def traciLoop(port, traciEndTime, index, orderOdd):
orderTime = 0.25
time.sleep(orderTime * index) # assure ordering of outputs
print("Starting process %s" % (index))
sys.stdout.flush()
step = 1
try:
traci.init(port)
if orderOdd and index % 2 == 1:
traci.setOrder(index)
sumoStop = False
while not step > traciEndTime:
traci.simulationStep()
vehs = traci.vehicle.getIDList()
if len(vehs) > 3:
print("Something is wrong")
step += 1
endTime = traci.simulation.getCurrentTime() / DELTA_T
traci.close()
#~ except traci.FatalTraCIError as e:
except Exception as e:
time.sleep(orderTime * index) # assure ordering of outputs
sumoStop = True
print("client %s: " % index, str(e), " (at TraCIStep %s)" % step)
sys.stdout.flush()
if not sumoStop:
time.sleep(orderTime * index) # assure ordering of outputs
print("Process %s ended at step %s" % (index, endTime))
sys.stdout.flush()
def __init__(self, sumoconfig):
self.frame = 0; #初始步长为0
self.inductionloopid = '##'
#traci.start(['sumo-gui', '--start', '-c', sumoconfig])
traci.start(cmd=['sumo-gui', '--start', '-c', sumoconfig,
"--num-clients", "2"], port=8813, label="sim1")
traci.setOrder(1)
self.start = time.perf_counter()
print(" 3.2、启动sumo-gui,初始启动时间：", self.start)
def start_server(sumo_cmd):
traci.start(sumo_cmd, port=1111)
traci.setOrder(1)
#tracking.track_in_new_thread(traci, 'veh0')
# vehicleId = 'veh0'
# traci.vehicle.highlight(vehicleId)
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
traci.close()
def traciLoop(port, traciEndTime, i, runNr, steplength=0):
orderTime = 0.25
time.sleep(orderTime * i) # assure ordering of outputs
if steplength == 0:
steplength = DELTA_T / 1000.
# order index dependent on runNr
index = i if (runNr % 2 == 0) else 10 - i
sys.stdout.flush()
traci.init(port)
traci.setOrder(index)
message = ("Starting process %s (order: %s) with steplength %s\n" % (i, index, steplength))
step = 1
vehID = ""
traciEndStep = math.ceil(traciEndTime / steplength)
vehResults = traci.vehicle.getSubscriptionResults()
simResults = traci.simulation.getSubscriptionResults()
while not step > traciEndStep:
message = ""
message += ("Process %s:\n" % (i))
message += (" %s vehicle subscription results: %s\n" % (i, str(vehResults)))
message += (" %s simulation subscription results: %s\n" % (i, str(simResults)))
if (vehID == ""):
vehs = traci.vehicle.getIDList()
if len(vehs) > 0:
vehID = vehs[0]
if i == 1:
message += (" %s subscribing to speed (ID = %s) of vehicle '%s'\n" % (i, tc.VAR_SPEED, vehID))
traci.vehicle.subscribe(vehID, [tc.VAR_SPEED])
message += (" -> %s\n" % str(traci.vehicle.getSubscriptionResults()))
else:
message += (" %s subscribing to acceleration (ID = %s) of vehicle '%s'\n" %
(i, tc.VAR_ACCEL, vehID))
traci.vehicle.subscribe(vehID, [tc.VAR_ACCEL])
message += (" -> %s\n" % str(traci.vehicle.getSubscriptionResults()))
sys.stdout.flush()
elif len(vehs) == 0:
message += (" %s breaking execution: traced vehicle '%s' left." % (i, vehID))
print(message)
sys.stdout.flush()
break
message += (" %s stepping (step %s)..." % (i, step))
print(message)
sys.stdout.flush()
message = ""
time.sleep(0.01) # give message time to be printed
simResults = traci.simulationStep(int(step * steplength * 1000))
vehResults = traci.vehicle.getSubscriptionResults()
step += 1
endTime = traci.simulation.getCurrentTime() / DELTA_T
traci.close()
time.sleep(orderTime * i) # assure ordering of outputs
print("Process %s (order %s) ended at step %s" % (i, index, endTime))
sys.stdout.flush()
def traciLoop(port, traciEndTime, i, runNr, steplength=0):
orderTime = 0.25
time.sleep(orderTime * i) # assure ordering of outputs
if steplength == 0:
steplength = DELTA_T / 1000.
