce_happened = False
|
|
# stores if we are still recovering from NCE
|
|
_recovering = False
|
|
|
|
# continuous driving thread
|
|
_t: threading.Thread
|
|
# NCE recovery thread
|
|
_rt: threading.Thread
|
|
|
|
# outgoing daf info MBWrapper
|
|
_daf_mb: MBWrapper
|
|
# incoming target velocity MBWrapper
|
|
_velocity_mb: MBWrapper
|
|
|
|
def __init__(self,
|
|
vin: str,
|
|
starting_point: geopy.Point = STARTING_POINT,
|
|
starting_velocity: float = STARTING_VELOCITY):
|
|
"""
|
|
Initialize a new vehicle client. Already initializes the corresponding sending and receiving message queue.
|
|
A vehicle sends every UPDATE_INTERVAL seconds its current DAF to the orchestrator. It receives as response the
|
|
new TargetVelocity to achieve a possible green wave. After a fixed amount of kilometers, the NCE event is
|
|
happening. The car then stands still for TIME_TO_RECOVER seconds. Afterwards, it starts driving with the last
|
|
known velocity. While it is recovering, it ignores the target velocity responses from the orchestrator.
|
|
A vehicle drives a full route between start and end. After reaching the end, it restores the internal state and
|
|
starts again from the beginning.
|
|
|
|
:param vin: Vehicle Identification Number
|
|
:param starting_point: point on globe to start at
|
|
:param starting_velocity: velocity to start driving with
|
|
"""
|
|
self.vin = vin
|
|
self._starting_point = starting_point
|
|
self._gps_location = starting_point
|
|
self.velocity = starting_velocity
|
|
|
|
self._daf_mb = MBWrapper(exchange_name='vehicle_daf_{}'.format(vin))
|
|
self._daf_mb.setup_sender()
|
|
|
|
self._velocity_mb = MBWrapper(exchange_name='vehicle_velocity_{}'.format(self.vin), callback=self.new_velocity)
|
|
self._velocity_mb.setup_receiver()
|
|
|
|
@property
|
|
def nce(self):
|
|
"""
|
|
On accessing this property, it is calculated if the NCE shall happen. NCE only happens up to once per route.
|
|
If the NCE happens, the car stops driving (velocity = 0) for TIME_TO_RECOVER seconds. In this time,
|
|
responses from the orchestrator are ignored. After recovery, the vehicle starts driving again with the last
|
|
known velocity.
|
|
|
|
:return: True if NCE invoked, otherwise False
|
|
"""
|
|
if self._nce_possible and not self._nce_happened:
|
|
if self._driven_kms >= NCE_KM:
|
|
self._nce_happened = True
|
|
self._last_velocity = self.velocity
|
|
self.velocity = 0
|
|
|
|
def _sleep_and_recover():
|
|
recover_in = TIME_TO_RECOVER / SCALING
|
|
self._recovering = True
|
|
print('\nNCE !!! Recovering in {} (scaled) seconds.\n'.format(recover_in))
|
|
time.sleep(recover_in)
|
|
print('\nRecovered.\n')
|
|
self._recovering = False
|
|
self.velocity = self._last_velocity
|
|
|
|
self._rt = threading.Thread(target=_sleep_and_recover)
|
|
self._rt.start()
|
|
return True
|
|
|
|
return False
|
|
|
|
@nce.setter
|
|
def nce(self, val):
|
|
self._nce_happened = val
|
|
|
|
@property
|
|
def daf(self):
|
|
"""
|
|
Return the DAF object of the vehicle. The properties are always evaluated on calling. That guarantees accurate
|
|
values.
|
|
|
|
:return: current "Datenaufzeichnung für automatisiertes Fahren" (DAF) object
|
|
"""
|
|
|
|
# ATTENTION: ORDER MANDATORY (except for static vin)
|
|
return DAF(vehicle_identification_number=self.vin,
|
|
# first deduce nce - is calculated, sets velocity to 0 if NCE
|
|
near_crash_event=self.nce,
|
|
# then get current location based on last location and current speed
|
|
gps_location=self.gps_location,
|
|
# finally get last_update, is updated by gps_location deduction
|
|
timestamp=self.last_update,
|
|
# is set to 0 if nce
|
|
velocity=self.velocity,
|
|
)
|
|
|
|
@property
|
|
def gps_location(self):
|
|
"""
|
|
An accurate current position of the vehicle at the moment the property is called is retunred.
