def run():
global current_hour
"""execute the TraCI control loop"""
traci.init(PORT)
src = [
Source("D2",100,1),
Source("D2",100,2),
Source("D2",100,3),
Source("L16",100,51),
Source("L14",50,25),
Source("V4",0,30)
]
dest = [
Destination("V4",150),
Destination("V4",100),
Destination("D8",5),
Destination("V4",150),
Destination("D1",10),
Destination("D1",20)
]
stops = [
ChargingStation(0,"D6",50,2,10,[0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5])
,
ChargingStation(1,"V2",50,2,8,[0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5])
]
types = ["CarA", "CarA", "CarD", "CarB", "CarC", "CarC"]
#number of elechtric vehicle insterted
veh_count = 0
vehicles = []
temp_vehs = []
for i in range(6):
vehicles.append(Electric_Vehicle(veh_count,src[i],dest[i],types[i],1000,temp_vehs))
veh_count+=1
center = Center(stops,vehicles)
for s in stops:
center.seller_report(s)
temp_toDel = False
while vehicles != []:
traci.simulationStep()
if traci.simulation.getCurrentTime()/1000 % 1000 == 0 and traci.simulation.getCurrentTime()>0:
current_hour += 1
print '[HOUR]', current_hour
deleteTempVehicles(temp_vehs)
for v in vehicles:
if (v.updateState(dest) == 1 and not v.reported):
center.buyer_report(v,stops,current_hour,temp_vehs)
center.assign(v,stops)
v.assinged = v.stopToCharge()
v.reported = True
if (v.toDel):
vehicles.remove(v)
if v.reported and not v.assinged:
v.assinged = v.stopToCharge()
traci.close()
sys.stdout.flush()
def run():
"""execute the TraCI control loop"""
traci.init(PORT)
step = 0
num_cars = -1
parkable_lanes = []
parked_cars = []
for lane_id in traci.lane.getIDList():
if PARKING_EDGE_TWO_LABEL in lane_id:
parkable_lanes.append(lane_id)
while traci.simulation.getMinExpectedNumber() > 0:
num_cars += 1
traci.simulationStep()
traci.vehicle.add("parking_{}".format(num_cars), "right")
if len(parkable_lanes) >0:
parking_target = ""
parking_target = random.choice(parkable_lanes)
print parking_target
traci.vehicle.changeTarget("parking_{}".format(num_cars), "1i_parking_lane_2_2")#parking_target[:-2])
parkable_lanes.remove(parking_target)
parked_cars.append("parking_{}".format(num_cars))
step += 1
traci.close()
sys.stdout.flush()
def main():
sumoCmd = [sumoBinary, "-c", sumoConfig]
traci.start(sumoCmd) # 开始仿真
simulationSteps = 0
Phaseflag = 0
while simulationSteps < 1000: # 仿真1000个步长
traci.simulationStep() # 执行一步仿真
# 获取仿真环境中当前仿真步的实时信息
print('红绿灯路口西侧排队车辆数目:', traci.lanearea.getJamLengthVehicle('W'))
print('红绿灯路口西侧排队长度:', traci.lanearea.getJamLengthMeters('W'))
print('红绿灯路口东侧排队车辆数目:', traci.lanearea.getJamLengthVehicle('E'))
print('红绿灯路口东侧排队长度:', traci.lanearea.getJamLengthMeters('E'))
print('红绿灯路口北侧排队车辆数目:', traci.lanearea.getJamLengthVehicle('N'))
print('红绿灯路口北侧排队长度:', traci.lanearea.getJamLengthMeters('N'))
print('红绿灯路口南侧排队车辆数目:', traci.lanearea.getJamLengthVehicle('S'))
print('红绿灯路口南侧排队长度:', traci.lanearea.getJamLengthMeters('S'))
# 红绿灯控制程序
# 所控红绿灯的相位顺序为：东西直行南北禁行（30秒），南北直行东西禁行（30秒）
if simulationSteps % 30 == 0:
if Phaseflag % 2 == 0:
traci.trafficlight.setPhase('3', 0) # 改变红绿灯的相位为东西直行南北禁行
else:
traci.trafficlight.setPhase('3', 1) # 改变红绿灯的相位为南北直行东西禁行
Phaseflag += 1
simulationSteps += 1
traci.close() # 结束仿真
def run(edges, connections, speedChanges, optimalization, nogui):
'''execute the TraCI control loop'''
traci.init(PORT)
if not nogui:
traci.gui.trackVehicle('View #0', '0')
#print 'route: {0}'.format(traci.vehicle.getRoute('0'))
destination = traci.vehicle.getRoute('0')[-1]
edgesPoll = list(edges)
time = traci.simulation.getCurrentTime()
while traci.simulation.getMinExpectedNumber() > 0:
if optimalization:
change_edge_speed(edgesPoll, edges, speedChanges)
edge = traci.vehicle.getRoadID('0')
if edge in edges and traci.vehicle.getLanePosition('0') >= 0.9 * traci.lane.getLength(traci.vehicle.getLaneID('0')):
