"""BlockedArea."""
import math
from dataclasses import dataclass
from typing import List
import simulation.utils.road.sections.type as road_section_type
from simulation.utils.geometry import Point, Polygon
from simulation.utils.road.config import Config
from simulation.utils.road.sections import StraightRoad, SurfaceMarkingPoly, TrafficSign
[docs]@dataclass
class BlockedArea(StraightRoad):
"""Road section representing a blocked area.
Args:
width (float) = 0.2: width of the blocked area, starting from the right line.
"""
TYPE = road_section_type.BLOCKED_AREA
width: float = 0.2
_opening_angle: float = math.radians(60)
def __post_init__(self):
self.surface_markings.append(
SurfaceMarkingPoly(
frame=self._poly, kind=SurfaceMarkingPoly.BLOCKED_AREA, normalize_x=False
)
)
super().__post_init__()
@property
def frame(self) -> Polygon:
"""Polygon: Frame of the blocked area surface marking.
It has the shape of a symmetrical trapezoid.
"""
return self.transform * self._poly
@property
def _poly(self) -> Polygon:
opening_x = self.width / math.tan(self._opening_angle)
return Polygon(
[
Point(0, -Config.road_width),
Point(opening_x, -Config.road_width + self.width),
Point(self.length - opening_x, -Config.road_width + self.width),
Point(self.length, -Config.road_width),
]
)
@property
def traffic_signs(self) -> List[TrafficSign]:
"""List[TrafficSign]: All traffic signs within this section of the road."""
traffic_signs = super().traffic_signs.copy()
traffic_signs.append(
TrafficSign(
kind=TrafficSign.ONCOMING_TRAFFIC,
center=self.transform * Point(-0.4, -Config.road_width - 0.1),
angle=self.transform.get_angle(),
normalize_x=False,
)
)
return traffic_signs
@traffic_signs.setter
def traffic_signs(self, signs: List[TrafficSign]):
self._traffic_signs = signs