shuvit/scripts/cars.py

import bge
import random
import FSM
import astar
import observer

car_colors = [[.2,.01,.01,1], [.5,.5,.4,1], [.005,.01,.015,1], [.005, .1, 0.003, 1], [.1, .1, .1, 1]]

def car_run_check(self):
	output = False
	for x in bge.logic.getCurrentScene().objects:
		if 'car_park_empty' in x.name:
			self.parking_spots.append(x)
			x['in_use'] = False
			print('this is a parking spot')
			output = True
	
	return output
			

def get_parking_spots():
	op = []
	for obj in bge.logic.getCurrentScene().objects:
		if 'parking' in obj:
			ps = ParkingSpot(obj, 'available')
			op.append(ps)
	return op

def get_intersections():
	op = []
	for obj in bge.logic.getCurrentScene().objects:
		if 'intersection' in obj:
			op.append(obj)
	return op		

def add_car(self, x):
	print('put car here', x.obj.worldPosition)
	car = bge.logic.getCurrentScene().addObject('car_collider', x.obj, 0)
	car.worldOrientation = x.obj.worldOrientation
	car.worldPosition.z += .8
	car.applyMovement([0, -6, 0], True)
	car.suspendDynamics()
	car.suspendPhysics()	

	car.name = 'lcar' + str(len(self.manager.cars))
	color = random.choice(car_colors)
	car.color = color
	for y in car.children:
		y.color = color
	print('setting car color to ', car.color)
	x.status = 'in_use'


	return car

#====================================  

class ParkingSpot:
	def __init__(self, obj, status):
		self.obj = obj
		self.status = status

class Car:
	def __init__(self, own, start_empty):
		self.manager = own
		self.life = 0
		self.start_empty = start_empty
		self.obj = add_car(self, self.start_empty)
		self.speed_targ = self.manager.default_speed
		self.speed_inc = 800
		self.FSM = FSM.CarFSM(self)
		self.active = False
		self.target = None
		self.lane_point = self.obj.worldPosition
		self.last_lane_point = self.obj.worldPosition
		self.path = None
		self.path_index = 0
		self.path_display = []
		#self.messages = observer.Subscriber(self)
		self.manager.pub.register("path found", self)

	def Execute(self):
		self.FSM.Execute()
		self.life += 1

	def ReceiveMessage(self, message):
		#print('{} got message "{}"'.format(self, message))	
		if self == message[1]:
			#print('unregistering observer')
			#print(message[2])
			self.path = message[2]
			self.FSM.FSM.ToTransition('toExitParallelPark')
			
			#self.manager.pub.unregister("path found", self)
		#self.manager.pub.unregister("path found", self)	

class CarManager:
	def __init__(self, own):
		self.parent = own
		self.navmesh =None
		self.pub = observer.Publisher(['path found', 'working'])
		self.navmesh2 =  astar.Astar('nav_points', self.pub)
		self.cars = []
		self.max_cars = 14
		self.max_active = 12
		self.targets = []
		self.target_loc = None
		self.parking_spots = get_parking_spots()
		self.intersections = get_intersections()
		#self.active = car_run_check(self)
		self.active = True
		self.cars_active = []
		self.cars_loaded = False
		#self.max_active = 5
		self.life = 0
		self.default_speed = 8.0#5.0
		self.lane_position = 2.5#1.75
		
		    


	def load_cars(self):
		iter_ = 0
		#look for car in scene
		if 'car_collider' in bge.logic.getCurrentScene().objectsInactive:

			start_choices = self.parking_spots.copy()
			while len(self.cars) < self.max_cars:
				#get starting position
				start_choice = random.choice(start_choices)
				start_choices.remove(start_choice)

				#add_car(self, start_choice.worldPosition)
				car_ = Car(self, start_choice)
				self.cars.append(car_)

			for x in self.parking_spots:
			
				
				# print('put car here', x.worldPosition)
				# car = bge.logic.getCurrentScene().addObject('car_collider', x, 0)
				# car.worldOrientation = x.worldOrientation
				# car.worldPosition.z += 1
				# car.suspendDynamics()
				# car.suspendPhysics()

				# car['FSM'] = FSM.CarFSM(car)
				# car['manager'] = self
				# self.cars.append(car)
				# car.name = 'lcar' + str(iter_)
				# color = random.choice(car_colors)
				# car.color = color
				# for x in car.children:
				# 	x.color = color
				# print('setting car color to ', car.color)
				iter_ += 1

			# for x in bge.logic.getCurrentScene().objects:
			# 	if 'carNavmesh' in x:
			# 		self.navmesh = x
				# if 'car_target' in x:
				# 	self.targets.append(x)	
				# 	print('adding target', x)
				# if 'target_loc' in x:
				# 	self.target_loc = x		

			self.cars_loaded = True	

		else:
			mainDir = bge.logic.expandPath("//")
			car = 'car1'
			fileName = mainDir + "assets/" + str(car) + '.blend'    
			
			path = bge.logic.expandPath(fileName)
			print('loading car')
			try:
				bge.logic.LibLoad(path, 'Scene') 
			except:
				print('loading', fileName, 'failed')   

	def activator_check(self):
		if len(self.cars_active) < self.max_active:
			l = []
			for c in self.cars:
				if not c.active:
					l.append(c)
			car = random.choice(l)
			self.cars_active.append(car)
			car.active = True
			car.FSM.FSM.ToTransition('toRequestPath')
			#state
			print('activate car', car)

	def update(self):
		#print('car_manager_updating')
		self.life += 1
		if self.cars_loaded:
			#check i f new car should be active
			if self.life % 120 == 0:

				self.activator_check()

			for car in self.cars_active:
				car.Execute()
				#print(car, 'is an acitve car')
			self.navmesh2.update()
			#print('updating navmesh from cars')	
			

		else:
			self.load_cars()
			print('------------calling load cars')

		# if self.life == 400:
		# 	self.pub.dispatch('path found', 'found path for object')
		# l = []
		# for c in self.parking_spots:		
		# 	if c.status == 'available':
		# 		l.append(1)
		# 	else:
		# 		l.append(0)
		#print(l, 'available spots')
def Execute(cont):
	own = cont.owner
	if 'car_manager' not in own:
		own['car_manager'] = CarManager(own)
	car_man = own['car_manager']	
	if car_man.active:

		car_man.update()