shortestPath = graph.dijkstra(edge, destination, edges, get_costs(edges), connections)
#print 'dijkstra: {0}'.format(shortestPath)
traci.vehicle.setRoute('0', shortestPath)
else:
if len(speedChanges) > 0:
edge, speed = speedChanges.pop()
traci.edge.setMaxSpeed(edge, speed)
else:
change_edge_speed(edgesPoll, edges, [])
traci.simulationStep()
time = traci.simulation.getCurrentTime() - time
traci.close()
sys.stdout.flush()
return time
def run(): traci.init(int(PORT)) step = 0 while traci.simulation.getMinExpectedNumber() > 0: traci.simulationStep() step += 1 traci.close()
def run_ere(scenario_name, closed_roads, s_time, duration):
"""
This is to enable the enroute event scenario using TraCI
:param scenario_name: the name of the scenario
:param closed_roads: the list of closed road id
:param s_time: the starting time stamp for the road closure in seconds
:param duration: the road closure duration in seconds
"""
sumo_net = net.readNet(load_map(scenario_name))
pre_sp_lim = []
for i in closed_roads:
pre_sp_lim.append(sumo_net.getEdge(i).getSpeed())
s_time += traci.simulation.getCurrentTime()/1000
e_time = s_time + duration
while traci.simulation.getMinExpectedNumber() > 0:
cur_step = traci.simulation.getCurrentTime()/1000
if cur_step == s_time:
for i in closed_roads:
traci.edge.setMaxSpeed(i, 0.1)
if cur_step == e_time:
for seq, rid in enumerate(closed_roads):
traci.edge.setMaxSpeed(rid, pre_sp_lim[seq])
traci.simulationStep()
traci.close()
sys.stdout.flush()
def traciSimulation(port):
'''
Execute the TraCI control loop on the SUMO simulation.
:param port: The port used for communicating with your sumo instance
:return: The end second time of the simulation
'''
try:
# Init the TraCI server
traci.init(port)
# TraCI runs the simulation step by step
step = 0
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
step += 1
except traci.TraCIException as ex:
logger.fatal("Exception in simulation step %d: %s" % (step, ex.message))
return -1
except traci.FatalTraCIError as ex:
logger.fatal("Fatal error in simulation step %d: %s" % (step, ex.message))
return -1
else:
return step + 1
finally:
# Close the TraCI server
traci.close()
def run():
"""execute the TraCI control loop"""
traci.init(PORT)
programPointer = len(PROGRAM) - 1
step = 0
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
programPointer = min(programPointer + 1, len(PROGRAM) - 1)
numPriorityVehicles = traci.inductionloop.getLastStepVehicleNumber("0")
if numPriorityVehicles > 0:
if programPointer == len(PROGRAM) - 1:
# we are in the WEGREEN phase. start the priority phase
# sequence
programPointer = 0
elif PROGRAM[programPointer] != WEYELLOW:
# horizontal traffic is already stopped. restart priority phase
# sequence at green
programPointer = 3
else:
# we are in the WEYELLOW phase. continue sequence
pass
traci.trafficlights.setRedYellowGreenState(
"0", PROGRAM[programPointer])
step += 1
traci.close()
sys.stdout.flush()
def run():
"""execute the TraCI control loop"""
traci.init(PORT)
# track the duration for which the green phase of the vehicles has been
# active
greenTimeSoFar = 0
# whether the pedestrian button has been pressed
activeRequest = False
# main loop. do something every simulation step until no more vehicles are
# loaded or running
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
# decide wether there is a waiting pedestrian and switch if the green
# phase for the vehicles exceeds its minimum duration
if not activeRequest:
activeRequest = checkWaitingPersons()
if traci.trafficlights.getPhase(TLSID) == VEHICLE_GREEN_PHASE:
greenTimeSoFar += 1
if greenTimeSoFar > MIN_GREEN_TIME:
# check whether someone has pushed the button
if activeRequest:
# switch to the next phase
traci.trafficlights.setPhase(
TLSID, VEHICLE_GREEN_PHASE + 1)
