Define the states as an Enum type

usdot-fhwa-stol · Sep 30, 2024 · 881b7b7 · 881b7b7
1 parent afabf7c
commit 881b7b7
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Showing 2 changed files with 14 additions and 8 deletions.
diff --git a/carma_messenger_vehicle_plugin/src/msger_veh_cfg.py b/carma_messenger_vehicle_plugin/src/msger_veh_cfg.py
@@ -14,6 +14,13 @@
 
 import json
 import logging
+from enum import Enum
+
+class VehicleState(Enum):
+    NOT_CREATED = 0
+    CREATED_AND_DRIVING = 1
+    FINISHED_AND_DESTROYED = 2
+
 
 class MsgerVehicleCfg:
 
@@ -57,7 +64,7 @@ def __init__(self, cfg_path, log_level='INFO'):
                         "lcm": veh["lcm"],
                         "cfm": veh["cfm"]
                     }
-                    self._veh_state_dict[veh_id] = 0
+                    self._veh_state_dict[veh_id] = VehicleState.NOT_CREATED
             logging.info("Vehicle configuration loaded successfully.")
         except FileNotFoundError:
             logging.error("Configuration file not found. Please check the file path.")
@@ -147,13 +154,11 @@ def set_veh_state(self, veh_id, state):
         Parameters:
         - veh_id: The ID of the vehicle.
         - state: The new state to set for the vehicle.
-        * 0: vehicle not created
-        * 1: vehicle is created and is driving in the scene
-        * 2: vehicle is created but finish the route and destroyed
         type: int
         """
         if veh_id in self._veh_state_dict:
             self._veh_state_dict[veh_id] = state
+            logging.info("Set vehicle " + str(veh_id) + " state to " + state.name)
         else:
             logging.warning(f"Attempted to set state for a non-existent vehicle ID: {veh_id}")
 

diff --git a/carma_messenger_vehicle_plugin/src/msger_veh_wrapper.py b/carma_messenger_vehicle_plugin/src/msger_veh_wrapper.py
@@ -16,6 +16,7 @@
 import logging
 from sumo_connector import SumoConnector
 from msger_veh_cfg import MsgerVehicleCfg
+from msger_veh_cfg import VehicleState 
 
 def setup_logging(level):
     numeric_level = getattr(logging, level.upper(), None)
@@ -44,7 +45,7 @@ def run(args):
                 for msg_veh_id in msg_veh_ids:
 
                     if msg_veh_id not in sumo_veh_ids and \
-                       msger_veh_cfg.get_veh_state(msg_veh_id) == 0 and \
+                       msger_veh_cfg.get_veh_state(msg_veh_id) == VehicleState.NOT_CREATED and \
                        msger_veh_cfg.get_veh_departure_time(msg_veh_id) <= sumo_connector.get_sim_time():
                         ### Init
                         logging.info("Adding new vehicle with ID: " + msg_veh_id)
@@ -53,10 +54,10 @@ def run(args):
                         sumo_connector.set_veh_speed(msg_veh_id, msger_veh_cfg.get_veh_speed(msg_veh_id))
                         sumo_connector.set_veh_lcm(msg_veh_id, msger_veh_cfg.get_veh_lcm(msg_veh_id))
                         sumo_connector.set_veh_type(msg_veh_id, msger_veh_cfg.get_veh_cfm(msg_veh_id))
-                        msger_veh_cfg.set_veh_state(msg_veh_id, 1)
-                    elif msg_veh_id not in sumo_veh_ids and msger_veh_cfg.get_veh_state(msg_veh_id) == 1:
+                        msger_veh_cfg.set_veh_state(msg_veh_id, VehicleState.CREATED_AND_DRIVING)
+                    elif msg_veh_id not in sumo_veh_ids and msger_veh_cfg.get_veh_state(msg_veh_id) == VehicleState.CREATED_AND_DRIVING:
                         ### Remove
-                        msger_veh_cfg.set_veh_state(msg_veh_id, 2)
+                        msger_veh_cfg.set_veh_state(msg_veh_id, VehicleState.FINISHED_AND_DESTROYED)
                         logging.info("Vehicle " + msg_veh_id + " finished route.")
 
                     ## TODO