def setLaneChangeMode(vehID, lcm):
"""setLaneChangeMode(string, integer) -> None
Sets the vehicle's lane change mode as a bitset.
"""
traci._sendIntCmd(
tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_LANECHANGE_MODE, vehID, lcm)
def setSignals(vehID, signals):
"""setSignals(string, integer) -> None
Sets an integer encoding the state of the vehicle's signals.
"""
traci._sendIntCmd(
tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SIGNALS, vehID, signals)
def doStep():
state.step += 1
if setting.verbose:
print("step", state.step)
traci.simulationStep()
# adding new vehicles, if any
departed = traci.simulation.getSubscriptionResults()[
tc.VAR_DEPARTED_VEHICLES_IDS]
for v in departed:
traci.vehicle.subscribe(v, dataFromTraciState)
vehicleSetParams[v] = getSetParams(v)
if v == 'ego':
thisv = egov
else:
thisv = alterv
controllers[v] = Controllers.Inter1Constant(v, thisv)
#getController(v, vehicleSetParams[v])
if controllers[v] is not None:
if setting.verbose:
print("allowing forward and lane crashes for", v)
traci._sendIntCmd(tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SPEEDSETMODE,
v, controllers[v].speedMode)
traci.vehicle.setLaneChangeMode(v, controllers[v].laneChangeMode)
# gather vehicle states for this step
vStates = {}
for vehID, subs in traci.vehicle.getSubscriptionResults().iteritems():
tempParams = getFromSubscription(vehID, subs, dataFromTraciState)
vStates[vehID] = VState(tempParams + vehicleSetParams[vehID])
#
for vehID, vState in vStates.iteritems():
sensor = sensorToUse(vState, realign=True)
#
for otherID, otherState in vStates.iteritems():
if vehID != otherID:
#
# check for collisions
if collisionCheck.check(vState, otherState):
#print "collision! pos",vState.x,vState.y,"step",state.step
if state.collisionOccurred <= 0:
state.collisionOccurred = state.step * .1
break
#
# update sensor
sensor.addObstacle(otherState)
#
if setting.verbose:
for vstat in sensor.getObstacles():
print(vehID, "detects", vstat.x, vstat.y, "speed", vstat.speed)
# store this vehicle movement
output.add([[
state.step * .1, vehID, vState.x, vState.y, vState.angle,
vState.speed
]])
# use data to decide speed
if controllers[vehID] is not None:
controllers[vehID].updateSpeed(vState.speed)
commandedSpeed = controllers[vehID].nextStep(sensor.getObstacles())
traci.vehicle.setSpeed(vehID, commandedSpeed)
if setting.verbose:
print("setting speed", commandedSpeed)
def setSpeedMode(vehID, sm):
"""setLaneChangeMode(string, integer) -> None
Sets the vehicle's speed mode as a bitset.
"""
traci._sendIntCmd(
tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SPEEDSETMODE, vehID, sm)
def setSignals(vehID, signals):
"""setSignals(string, integer) -> None
Sets an integer encoding the state of the vehicle's signals.
"""
traci._sendIntCmd(tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SIGNALS, vehID,
signals)
def setSpeedMode(vehID, sm):
"""setLaneChangeMode(string, integer) -> None
Sets the vehicle's speed mode as a bitset.
"""
traci._sendIntCmd(
tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SPEEDSETMODE, vehID, sm)
def setLaneChangeMode(vehID, lcm):
"""setLaneChangeMode(string, integer) -> None
Sets the vehicle's lane change mode as a bitset.
"""
traci._sendIntCmd(tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_LANECHANGE_MODE,
vehID, lcm)
def _createVehicle(self, vehID, laneID, pos=0):
routeID = _edge(laneID)
laneIndex = int(laneID[laneID.rfind('_') + 1:])
traci.vehicle.add(vehID, routeID, pos=pos, lane=laneIndex)
traci._sendIntCmd(traci.constants.CMD_SET_VEHICLE_VARIABLE,
traci.constants.VAR_SPEEDSETMODE, vehID, 0)
traci.vehicle.setLaneChangeMode(vehID, 0)
traci.simulationStep()
def _createVehicle(self,vehID, laneID, pos=0):
routeID = _edge(laneID)
laneIndex = int( laneID[laneID.rfind('_')+1:] )
traci.vehicle.add(vehID,routeID,pos=pos,lane=laneIndex)
traci._sendIntCmd(traci.constants.CMD_SET_VEHICLE_VARIABLE,
traci.constants.VAR_SPEEDSETMODE, vehID, 0)
traci.vehicle.setLaneChangeMode(vehID, 0)
traci.simulationStep()
def doStep():
state.step += 1
if setting.verbose:
print("step",state.step)
traci.simulationStep()
# adding new vehicles, if any
departed = traci.simulation.getSubscriptionResults()[tc.VAR_DEPARTED_VEHICLES_IDS]
for v in departed:
traci.vehicle.subscribe(v,dataFromTraciState)
vehicleSetParams[v] = getSetParams(v)
if v=='ego':
thisv = egov
else:
thisv = alterv
controllers[v] = Controllers.Inter1Constant(v, thisv)
#getController(v, vehicleSetParams[v])
if controllers[v] is not None:
if setting.verbose:
print("allowing forward and lane crashes for",v)
traci._sendIntCmd(tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SPEEDSETMODE,
v, controllers[v].speedMode)
traci.vehicle.setLaneChangeMode(v, controllers[v].laneChangeMode)
# gather vehicle states for this step
vStates = {}
for vehID, subs in traci.vehicle.getSubscriptionResults().iteritems():
tempParams = getFromSubscription(vehID, subs, dataFromTraciState)
vStates[vehID] = VState( tempParams + vehicleSetParams[vehID] )
#
for vehID, vState in vStates.iteritems():
sensor = sensorToUse(vState, realign=True)
#
for otherID, otherState in vStates.iteritems():
if vehID != otherID:
#
# check for collisions
if collisionCheck.check(vState, otherState):
#print "collision! pos",vState.x,vState.y,"step",state.step
if state.collisionOccurred <= 0:
state.collisionOccurred = state.step*.1
break
#
# update sensor
sensor.addObstacle(otherState)
#
if setting.verbose:
for vstat in sensor.getObstacles():
print(vehID, "detects", vstat.x, vstat.y,"speed",vstat.speed)
# store this vehicle movement
output.add([[state.step*.1, vehID, vState.x, vState.y, vState.angle,
vState.speed]])
# use data to decide speed
if controllers[vehID] is not None:
controllers[vehID].updateSpeed(vState.speed)
commandedSpeed = controllers[vehID].nextStep(sensor.getObstacles())
traci.vehicle.setSpeed(vehID, commandedSpeed)
if setting.verbose:
print("setting speed", commandedSpeed)
def doStep():
step.step += 1
if setting.verbose:
print "step", step.step
traci.simulationStep()
# adding new vehicles, if any
departed = traci.simulation.getSubscriptionResults()[tc.VAR_DEPARTED_VEHICLES_IDS]
for v in departed:
traci.vehicle.subscribe(v,dataFromTraciState)
vehicleSetParams[v] = getSetParams(v)
controllers[v] = getController(v, vehicleSetParams[v])
if controllers[v] is not None: #True
if setting.verbose:
print "allowing forward and lane crashes for",v
traci._sendIntCmd(tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SPEEDSETMODE, v, 22)
traci.vehicle.setLaneChangeMode(v, 85)
#traci.vehicle.changeLane(v, 0, 10000)
# gather vehicle states for this step
vStates = {}
for vehID, subs in traci.vehicle.getSubscriptionResults().iteritems():
tempParams = getFromSubscription(vehID, subs, dataFromTraciState)
vStates[vehID] = VState( tempParams + vehicleSetParams[vehID] )
#
for vehID, vState in vStates.iteritems():
sensor = sensorToUse(vState)
#
for otherID, otherState in vStates.iteritems():
if vehID != otherID:
#
# check for collisions
if collisionCheck.check(vState, otherState):
print "collision! pos",vState.x,vState.y,"step",step.step
setting.collisionOccurred = True
break
#
# update sensor
sensor.addObstacle(otherState)
#
if setting.verbose:
for vstat in sensor.getObstacles():
print vehID, "detects", vstat.x, vstat.y,"speed",vstat.speed
# use data to decide speed
if controllers[vehID] is not None:
controllers[vehID].updateSpeed(vState.speed)
commandedSpeed = controllers[vehID].nextStep(sensor.getObstacles())
traci.vehicle.setSpeed(vehID, commandedSpeed)
if setting.verbose:
print "setting speed", commandedSpeed
def setPhase(tlsID, index):
traci._sendIntCmd(tc.CMD_SET_TL_VARIABLE, tc.TL_PHASE_INDEX, tlsID, index)
def setPhaseDuration(tlsID, phaseDuration):
traci._sendIntCmd(tc.CMD_SET_TL_VARIABLE, tc.TL_PHASE_DURATION, tlsID, int(1000*phaseDuration))
def setPhase(tlsID, index):
"""setPhase(string, integer) -> None
.
"""
traci._sendIntCmd(tc.CMD_SET_TL_VARIABLE, tc.TL_PHASE_INDEX, tlsID, index)
def setSignals(vehID, signals):
traci._sendIntCmd(tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SIGNALS, vehID, signals)
def setPhase(tlsID, index):
"""setPhase(string, integer) -> None
.
"""
traci._sendIntCmd(tc.CMD_SET_TL_VARIABLE, tc.TL_PHASE_INDEX, tlsID, index)
def setPhaseDuration(tlsID, phaseDuration):
traci._sendIntCmd(tc.CMD_SET_TL_VARIABLE, tc.TL_PHASE_DURATION, tlsID,
int(1000 * phaseDuration))
def setPhase(tlsID, index):
traci._sendIntCmd(tc.CMD_SET_TL_VARIABLE, tc.TL_PHASE_INDEX, tlsID, index)