# reset state
activeRequest = False
greenTimeSoFar = 0
sys.stdout.flush()
traci.close()
def beginEvaluate(self):
"""
Given the parameters during initialization, we run the simulator to get the fitness
using port num to identify a connection
"""
traci.init(self.portNum, 10, "localhost", str(self.portNum))
#traverse all the traffic lights
for i in xrange(len(self.trafficLightIdList)):
#traverse all the traffic lights
tlsLogicList = traci.trafficlights.getCompleteRedYellowGreenDefinition(self.trafficLightIdList[i])
#One traffic light has only one phase list now
tlsLogicList = tlsLogicList[0]
#each traffic light has several phases
phaseList = []
#traverse all the phase
for j in xrange(len(tlsLogicList._phases)):
# print self.individual.genes[i].times[j]
phaseList.append(traci.trafficlights.Phase(self.individual.genes[i].times[j], self.individual.genes[i].times[j], self.individual.genes[i].times[j], tlsLogicList._phases[j]._phaseDef))
tlsLogicList._phases = phaseList
traci.trafficlights.setCompleteRedYellowGreenDefinition(self.trafficLightIdList[i], tlsLogicList)
totalNumPassed = 0
for _ in xrange(600):
traci.simulationStep()
totalNumPassed = totalNumPassed + traci.simulation.getArrivedNumber()
traci.close()
self.fitness = totalNumPassed
return totalNumPassed
def runSimulationStep(mtraci):
"""
Runs one SUMO simulation step
"""
mtraci.acquire()
traci.simulationStep()
mtraci.release()
def main(args):
sumoBinary = sumolib.checkBinary('sumo')
sumo_call = [sumoBinary, "-c", "data/hello.sumocfg",
"--remote-port", str(PORT_TRACI),
"--netstate-dump", "rawdump.xml",
"--no-step-log"]
sumoProcess = subprocess.Popen(
sumo_call, stdout=sys.stdout, stderr=sys.stderr)
traci.init(PORT_TRACI)
for step in range(161):
traci.simulationStep()
if step == 120:
print(traci.vehicle.getDistance('Stapler_00'))
traci.vehicle.setRoute('Stapler_00', ('ed1', 'ed5'))
print(traci.vehicle.getRoute('Stapler_00'))
assert(traci.vehicle.getRoute('Stapler_00')
== ['ed0', 'ed1', 'ed5'])
print(traci.vehicle.getDistance('Stapler_00'))
if step == 122:
assert(traci.vehicle.getRoute('Stapler_00')
== ['ed0', 'ed1', 'ed5'])
print(traci.vehicle.getDistance('Stapler_00'))
traci.vehicle.setRouteID('Stapler_00', "short")
print(traci.vehicle.getRoute('Stapler_00'))
print(traci.vehicle.getDistance('Stapler_00'))
traci.close()
sumoProcess.wait()
def run():
create_simulation_scenario()
if mode == "train":
for i in range(200):
if random.uniform(0, 1) > 0.5:
accident_cars.add("veh" + str(i))
client_socket = socket.socket()
client_socket.connect(('127.0.0.1', 9999))
traci.init(PORT)
step = 0
client_socket.send(scenario + "," + mode + "," + time + "\n")
message = client_socket.recv(1024).splitlines()[0]
print message
cars_in_perimeter = set()
while traci.simulation.getMinExpectedNumber() > 0:
manage_car_set(cars_in_perimeter)
send_data_to_rsu(client_socket, cars_in_perimeter)
traci.simulationStep()
step += 1
if mode == "run":
sleep(0.2)
traci.close()
client_socket.close()
def run(run_time):
## execute the TraCI control loop
traci.init(PORT)
programPointer = 0 # initiates at start # len(PROGRAM) - 1 # initiates at end
step = 0
flow_count = 0
first_car = True
prev_veh_id = ' '
pointer_offset = 0
car_speeds = []
while traci.simulation.getMinExpectedNumber() > 0 and step <= run_time*(1/step_length):
traci.simulationStep() # advance a simulation step
programPointer = int(math.floor(step/(int(1/step_length))))%len(PROGRAM) - pointer_offset
sensor_data = traci.inductionloop.getVehicleData("sensor")
if len(sensor_data) != 0:
flow_increment,prev_veh_id = flowCount([sensor_data],["sensor"],prev_veh_id)
car_speeds.append(traci.vehicle.getSpeed(sensor_data[0][0]))
flow_count += flow_increment
if first_car: #if its the first car, record the time that it comes in