# order index dependent on runNr
index = i if (runNr % 2 == 0) else 10 - i
print("Starting process %s (order: %s) with steplength %s" %
(i, index, steplength))
sys.stdout.flush()
traci.init(port)
traci.setOrder(index)
step = 1
lastVehID = ""
traciEndStep = math.ceil(traciEndTime / steplength)
while not step > traciEndStep:
print("Process %s:" % (i))
print(" stepping (step %s)..." % step)
traci.simulationStep(int(step * steplength * 1000))
vehs = traci.vehicle.getIDList()
if len(vehs) != 0:
vehID = vehs[0]
if vehID != lastVehID and lastVehID != "":
print(" breaking execution: traced vehicle '%s' left." %
lastVehID)
break
else:
lastVehID = vehID
print(
" Retrieving position for vehicle '%s' -> %s on lane '%s'" %
(vehID, traci.vehicle.getLanePosition(vehID),
traci.vehicle.getLaneID(vehID)))
print(" Retrieving speed for vehicle '%s' -> %s" %
(vehID, traci.vehicle.getSpeed(vehID)))
traci.vehicle.setSpeedMode(vehID, 0)
newSpeed = i * 5
print(" Setting speed for vehicle '%s' -> %s" %
(vehID, newSpeed))
print(" Retrieving speed for vehicle '%s' -> %s" %
(vehID, traci.vehicle.getSpeed(vehID)))
traci.vehicle.setSpeed(vehID, newSpeed)
elif lastVehID != "":
print(" breaking execution: traced vehicle '%s' left." %
lastVehID)
break
step += 1
sys.stdout.flush()
endTime = traci.simulation.getCurrentTime() / DELTA_T
traci.close()
time.sleep(orderTime * i) # assure ordering of outputs
print("Process %s (order %s) ended at step %s" % (i, index, endTime))
sys.stdout.flush()
def __init__(self,
cfg_file,
step_length,
host=None,
port=None,
sumo_gui=False,
client_order=1):
if sumo_gui is True:
sumo_binary = sumolib.checkBinary('sumo-gui')
else:
sumo_binary = sumolib.checkBinary('sumo')
if host is None or port is None:
logging.info('Starting new sumo server...')
if sumo_gui is True:
logging.info(
'Remember to press the play button to start the simulation'
)
traci.start([
sumo_binary, '--configuration-file', cfg_file, '--step-length',
str(step_length), '--lateral-resolution', '0.25',
'--collision.check-junctions'
])
else:
logging.info('Connection to sumo server. Host: %s Port: %s', host,
port)
traci.init(host=host, port=port)
traci.setOrder(client_order)
# Retrieving net from configuration file.
self.net = _get_sumo_net(cfg_file)
# To keep track of the vehicle classes for which a route has been generated in sumo.
self._routes = set()
# Variable to asign an id to new added actors.
self._sequential_id = 0
# Structures to keep track of the spawned and destroyed vehicles at each time step.
self.spawned_actors = set()
self.destroyed_actors = set()
# Traffic light manager.
self.traffic_light_manager = SumoTLManager()
def start_sumo_executable(gui, sumo_args, sumocfg_file):
if sumo_args.sumo_port:
traci.init(port=int(sumo_args.sumo_port), label="")
traci.setOrder(1)
else:
sumoBinary = sumolib.checkBinary('sumo' if not gui else 'sumo-gui')
additional_args = shlex.split(
sumo_args.sumo_args) if sumo_args.sumo_args else []
args = [sumoBinary, '-c', sumocfg_file] + additional_args
print('Executing %s' % ' '.join(args))
traci.start(args)
traci.simulation.subscribe()
# Subscribe to all traffic lights. This set of IDs should never change.
for light_id in traci.trafficlights.getIDList():
traci.trafficlights.subscribe(
light_id, [tc.TL_CURRENT_PHASE, tc.TL_CURRENT_PROGRAM])
def simulation(self):
#traci.start(['sumo-gui', '-c', './scenario/sumodata/shihuxilu_add.sumocfg', '--start'])
traci.init(8813)
traci.setOrder(2)
for junctionID in self.agentids:
traci.junction.subscribeContext( #位置、 角度、 类型、 车长、 颜色、 速度
junctionID, tc.CMD_GET_VEHICLE_VARIABLE, 1500, [
tc.VAR_POSITION, tc.VAR_ANGLE, tc.VAR_TYPE, tc.VAR_LENGTH,
tc.VAR_COLOR, tc.VAR_SPEED
])
#traci.inductionloop.subscribeContext("d_1", tc.CMD_GET_INDUCTIONLOOP_VARIABLE, 0, [tc.VAR_LANE_ID, tc.LAST_STEP_VEHICLE_NUMBER])
traci.lane.subscribeContext(
"lane1_0", tc.CMD_GET_LANE_VARIABLE, -1,
[tc.LAST_STEP_MEAN_SPEED, tc.LAST_STEP_VEHICLE_NUMBER])
while traci.simulation.getMinExpectedNumber() > 0:
# print("size : ", len(traci.vehicle.getIDList()))
# for vec_id in traci.vehicle.getIDList():
# # 订阅车辆信息：坐标，角度，车辆类型，颜色，速度
# traci.vehicle.subscribe(str(vec_id),
# (tc.VAR_POSITION, tc.VAR_ANGLE, tc.VAR_TYPE, tc.VAR_COLOR, tc.VAR_SPEED))
traci.simulationStep() ##整合在一起时，只需要一个切帧
self.frame += 1
# n = traci.inductionloop.getLastStepVehicleNumber("d_2")
# print("getLastStepVehicleNumber = ", n)
dict_sub = traci.lane.getContextSubscriptionResults("lane1_0")
#print("lane dict = ", dict_sub)
self.process_vehpos_v17() #函数用生成帧数据
#self.process_vehpos()
#帧间休眠
sleeping = config.steplength*self.frame - \
(time.perf_counter() - self.start)
# print(sleeping)
if sleeping > 0:
time.sleep(sleeping)
sys.stdout.flush()
traci.close()
#self.record_file.close()
self.producer.close()
exit(0)
def traciLoop(port, traciEndTime, index, steplength=0):
orderTime = 0.25
time.sleep(orderTime * index) # assure ordering of outputs
if steplength == 0:
steplength = DELTA_T / 1000.