|
|
The gps location is derived from the last position this property was called at and the
|
|
time the vehicle was driving since then. Therefore, it is not necessary to call this function exactly at a given
|
|
time span, because it calculates the driven kms relative to the calling time.
|
|
"""
|
|
# Define starting point.
|
|
start = self._gps_location
|
|
|
|
# Get old and updated timestamps
|
|
old_timestamp = self.last_update
|
|
updated_timestamp = datetime.now()
|
|
self.last_update = updated_timestamp
|
|
|
|
# get driving time between timestamps (in seconds)
|
|
driving_time = (updated_timestamp - old_timestamp).total_seconds()
|
|
|
|
# reached distance in kilometers: convert km/h to km/s and multiply by driving time
|
|
kilometers = self.velocity / 3600 * driving_time
|
|
|
|
# Define a general distance object, initialized with a distance of k km.
|
|
d = geopy.distance.distance(kilometers=kilometers)
|
|
|
|
# Use the `destination` method with a bearing of BEARING degrees
|
|
# in order to move from point `start` to kilometers km bearing.
|
|
self._gps_location = d.destination(point=start, bearing=BEARING)
|
|
|
|
# update driven kilometers
|
|
self._driven_kms += kilometers
|
|
return self._gps_location
|
|
|
|
@property
|
|
def driven_kms(self):
|
|
"""
|
|
:returns: a string representation of the driven kms
|
|
"""
|
|
return '{}km'.format(round(self._driven_kms, 2))
|
|
|
|
def start_driving(self):
|
|
"""
|
|
Starts a thread responsible for driving. This thread continuously updates internal values and
|
|
informs the message broker about the current state (DAF) of the vehicle.
|
|
"""
|
|
print('{} starts driving ... SCALING: x{}\n\n'.format(self.vin, SCALING))
|
|
self.last_update = datetime.now()
|
|
self._driven_kms = 0
|
|
|
|
self._t = threading.Thread(target=self.drive)
|
|
self._t.start()
|
|
|
|
def drive(self):
|
|
"""
|
|
Drive until not self.driving == update status every UPDATE_INTERVAL seconds.
|
|
"""
|
|
self.driving = True
|
|
while self.driving:
|
|
self.check_reset()
|
|
self.send_status_update()
|
|
time.sleep(UPDATE_INTERVAL)
|
|
|
|
def stop_driving(self):
|
|
"""
|
|
Set self.driving to stop driving thread gracefully.
|
|
"""
|
|
self.driving = False
|
|
self._gps_location = self._starting_point
|
|
self._driven_kms = 0
|
|
|
|
def check_reset(self):
|
|
"""
|
|
Checks if end of route is reached and resets vehicle to starting conditions.
|
|
It also resets on malicious coordinates.
|
|
|
|
Afterwards, the vehicle is still driving, but again from start.
|
|
"""
|
|
if self._driven_kms >= RESET_KM:
|
|
self._reset()
|
|
|
|
if self._gps_location.latitude < self._starting_point.latitude or \
|
|
self._gps_location.longitude < self._starting_point.longitude:
|
|
self._reset()
|
|
|
|
@circuit(failure_threshold=10, expected_exception=AMQPConnectionError)
|
|
def send_status_update(self):
|
|
"""
|
|
Sends the current DAF to the orchestrator. The orchestrator will then respond asynchronously on the response
|
|
queue.
|
|
"""
|
|
print(self.driven_kms, '\t', self.daf)
|
|
self._daf_mb.send(pickle.dumps(self.daf))
|
|
|
|
def new_velocity(self, response: bytes):
|
|
"""
|
|
Will be invoked if new target velocity message received from orchestrator.
|
|
:param response: pickled TargetVelocity object
|
|
"""
|
|
response: TargetVelocity = pickle.loads(response)
|
|
velocity = response.target_velocity
|
|
print('Received new velocity {}'.format(velocity))
|
|
|
|
if not self._recovering:
|
|
self.velocity = velocity
|
|
else:
|
|
print('We are still recovering ... ignoring new target velocity.')
|
|
|
|
def _reset(self):
|
|
print('\n\nEnd of route reached ... resetting and restarting vehicle')
|
|
self._gps_location = self._starting_point
|
|
self._driven_kms = 0
|
|
self.last_update = datetime.now()
|
|
self.nce = False
|
|
self.velocity = STARTING_VELOCITY
|
|
|
|
|
|
if __name__ == "__main__":
|
|
...
|