first_time = sensor_data[0][2]
print first_time
first_car = False
if step < 600: #24960, let queue accumulate
traci.trafficlights.setRedYellowGreenState("0", ALLRED)
else:
traci.trafficlights.setRedYellowGreenState("0",PROGRAM[programPointer])
step += 1
#print str(step)
print "\n \n"
print "-------------------------------------------------------- \n"
print "Total number of cars that have passed: " + str(flow_count)
tau = np.diff(leaving_times)
print "Total throughput extrapolated to 1hr: " + str(flow_count*(3600/(run_time-first_time)))
print "Average car speed: " + str(np.mean(car_speeds))
print "Max Theoretical throughput: " + str(3600/min(min(tau)))
print "Min Theoretical throughput: " + str(3600/max(max(tau)))
# print tau
# print "Mean tau: " + str(np.mean(tau)) + "\n"
# print "Var tau: " + str(np.var(tau)) + "\n"
# print "Standard Dev tau: " + str(np.std(tau)) +"\n"
traci.close()
sys.stdout.flush()
return [np.mean(tau),np.var(tau),np.std(tau)]
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 run(run_time):
## execute the TraCI control loop
traci.init(PORT)
programPointer = 0 # initiates at start # len(PROGRAM) - 1 # initiates at end
step = 0
flow_count = 0
first_car = True
prev_veh_id = ' '
leaving_times = []
car_speeds = []
while traci.simulation.getMinExpectedNumber() > 0 and step <= run_time*(1/step_length):
traci.simulationStep() # advance a simulation step
programPointer = (step*int(1/step_length))%len(PROGRAM)
sensor_data = traci.inductionloop.getVehicleData("sensor")
if len(sensor_data) != 0:
if first_car: #if its the first car, record the time that it comes in
first_time = sensor_data[0][2]
print first_time
first_car = False
veh_id = sensor_data[0][0]
if veh_id != prev_veh_id: #if the vehicle coming in has a different id than the previous vehicle, count it towards total flow
flow_count += 1
car_speeds.append(traci.inductionloop.getLastStepMeanSpeed("sensor"))
if sensor_data[0][3] != -1: #if the vehicle is leaving the sensor, record the time it left
leaving_times.append(sensor_data[0][2])
prev_veh_id = veh_id
traci.trafficlights.setRedYellowGreenState("13", PROGRAM[programPointer])
step += 1
#print str(step)
print "\n \n"
print "-------------------------------------------------------- \n"
print "Total number of cars that have passed: " + str(flow_count)
tau = np.diff(leaving_times)
print "Total throughput extrapolated to 1hr: " + str(flow_count*(3600/(run_time-first_time)))
print "Max Theoretical throughput: " + str(3600/tau_effective(max(car_speeds)))
print "Min Theoretical throughput: " + str(3600/tau_effective(min(car_speeds)))
print tau
print "Mean tau: " + str(np.mean(tau)) + "\n"
print "Var tau: " + str(np.var(tau)) + "\n"
print "Standard Dev tau: " + str(np.std(tau)) +"\n"
traci.close()
sys.stdout.flush()
return [np.mean(tau),np.var(tau),np.std(tau)]
def step(self):
self.performActions()
traci.simulationStep()
if self.gui:
traci.gui.screenshot("View #0", "../../images/" + str(self.current_step) + ".png")
self.current_step+=1
self.makeObservations()
self.computeRewards()
self.storeLastActions()
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 run():
"""execute the TraCI control loop"""
step = 0
while traci.simulation.getMinExpectedNumber() > 0:
step += 1
traci.simulationStep()
traci.close()
sys.stdout.flush()
def runSingle(traciEndTime):
step = 0
sumoProcess = subprocess.Popen("%s -c used.sumocfg %s" % (sumoBinary, addOption), shell=True, stdout=sys.stdout)
traci.init(PORT)
while not step>traciEndTime:
traci.simulationStep()
step += 1
print "Print ended at step %s" % (traci.simulation.getCurrentTime() / DELTA_T)
traci.close()
sys.stdout.flush()
def run():
"""execute the TraCI control loop"""
traci.init(PORT)
step = 0
while traci.simulation.getMinExpectedNumber() > 0 and step < 100:
