"""
This module defines the basic states required to determine the status of a vehicle in a platoon formation
The states are defined as:
* **StandAlone**: Vehicle not in a platoon formation
* **Joining**: Vehicle willing to join a platoon or willing to create a platoon
* **Platooning**: Vehicle inside a platoon formation
* **Split**: Vehicle is willing to split from current platoon.
"""
# ============================================================================
# STANDARD IMPORTS
# ============================================================================
from ensemble.metaclass.state import AbsState
from ensemble.metaclass.coordinator import AbsSingleGapCoord
# ============================================================================
# CLASS AND DEFINITIONS
# ============================================================================
[docs]class StandAlone(AbsState):
"""The state which declares the vehicle in stand alone mode.
Note:
Transition: `StandAlone` to `Joining`
"""
[docs] def next_state(self, vgc: AbsSingleGapCoord):
"""Determines the switching condition for the state:
Note:
Transition: `StandAlone` to `Joining`
Args:
truck (fgc): Platoon vehicle containing information of the ego vehicle.
"""
if vgc.joinable:
return Joining().next_state(vgc)
else:
return self
[docs]class Joining(AbsState):
"""The state which declares the vehicle in joining a platoon.
Note:
Transition: `Joining` to `StandAlone`
Transition: `Joining` to `Platooning`
"""
[docs] def next_state(self, vgc: AbsSingleGapCoord):
"""Determines the switching condition for the state:
Note:
Transition: `Joining` to `StandAlone`
Transition: `Joining` to `Platooning`
Args:
truck (vehicle): Platoon vehicle containing information of the ego vehicle.
"""
if vgc.cancel_join_request(False):
return StandAlone()
elif vgc.confirm_platoon():
return Platooning()
# vehicle.ego_position = (
# platoonvehicle.leader.ego_position + 1
# ) # update position in platoon
# platoonvehicle.state = "PLATOON" # update vehicle state
else:
return self
[docs]class Splitting(AbsState):
"""The state which declares the vehicle splitting from platoon
Note:
Transition: `Splitting` to `StandAlone`
Transition: `Splitting` to `Platooning`
"""
[docs] def next_state(self, vehicle):
"""Determines the switching condition for the state:
Note:
Transition: `Splitting` to `StandAlone`
Transition: `Splitting` to `Platooning`
Args:
truck (vehicle): Platoon vehicle containing information of the ego vehicle.
"""
if vehicle.rejoin_platoon():
return Platooning()
elif vehicle.leave_platoon():
return StandAlone()
else:
return self
[docs]class Platooning(AbsState):
"""The state which declares the vehicle in a platoon functionality
Note:
Transition: `Platooning` to `Splitting`
"""
[docs] def next_state(self, vehicle):
"""Determines the switching condition for the state:
Note:
Transition: `Platooning` to `Splitting`
Args:
truck (vehicle): Platoon vehicle containing information of the ego vehicle.
"""
if vehicle.platoon_split():
return Splitting()
else:
return self
[docs]class Cutin(AbsState):
"""The state which declares the vehicle in a platoon functionality
Note:
Transition: `Cutin` to `Splitting`
"""
[docs] def next_state(self, vehicle):
"""Determines the switching condition for the state:
Note:
Transition: `Platooning` to `Splitting`
Args:
truck (vehicle): Platoon vehicle containing information of the ego vehicle.
"""
if vehicle.cutin():
return Splitting()
else:
return self
# class BackSplit(AbsState):
# """
# The state which declares the vehicle splitting from platoon
# A vehicle can move from split to platoon or to standalone
# """
# def next_state(self, vehicle):
# if vehicle.rejoin_platoon() == True:
# return Platooning()
# elif vehicle.leave_platoon() == True:
# return StandAlone()
# else:
# return self
