# @author Leonhard Luecken
# @date 2017-04-09
import os
import 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'")
from simpla._platoonmode import PlatoonMode # noqa
import simpla._reporting as rp # noqa
warn = rp.Warner("Platoon")
report = rp.Reporter("Platoon")
class Platoon(object):
'''
'''
# static platoon ID counter
_nextID = 0
def __init__(self, vehicles, controlInterval, registerVehicles=True):
'''Platoon(list(PVehicle), float, bool) -> Platoon
Create a Platoon object that holds an ordered list of its members, which is inititialized with 'vehicles'.
Creator is responsible for setting the platoon mode of the vehicles. If registerVehicles is set, the vehicle's
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'")
import traci # noqa
import traci.constants as tc # noqa
from simpla._platoon import Platoon # noqa
import simpla._reporting as rp # noqa
import simpla._config as cfg # noqa
from simpla._platoonmode import PlatoonMode # noqa
warn = rp.Warner("PVehicle")
report = rp.Reporter("PVehicle")
# lookup table for vType parameters
vTypeParameters = defaultdict(dict)
WARNED_DEFAULT = dict([(mode, False) for mode in PlatoonMode])
class pVehicleState(object):
def __init__(self, ID):
self.speed = traci.vehicle.getSpeed(ID)
self.edgeID = traci.vehicle.getRoadID(ID)
self.laneID = traci.vehicle.getLaneID(ID)
self.laneIX = traci.vehicle.getLaneIndex(ID)
# TODO: For CATCHUP_FOLLOWER mode could also be set active if intra-platoon gap becomes too large
import traci
from traci.exceptions import TraCIException
import traci.constants as tc
import simpla._reporting as rp
import simpla._config as cfg
import simpla._pvehicle
from simpla import SimplaException
from simpla._platoonmode import PlatoonMode
from _collections import defaultdict
warn = rp.Warner("PlatoonManager")
report = rp.Reporter("PlatoonManager")
class PlatoonManager(traci.StepListener):
'''
A PlatoonManager coordinates the initialization of platoons
and adapts the vehicles in a platoon to change their controls accordingly.
To use it, create a PlatoonManager and call its update() method in each
simulation step.
Do not create more than one PlatoonManager, if you cannot guarantee that
the associated vehicle types are exclusive for each.
'''
def __init__(self):
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'")
import traci # noqa
from ._utils import openGap # noqa
from ._utils import SimplaException # noqa
import simpla._config # noqa
import simpla._reporting as rp # noqa
import simpla._platoonmanager # noqa
warn = rp.Warner("simpla")
_mgr = None
_mgr_listenerID = None
_useStepListener = 'addStepListener' in dir(traci)
_emergencyDecelImplemented = 'VAR_EMERGENCY_DECEL' in dir(traci.constants)
if not _emergencyDecelImplemented:
# Old traci version. No emergency decel present.
if rp.VERBOSITY >= 1:
warn("Using old traci version assuming emergency decel == decel", True)
# Set emergency decel to decel
traci.constants.VAR_EMERGENCY_DECEL = 0x7b
traci.vehicletype.getEmergencyDecel = traci.vehicletype.getDecel
def load(config_filename):
from collections import defaultdict
import os
import sys
import xml.etree.ElementTree as ET
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'")
from simpla._platoonmode import PlatoonMode # noqa
import simpla._reporting as rp # noqa
from simpla import SimplaException # noqa
warn = rp.Warner("Config")
report = rp.Reporter("Config")
def initDefaults():
'''
Init default values for the configuration parameters.
They are overriden by specification in a configuration file (see load() method).
'''
global CONTROL_RATE, VEH_SELECTORS, MAX_PLATOON_GAP, CATCHUP_DIST, PLATOON_SPLIT_TIME
global VTYPE_FILE, PLATOON_VTYPES, LC_MODE, SPEEDFACTOR, SWITCH_IMPATIENCE_FACTOR
# Rate for updating the platoon manager checks and advices
CONTROL_RATE = 1.0
# specify substring for vtypes, that should be controlled by platoon manager