traci.simulationStep()
step += 1
if step == 4:
traci.trafficlights.setProgram("center", "0")
traci.close()
sys.stdout.flush()
def step(self):
# print "step", self.simtime,self.simtime_end,self.simtime >= self.simtime_end
traci.simulationStep()
self.process_step()
self.get_logger().w(100.0*self.simtime/self.duration, key='progress')
self.simtime += self.time_step
if self.simtime >= self.simtime_end:
print ' end of simulation reached, start closing traci', self.simtime
traci.close()
print ' traci closed'
self.get_attrsman().status.set('success')
return True
def __inner_run__(self, output_file):
if self._options.gui:
sumoBinary = checkBinary('sumo-gui')
self.__sumoProcess = subprocess.Popen(
[sumoBinary,"-W",
"-n", self.conf.network_file,
"-r", self.conf.route_file,
"--tripinfo-output", output_file,
"--remote-port", str(self.conf.port),
"--gui-settings-file", self.conf.gui_setting_file,
"--step-length", "1",
"-v", "true",
"--time-to-teleport", "-1"],
stdout = sys.stdout, stderr=sys.stderr)
time.sleep(20)
else:
sumoBinary = checkBinary('sumo')
self.__sumoProcess = subprocess.Popen(
[sumoBinary, "-W",
"-n", self.conf.network_file,
"-r", self.conf.route_file,
"--tripinfo-output", output_file,
"--remote-port", str(self.conf.port),
"--step-length", "1",
"-v", "true",
"--time-to-teleport", "-1"],
stdout = sys.stdout, stderr=sys.stderr)
time.sleep(20)
traci.init(self.conf.port)
self.initIteration()
while True:
traci.simulationStep()
if traci.simulation.getMinExpectedNumber() <= 0:
break
self.stepProcess()
if traci.simulation.getCurrentTime() % self.conf.short_term_sec == 0:
self.can_change_lane_list = []
self.want_chage_vehicle_list = []
self.endIteration()
traci.close()
if self._options.gui:
os.system('pkill sumo-gui')
sys.stdout.flush()
def sim(): step = 0 while step < 86400: traci.simulationStep() xy=[] vehicles = traci.vehicle.getIDList() for v in vehicles: x=112.96771+(traci.vehicle.getPosition(v)[0]+1509.33)/98838.1145 y=28.193671+(traci.vehicle.getPosition(v)[1]-105.97)/106287.597 xy.append([x,y]) return xy time.sleep(10) step += 10 traci.close()
def runSingle(traciEndTime, sumoEndTime=None):
step = 0
opt = addOption
if sumoEndTime is not None:
opt += (" --end %s" % sumoEndTime)
sumoProcess = subprocess.Popen(
"%s -c sumo.sumocfg %s" % (sumoBinary, opt), shell=True, stdout=sys.stdout)
traci.init(PORT)
while not step > traciEndTime:
traci.simulationStep()
step += 1
print("Print ended at step %s" % (traci.simulation.getCurrentTime() / DELTA_T))
traci.close()
sys.stdout.flush()
def main(args):
init_traci()
step = -1
while True:
step += 1
traci.simulationStep()
if step == 140:
traci.vehicle.resume('Stapler_00')
if step == 160:
traci.close()
break
def check(vehID, steps=1):
for i in range(steps):
if i > 0:
traci.simulationStep()
try:
print("%s vehicle %s on lane=%s pos=%s speed=%s" % (
traci.simulation.getCurrentTime() / 1000.0,
vehID,
traci.vehicle.getLaneID(vehID),
traci.vehicle.getLanePosition(vehID),
traci.vehicle.getSpeed(vehID)))
except traci.TraCIException:
pass
if steps > 1:
print()
def run():
"""execute the TraCI control loop"""
traci.init(PORT)
programPointer = len(PROGRAM)-1
step = 0
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
programPointer = min(programPointer+1, len(PROGRAM)-1)
no = traci.inductionloop.getLastStepVehicleNumber("0")
if no > 0:
programPointer = (0 if programPointer == len(PROGRAM)-1 else 3)
traci.trafficlights.setRedYellowGreenState("0", PROGRAM[programPointer])
step += 1
traci.close()
sys.stdout.flush()
def run(max_step=-1):
"""execute the TraCI control loop"""
traci.init(PORT)
step = 0
# we start with phase 2 where EW has green
#traci.trafficlights.setPhase("0", 0)
#pdb.set_trace()
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
step += 1
