mirror of
https://github.com/NohamR/Stage-2023.git
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95 lines
2.5 KiB
Python
95 lines
2.5 KiB
Python
import numpy as np
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import matplotlib.pyplot as plt
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import time
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from colour import Color
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t0 = 0
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tf = 200
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dt = 0.5
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t = t0
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nbv = 20
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def rainbow_gradient(num_colors):
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colors = []
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base_color = Color("violet")
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gradient = list(base_color.range_to(Color("red"), num_colors))
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for color in gradient:
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hex_code = color.hex_l
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colors.append(hex_code)
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return colors
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colors = rainbow_gradient(nbv)
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def status(distances):
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num_colors = len(distances)
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colors = []
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base_color = Color("green")
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target_color = Color("red")
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luminance_start = base_color.get_luminance()
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luminance_end = target_color.get_luminance()
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for i in range(num_colors):
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moydist = distances[i]
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t = i / (num_colors - 1)
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adjusted_luminance = luminance_start + (luminance_end - luminance_start) * (1 - t) * (moydist - 1) / 18
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color = Color(rgb=(base_color.rgb[0] * (1 - t) + target_color.rgb[0] * t,
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base_color.rgb[1] * (1 - t) + target_color.rgb[1] * t,
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base_color.rgb[2] * (1 - t) + target_color.rgb[2] * t))
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color.set_luminance(adjusted_luminance)
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hex_code = color.hex_l
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colors.append(hex_code)
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return colors
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U = 1.25 # vitesse m.s-¹
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Wm = 0.3 # distance minimale entre la voiture et celle qui la précède m
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Ws = 0.9 # m
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def phi(ww): # prend en entrée la distance entre les deux véhicules
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PHI = (U*(1 - np.exp(- (ww-Wm)/Ws)))
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return (ww >= Wm)* PHI # retourne la vitesse du véhicule
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y = np.linspace(1, 1, nbv)
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xxbase = np.linspace(0, 1, nbv)
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def distances(fposition):
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# print('fposition', fposition)
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dist = np.diff(fposition)
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inter = fposition[0]+20-fposition[-1]
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newdist = np.insert(dist, len(dist), inter)
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return newdist
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def position(fposition, newv):
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newp = fposition + newv * dt
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return newp
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xxold = xxbase.copy()
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while(t < tf):
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plt.figure(1, figsize=[16, 9])
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plt.clf()
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nb = 360
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r = np.linspace(1, 1, nb)
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theta = np.linspace(0, 2 * np.pi, nb)
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plt.polar(theta, r, alpha=0)
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dst = distances(xxold)
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statusc = status(dst)
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print(dst)
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print(statusc)
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vt = phi(dst)
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xx = position(xxold, vt)
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plt.scatter(xx/10 * np.pi, y, c=colors)
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# for i in range(len(xx)-1):
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# plt.plot([xx[i]/10 * np.pi, xx[i+1]/10 * np.pi], [y[i], y[i+1]], color=statusc[i])
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plt.title('Vitesse maximale : ' + str(U) + ' m/s\ndistance minimale entre deux voitures : ' + str(Wm) + ' m\nnombre de voitures : ' + str(nbv))
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plt.draw()
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plt.pause(0.00001)
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t += dt
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xxold = xx.copy()
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