"""
A class to take control over vehicles
"""
from dataclasses import dataclass, field
from collections import deque
from typing import List
from symupy.tsc.vehicles import Vehicle, VehicleList
from symupy.utils import constants as ct
import numpy as np
[docs]class VehicleControl:
""" Controls a single vehicle"""
def __init__(
self, vehicle: Vehicle, mode: str = "manual", time: float = ct.TIME_STEP
):
self.mode = mode
self.time = time
self.vehicle = vehicle
self.__pos = vehicle.distance
self.__spd = vehicle.speed
self.__acc = vehicle.acceleration
def __repr__(self):
return f"{self.__class__.__name__}(vehicle= {self.vehicle.__str__()},mode = {self.mode}, time= {self.time})"
def __str__(self):
return f"{self.__class__.__name__}(vehicle= {self.vehicle.__str__()},mode = {self.mode}, time= {self.time})"
[docs] def compute_control(self):
"""Compute automatic control"""
raise NotImplementedError
[docs] def set_manual_control(self, value, controlvar="acceleration"):
self.control = {"variable": controlvar, "value": value}
@property
def control(self):
return self.__u
@control.setter
def control(self, value):
""" Setter for manual """
if self.mode == "manual":
self.__u = value
return
self.__u = self.compute_control()
[docs]@dataclass
class VehicleGroupControl:
""" Control of group of vehicles of the same class"""
controls: List[VehicleControl] = field(default_factory=list)
def __str__(self):
if not self.controls:
return "No vehicles registered for control"
return "\n".join(
", ".join(f"{k}:{v}" for k, v in ctr.vehicles.__dict__.items())
for ctr in self.controls
)
def __repr__(self):
if not self.controls:
return "No vehicles registered for control"
return "\n".join(
", ".join(f"{k}:{v}" for k, v in ctr.vehicles.__dict__.items())
for ctr in self.controls
)