if step > max_step and max_step > 0:
break
traci.close()
sys.stdout.flush()
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
try:
print("%s vehicle %s on lane=%s pos=%s speed=%s" % (
traci.simulation.getCurrentTime() / 1000.0,
vehID,
traci.vehicle.getLaneID(vehID),
traci.vehicle.getLanePosition(vehID),
traci.vehicle.getSpeed(vehID)))
except traci.TraCIException:
pass
if steps > 1:
print()
vehID = "v0"
traci.init(PORT)
traci.simulationStep()
check(vehID)
try:
print("%s setStop for %s" %
(traci.simulation.getCurrentTime() / 1000.0, vehID))
traci.vehicle.setStop(vehID, "beg", pos=1.0, laneIndex=0, duration=5000)
except traci.TraCIException:
pass
check(vehID, 10)
traci.simulationStep(21 * 1000)
vehID = "v1"
check(vehID)
try:
print("%s setStop for %s" %
(traci.simulation.getCurrentTime() / 1000.0, vehID))
def run():
print("RUN")
# All simulation
step = 0
# Emissions
NOx_total = 0
NOx_control_zone = 0
NOx_per_vehicle = []
veh_total_number = 0
total_kilometers = 0 # In all simulation
vehicles_in_simulation = [] # Vehicles in each step
km_per_vehicle = [] # all km per vehicle
# Window
# Each window 50 steps
# Emissions in each window
NOx_total_window = 0
NOx_control_zone_window = 0
# Variables in each window
veh_total_number_window = 0
vehicles_in_window = set()
# All windows
windows = []
## Case 1
# Threshold:
threshold = 14 # NOx_total in main_case_window = 28 => 28/2 = 14
control_area_edges = [
"gneE19_0", "-gneE19_0", "gneE21_0", "-gneE21_0", "gneE16_0",
"-gneE16_0", "gneE17_0", "-gneE17_0", "gneE18_0", "-gneE18_0",
"gneE22_0", "-gneE22_0", "gneE20_0", "-gneE20_0", "gneE15_0",
"-gneE15_0", "gneE24_0", "-gneE24_0", "gneE25_0", "-gneE25_0",
"gneE14_0", "-gneE14_0", "gneE23_0", "-gneE23_0"
]
restrictionMode = False
NOx_control_zone_restriction_mode = 0
# Vehicles to control area
vehs_load = traci.simulation.getLoadedIDList()
for veh_load in vehs_load:
if (veh_load != "simulation.findRoute"):
traci.vehicle.setParameter(veh_load, "has.rerouting.device",
"true")
vClass_last = traci.vehicle.getVehicleClass(veh_load)
edges_last = traci.vehicle.getRoute(veh_load)
string_edge = edges_last[len(edges_last) - 1] + "_0"
if (string_edge
in control_area_edges): # Destination in control area
traci.vehicle.setType(vehID=veh_load, typeID="authority")
if (vClass_last == "evehicle"):
traci.vehicle.setEmissionClass(veh_load, "zero")
while traci.simulation.getMinExpectedNumber(
) > 0: # While there are cars (and waiting cars)
# LAST STEP
# Vehicles to control area
vehs_load = traci.simulation.getLoadedIDList()
for veh_load in vehs_load:
if (veh_load != "simulation.findRoute"):
traci.vehicle.setParameter(veh_load, "has.rerouting.device",
"true")
vClass_last = traci.vehicle.getVehicleClass(veh_load)
edges_last = traci.vehicle.getRoute(veh_load)
string_edge = edges_last[len(edges_last) - 1] + "_0"
if (string_edge
in control_area_edges): # Destination in control area
traci.vehicle.setType(vehID=veh_load, typeID="authority")
if (vClass_last == "evehicle"):
traci.vehicle.setEmissionClass(veh_load, "zero")
# NEW STEP
traci.simulationStep() # Advance one time step: one second
step += 1
# Window
if step != 0 and (
(step % 50)
== 0) and vehicles_in_window != []: # Each window 50 steps
for w in range(len(windows)): # Discount NOx of the last window
if windows[w][0] == step - 50:
print(NOx_control_zone_restriction_mode, windows[w][4])
NOx_control_zone_restriction_mode -= windows[w][4]
if (NOx_control_zone_restriction_mode < 0):
NOx_control_zone_restriction_mode = 0
print(NOx_control_zone_restriction_mode)
#print(step)
# Add variables for the last 50 steps
windows.append([
step, vehicles_in_window, veh_total_number_window,
NOx_total_window, NOx_control_zone_window
])
#windows.append([step, vehicles_in_window, veh_total_number_window, NOx_total_window, NOx_control_zone_restriction_mode])
