(self, trajectories: dict[str, Trajectory])
| 299 | return False |
| 300 | |
| 301 | def setTrajectories(self, trajectories: dict[str, Trajectory]): |
| 302 | for vid, vins in self.lsr.currVehicles.items(): |
| 303 | dbTrajectory = self.dbTrajectory(vid, self.timeStep) |
| 304 | if vid in trajectories.keys(): |
| 305 | if not vins.dbTrajectory: |
| 306 | vins.plannedTrajectory = trajectories[vid] |
| 307 | vins.dbTrajectory = None |
| 308 | else: |
| 309 | if self.isInvolved(vins, self.lsr.vehINAoI): |
| 310 | # set planned trajectory |
| 311 | vins.plannedTrajectory = trajectories[vid] |
| 312 | # if vehicle is controled by the planner, |
| 313 | # we won't update the dbTrajectory. |
| 314 | vins.dbTrajectory = None |
| 315 | else: |
| 316 | vins.dbTrajectory = dbTrajectory |
| 317 | else: |
| 318 | # set db trajectory |
| 319 | if not vins.iscontroled: |
| 320 | # if the dbTrajectory if None, the follow process will |
| 321 | # destroy the vehicle. |
| 322 | vins.dbTrajectory = dbTrajectory |
| 323 | else: |
| 324 | # if the vehicle is controlled already, the dbTrajectory |
| 325 | # will not update anymore. after it runs out of its |
| 326 | # plannedTrajectory, it will be deleted. |
| 327 | continue |
| 328 | |
| 329 | def updateVeh(self, veh: Vehicle): |
| 330 | message = veh.replayUpdate() |
nothing calls this directly
no test coverage detected