print("Starting process %s with steplength %s" % (index, steplength))
sys.stdout.flush()
traci.init(port)
traci.setOrder(index)
step = 1
nrEnteredVehicles = 0
sumoStop = False
try:
traciEndStep = math.ceil(traciEndTime / steplength)
while not step > traciEndStep:
traci.simulationStep(int(step * steplength * 1000))
#print(index, "asking for vehicles")
# sys.stdout.flush()
vehs = traci.vehicle.getIDList()
nrEnteredVehicles += traci.simulation.getDepartedNumber()
#~ print(index, "Newly entered vehicles: ", traci.simulation.getDepartedNumber(), "(vehs: ", vehs, ")")
#~ sys.stdout.flush()
step += 1
endTime = traci.simulation.getCurrentTime() / DELTA_T
traci.close()
except traci.FatalTraCIError as e:
if str(e) == "connection closed by SUMO":
time.sleep(orderTime * index) # assure ordering of outputs
sumoStop = True
print("client %s: " % index, str(e), " (at TraCIStep %s)" % step)
sys.stdout.flush()
else:
raise
if not sumoStop:
time.sleep(orderTime * index) # assure ordering of outputs
print("Process %s ended at step %s" % (index, endTime))
print("Process %s was informed about %s entered vehicles" %
(index, nrEnteredVehicles))
sys.stdout.flush()
step = 0
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
print(step)
# if step == 100:
# traci.vehicle.changeTarget("1", "e9")
# traci.vehicle.changeTarget("3", "e9")
step += 1
traci.close()
sys.stdout.flush()
if __name__ == "__main__":
options = get_options()
# check binary
if options.nogui:
sumoBinary = checkBinary('sumo')
else:
sumoBinary = checkBinary('sumo-gui')
# traci starts sumo as a subprocess and then this script connects and runs
# traci.start([sumoBinary, "-c", "demo.sumocfg", "--tripinfo-output", "tripinfo.xml"])
traci.init(55555)
traci.setOrder(
2) # number can be anything as long as each client gets its own number
run()
def sumo_thread_func(self):
traci.init(self.listen_port)
traci.setOrder(self.current_order)
print("current order: ", self.current_order)
self.current_order += 1
def __init__(self,
cfg_file,
step_length,
host=None,
port=None,
sumo_gui=False,
client_order=1,
ego_vehicle_id='0',
comm_range=50.0):
if sumo_gui is True:
sumo_binary = sumolib.checkBinary('sumo-gui')
else:
sumo_binary = sumolib.checkBinary('sumo')
if host is None or port is None:
logging.info('Starting new sumo server...')
if sumo_gui is True:
logging.info('Remember to press the play button to start the simulation')
traci.start([sumo_binary,
'--configuration-file', cfg_file,
'--step-length', str(step_length),
'--lateral-resolution', '0.25',
'--collision.check-junctions'
])
else:
logging.info('Connection to sumo server. Host: %s Port: %s', host, port)
traci.init(host=host, port=port)
traci.setOrder(client_order)
# Retrieving net from configuration file.
self.net = _get_sumo_net(cfg_file)
# Creating a random route to be able to spawn carla actors.
traci.route.add("carla_route", [traci.edge.getIDList()[0]])
# Variable to asign an id to new added actors.
self._sequential_id = 0
# Ego vehicle id and state
assert isinstance(ego_vehicle_id, str), 'ego vehicle id should be string'
self.ego_vehicle = ego_vehicle_id
self.ego_vehicle_state = 0 # 0: not departed yet, 1: departed, 2: arrived
self.comm_range = comm_range
# Structures to keep track of the spawned, destroyed vehicles and the vehicles that are in the range of
# ego vehicle at each time step.
self.spawned_actors = set()
self.destroyed_actors = set()
self.inrange_actors = set()
self.sensor_to_spawn = set() # actors that should spawn sensors
self.sensor_to_stop = set() # actors on which the attached sensors should be destroyed
self.perception_actors = set()
# Traffic light manager.
self.traffic_light_manager = SumoTLManager()
# record num of ticks since the ego vehicle is alive
self.ticks = 0