print(windows)
# Reboot all
NOx_total_window = 0
NOx_control_zone_window = 0
veh_total_number_window = 0
vehicles_in_window = set()
# MANAGE VEHICLES - All simulation
id_vehicles_departed = traci.simulation.getDepartedIDList(
) # Vehicles in simulation
id_list_vehicles_departed = list(id_vehicles_departed)
if (id_list_vehicles_departed): # if the list is not empty
# All simulation:
vehicles_in_simulation.extend(
id_list_vehicles_departed
) # Add vehicles to the simulation list
km_per_vehicle.extend(
id_list_vehicles_departed) # Add vehicles to the km list
NOx_per_vehicle.extend(
id_list_vehicles_departed) # Add vehicles to the NOx list
# Initialize NOx values for each vehicle:
for lVeh in range(len(NOx_per_vehicle)):
vehi = NOx_per_vehicle[lVeh] # Select vehicle
#print(len(NOx_per_vehicle[lVeh]))
if (len(NOx_per_vehicle[lVeh]) != 2): # If not initialized
NOx_per_vehicle[lVeh] = [vehi, 0] # Initialized
#print(NOx_per_vehicle)
# Per window:
for veh in vehicles_in_simulation:
vehicles_in_window.add(
veh) # Add the vehicles in the window list
veh_total_number_window = len(
vehicles_in_window
) # Add vehicles to the vehicle window counter
# Taking into account the vehicles that reach their destination:
id_vehicles_arrived = traci.simulation.getArrivedIDList()
for veh in id_vehicles_arrived:
if veh in vehicles_in_simulation: # If the vehicle has arrived then remove it from the simulation list
vehicles_in_simulation.remove(veh)
if veh in vehicles_in_window:
vehicles_in_window.remove(veh)
veh_total_number += 1 # Update Vehicle Total Number in all simulation
for veh in vehicles_in_simulation: # For each vehicle
# Emissions:
# All simulation
vehNOxEmission = traci.vehicle.getNOxEmission(
veh) # Return the NOx value per vehicle in each step
NOx_total += vehNOxEmission
for iNVeh in range(len(NOx_per_vehicle)):
if veh in NOx_per_vehicle[iNVeh]:
NOx_per_vehicle[iNVeh][1] = float(
NOx_per_vehicle[iNVeh][1]
) + vehNOxEmission # Update the NOx value per vehicle
# Per Window
NOx_total_window += vehNOxEmission
# Control Area:
pos = traci.vehicle.getPosition(vehID=veh) # (x,y)
#print(pos, vehNOxEmission, veh)
if (pos[1] <= 296 and pos[1] >= 3) and (
pos[0] >= 3 and pos[0] <= 296
): # x=> 0, y=>1. If the vehicle is in the control area
# All simulation:
NOx_control_zone += vehNOxEmission
#print("SI ", CO2_zona_control)
# Per window:
NOx_control_zone_window += vehNOxEmission
# Control are:
NOx_control_zone_restriction_mode += vehNOxEmission
# Route lenght per vehicle
rouIndex = traci.vehicle.getRouteIndex(veh)
edges = traci.vehicle.getRoute(veh)
if rouIndex == (len(edges) - 1): # Only if is the last edge
#print(edges, veh, rouIndex, edges[0],'-',edges[rouIndex])
for iVeh in range(len(km_per_vehicle)):
#if veh in km_per_vehicle[iVeh]:
if km_per_vehicle[
iVeh] == veh: # km_per_vehicle position selected for this vehicle
stage = traci.simulation.findRoute(
edges[0], edges[rouIndex])
rouLength = stage.length # Route Length
km_per_vehicle[iVeh] = [veh, rouLength]
#print(km_per_vehicle)
#print(veh, NOx_control_zone, NOx_total, pos)
# Control area - Threshold:
string_current_edge = edges[rouIndex] + "_0"
if restrictionMode == True and traci.vehicle.getVehicleClass(
veh) != "authority":
if (string_current_edge in control_area_edges
): # current edge in control area
vClass_last2 = traci.vehicle.getVehicleClass(veh)
traci.vehicle.setType(vehID=veh, typeID="authority")
if (vClass_last2 != "passenger"):
traci.vehicle.setEmissionClass(veh, "zero")
if restrictionMode == True:
inList = False
for edg in edges:
edgStrng = edg + "_0"
if edgStrng in control_area_edges:
inList = True
if inList:
traci.vehicle.rerouteTraveltime(veh, True)
print(veh, traci.vehicle.getTypeID(veh))
