def test_init_warn(self):
print("Testing Warnings...")
self.patchSumoConfig(vtypes_fn="input_types2.typ.xml")
self.connectToSumo(self.SUMO_CFG)
#print (self.cfg_body1)
self.patchConfigFile(self.cfg_body1)
simpla.load(self.CFG1)
#simpla.load(self.SIMPLA_CFG_WARN)
expected_warnings = [
"WARNING: Restricting given control rate (= 1000 per sec.) to 1 per timestep (= 10 per sec.) (PlatoonManager)",
"WARNING: emergencyDecel of mapped vType 'connected_pCatchupFollower' (10.5m.) does not equal emergencyDecel of original vType 'connected' (4.5m.) (PlatoonManager)",
"WARNING: emergencyDecel of mapped vType 'connected_pFollower' (1.7m.) does not equal emergencyDecel of original vType 'connected' (4.5m.) (PlatoonManager)",
"WARNING: emergencyDecel of mapped vType 'connected_pCatchup' (0.5m.) does not equal emergencyDecel of original vType 'connected' (4.5m.) (PlatoonManager)",
"WARNING: length of mapped vType 'connected_pLeader' (10.0m.) does not equal length of original vType 'connected' (5.0m.)\nThis will probably lead to collisions. (PlatoonManager)",
"WARNING: length of mapped vType 'connected_pCatchupFollower' (3.0m.) does not equal length of original vType 'connected' (5.0m.)\nThis will probably lead to collisions. (PlatoonManager)",
]
warnings_list = [r for t, r in rp.WARNING_LOG]
#for w in warnings_list:
# print(w)
for w in expected_warnings:
self.assertIn(w, warnings_list)
self.assertListEqual(
[], list(set(warnings_list).difference(expected_warnings)))
traci.simulationStep(1000)
self.assertEqual(rp.WARNING_LOG[-1][0], "1.0")
self.assertEqual(
rp.WARNING_LOG[-1][1],
"WARNING: Step lengths that differ from SUMO's simulation step length are not supported and probably lead to undesired behavior.\nConsider decreasing simpla's control rate instead. (PlatoonManager)"
)
def test_platoon_formation(self):
print("Testing platoon formation...")
self.patchSumoConfig(net_fn="input_net2.net.xml",
routes_fn="input_routes2.rou.xml")
self.connectToSumo(self.SUMO_CFG)
self.patchConfigFile(self.cfg_body0)
simpla.load(self.CFG1)
# simpla.load(self.SIMPLA_CFG)
mgr = simpla._mgr
while traci.simulation.getCurrentTime() <= 5000:
traci.simulationStep()
self.assertIn("connected.1", mgr._connectedVehicles)
self.assertIn("connected.2", mgr._connectedVehicles)
veh1 = mgr._connectedVehicles["connected.1"]
self.assertEqual(veh1.getCurrentPlatoonMode(), PlatoonMode.NONE)
veh2 = mgr._connectedVehicles["connected.2"]
self.assertEqual(veh2.getCurrentPlatoonMode(), PlatoonMode.CATCHUP)
while traci.simulation.getCurrentTime() <= 20000:
traci.simulationStep()
# self.assertEqual(rp.REPORT_LOG[-1][0], "13.7")
# self.assertEqual(rp.REPORT_LOG[-1][1], "Platoon '1' joined Platoon '0', which now contains vehicles:\n['connected.1', 'connected.2'] (PlatoonManager)")
self.assertEqual(veh1.getCurrentPlatoonMode(), PlatoonMode.LEADER)
self.assertEqual(veh2.getCurrentPlatoonMode(), PlatoonMode.FOLLOWER)
vehs = mgr.getPlatoonLeaders()[0].getPlatoon().getVehicles()
vehIDs = [v.getID() for v in vehs]
self.assertEqual(len(vehIDs), 2)
self.assertIn("connected.1", vehIDs)
self.assertIn("connected.2", vehIDs)
while traci.vehicle.getLaneID(vehIDs[0]) == traci.vehicle.getLaneID(
vehIDs[1]):
traci.simulationStep()
self.assertFalse(veh1.state.laneID == veh2.state.laneID)
t0 = traci.simulation.getCurrentTime()
self.assertEqual(t0, 71400)
expected_split_time = t0 + mgr._DeltaT * 1000 + cfg.PLATOON_SPLIT_TIME * 1000
while traci.simulation.getCurrentTime() <= expected_split_time:
traci.simulationStep()
self.assertAlmostEqual(veh2._timeUntilSplit, 0.0, 9)
while traci.simulation.getCurrentTime() <= expected_split_time + 1000:
traci.simulationStep()
self.assertEqual(
rp.REPORT_LOG[-1][1],
"Platoon '0' splits (ID of new platoon: '6'):\n Platoon '0': ['connected.1']\n Platoon '6': ['connected.2'] (PlatoonManager)"
)
def test_unknown_vtypes(self):
print("Testing Exceptions for unknown vTypes...")
self.patchSumoConfig(vtypes_fn="input_types2.typ.xml")
self.connectToSumo(self.SUMO_CFG)
#print (self.cfg_body1)
self.patchConfigFile(self.cfg_body2)
try:
simpla.load(self.CFG1)
self.assertTrue(False, "PlatoonManager() should raise an exception in case of unknown vtypes")
except simpla.SimplaException as e:
self.assertEqual(str(e), "vType 'unknownVTypeID' is unknown to sumo! Note: Platooning vTypes must be defined at startup.")
def test_init(self):
print("Testing platoon manager initialization...")
self.patchSumoConfig()
self.connectToSumo(self.SUMO_CFG)
self.patchConfigFile(self.cfg_body0)
simpla.load(self.CFG1)
self.assertListEqual([r for t,r in rp.WARNING_LOG],[])
expectedVTypes = ["connected", "connected_pLeader", "connected_pFollower", "connected_pCatchup", "connected_pCatchupFollower"]
registeredPlatoonVTypes = list(set(reduce(lambda x,y: x+y, [[orig]+list(mapped.values()) for orig,mapped in cfg.PLATOON_VTYPES.items()])))
expectedVTypes.sort()
registeredPlatoonVTypes.sort()
self.assertListEqual(expectedVTypes, registeredPlatoonVTypes)
def test_add_and_remove(self):
print("Testing adding and removing connected vehicles...")
self.patchSumoConfig()
self.connectToSumo(self.SUMO_CFG)
self.patchConfigFile(self.cfg_body0)
simpla.load(self.CFG1)
# simpla.load(self.SIMPLA_CFG)
mgr = simpla._mgr
# # load simpla without adding a step listener
# simpla._config.load(self.SIMPLA_CFG)
# simpla._mgr = simpla._platoonmanager.PlatoonManager()
self.assertListEqual([], traci.vehicle.getIDList())
traci.simulationStep()
self.assertListEqual(['connected.1'], traci.vehicle.getIDList())
self.assertListEqual(
['connected.1'],
[vehID for vehID in mgr._connectedVehicles.keys()])
self.assertEqual(rp.REPORT_LOG[-1][0], "0.1")
self.assertEqual(rp.REPORT_LOG[-1][1],
"Adding vehicle 'connected.1' (PlatoonManager)")
while traci.simulation.getCurrentTime() < 2000:
traci.simulationStep()
self.assertListEqual(list(sorted(['connected.1', 'conventional.1'])),
list(sorted(traci.vehicle.getIDList())))
self.assertListEqual(
['connected.1'],
[vehID for vehID in mgr._connectedVehicles.keys()])
while traci.simulation.getCurrentTime() <= 5000:
traci.simulationStep()
self.assertEqual(rp.REPORT_LOG[-1][0], "3.1")
self.assertEqual(rp.REPORT_LOG[-1][1],
"Adding vehicle 'IAMconnectedTOO' (PlatoonManager)")
self.assertTrue(mgr._hasConnectedType("IAMconnectedTOO"))
self.assertListEqual(
list(sorted(['connected.1', 'conventional.1', 'IAMconnectedTOO'])),
list(sorted(traci.vehicle.getIDList())))
self.assertListEqual(
list(sorted(['connected.1', 'IAMconnectedTOO'])),
list(sorted([vehID for vehID in mgr._connectedVehicles.keys()])))
while traci.simulation.getCurrentTime() <= 14000:
traci.simulationStep()
self.assertEqual(rp.REPORT_LOG[-1][0], "11.4")
self.assertEqual(
rp.REPORT_LOG[-1][1],
"Platoon '1' joined Platoon '0', which now contains vehicles:\n['connected.1', 'IAMconnectedTOO'] (PlatoonManager)"
)
while traci.simulation.getCurrentTime() <= 17000:
traci.simulationStep()
self.assertEqual(rp.REPORT_LOG[-1][0], "16.0")
self.assertEqual(
rp.REPORT_LOG[-1][1],
"Platoon '0' splits (ID of new platoon: '2'):\n Platoon '0': ['connected.1']\n Platoon '2': ['IAMconnectedTOO'] (PlatoonManager)"
)
while traci.simulation.getCurrentTime() <= 18000:
traci.simulationStep()
self.assertEqual(rp.REPORT_LOG[-1][0], "17.3")
self.assertEqual(
rp.REPORT_LOG[-1][1],
"Removing arrived vehicle 'connected.1' (PlatoonManager)")
self.assertListEqual(
list(sorted(['conventional.1', 'IAMconnectedTOO'])),
list(sorted(traci.vehicle.getIDList())))
self.assertListEqual(
['IAMconnectedTOO'],
[vehID for vehID in mgr._connectedVehicles.keys()])
while traci.simulation.getCurrentTime() <= 20000:
traci.simulationStep()
self.assertEqual(rp.REPORT_LOG[-1][0], "19.8")
self.assertEqual(
rp.REPORT_LOG[-1][1],
"Removing arrived vehicle 'IAMconnectedTOO' (PlatoonManager)")
def prepare_sim(self):
if self.is_enabled:
# self.add_vtypes()# done in get_writexmlinfo means in get_vtypes()
self.export_config()
print 'Simplaconfig.prepare_sim', self.configfilepath, self.is_enabled
simpla.load(self.configfilepath)
#!/usr/bin/env python3
import os, sys
if 'SUMO_HOME' in os.environ:
tools = os.path.join(os.environ['SUMO_HOME'], 'tools')
sys.path.append(tools)
else:
sys.exit("please declare environment variable 'SUMO_HOME'")
sumoBinary = "../../bin/sumo"
sumoCmd = [sumoBinary, "-c", "./circular.sumocfg", "--fcd-output", "./circularTrace.xml", "--begin", "0", "--end", "10000", "--log", "log.txt"]
import traci, simpla
traci.start(sumoCmd)
simpla.load("simpla.cfg")
step = 0
while step < 10000:
traci.simulationStep()
step += 1
simpla.stop()
traci.close()