#if auxSandra==0 and step != 0 and ((step % 50) == 0):
if vehicles_in_simulation != [] and restrictionMode == False and NOx_control_zone_restriction_mode > threshold:
print("CONTROL ZONE ON", NOx_control_zone_restriction_mode)
#auxSandra = 1
restrictionMode = True
print("B")
for aEd in control_area_edges:
traci.lane.setDisallowed(
laneID=aEd, disallowedClasses=["passenger", "evehicle"])
print("disa ", traci.lane.getDisallowed(laneID=aEd))
traci.lane.setAllowed(laneID=aEd, allowedClasses=["authority"])
print("alo ", traci.lane.getAllowed(laneID=aEd))
"""
traci.lane.setDisallowed(laneID="gneE22_0", disallowedClasses=["passenger", "evehicle"])
#traci.lane.setDisallowed(laneID="-gneE22_0", disallowedClasses=["passenger", "evehicle"])"""
if (restrictionMode == True
and NOx_control_zone_restriction_mode <= threshold):
print("CONTROL ZONE OFF")
restrictionMode = False
for aEd in control_area_edges:
traci.lane.setAllowed(
laneID=aEd,
allowedClasses=["authority", "passenger", "evehicle"])
for veh in vehicles_in_simulation:
traci.vehicle.rerouteTraveltime(veh, True)
print(step, "NOx_control_zone: ", NOx_control_zone,
". NOx_control_zone_restriction_mode: ",
NOx_control_zone_restriction_mode, ". NOx_total: ", NOx_total)
minutes = round(step / 60, 3)
for i in range(len(km_per_vehicle)):
total_kilometers += km_per_vehicle[i][1]
# Results:
print(
"[step,vehicles_in_window, veh_total_number_window, NOx_total_window, NOx_control_zone] :"
)
print(windows)
print("NOx_per_vehicle: ", NOx_per_vehicle)
print("NOx_total: ", NOx_total, ". NOx_control_zone", NOx_control_zone,
". NOx_control_zone_restriction_mode: ",
NOx_control_zone_restriction_mode)
print(veh_total_number, " vehicles - ", total_kilometers, " kilometers")
print("In ", step, "seconds (", minutes, " minutes)")
# TraCI
traci.close()
sys.stdout.flush()
def run():
"""execute the TraCI control loop"""
step = 0
count = 0
tempo = 0
""" Number of executions"""
while step < 1000:
traci.simulationStep()
#Se passou um veiculo. Ou seja um Contador
if traci.inductionloop.getLastStepVehicleNumber("e1Detector_Faixa_7_0_0") > 0:
count += 1
print ('Numero de Veiculos', count)
x = traci.trafficlight.getNextSwitch("Inter")
# print (x)
phase = traci.trafficlight.getPhaseDuration("Inter")
print ('Duracao do Semaforo',phase)
#Logica do semaforo
#logic = traci.trafficlight.getCompleteRedYellowGreenDefinition('Inter')
#print ('Logica do semaforo',logic)
"""[Logic(programID='0', type=0, currentPhaseIndex=2, phases=[Phase(duration=42.0,
state='GGGGrrrrGGGGgrrrr', minDur=42.0, maxDur=42.0, next=-1), Phase(duration=3.0,
state='yyyyrrrryyyyyrrrr', minDur=3.0, maxDur=3.0, next=-1), Phase(duration=42.0,
state='rrrrGGGGrrrrrGGGG', minDur=42.0, maxDur=42.0, next=-1), Phase(duration=3.0,
state='rrrryyyyrrrrryyyy', minDur=3.0, maxDur=3.0, next=-1)], subParameter={})]"""
#Variavel Norte/Sul que soma o número de veículos nesse fluxo a cada timestep
nor_sul=traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_7_0_0") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_7_1_1") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_7_2_2") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_3_0_0") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_3_1_1") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_3_2_2")
#Variavel Leste/Oeste que soma o número de veículos nesse fluxo a cada timestep
les_oes=traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_5_0_0") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_5_1_1") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_5_2_2") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_1_0_0") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_1_1_1") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_1_2_2")
print ('Veiculos na via Norte/Sul: ',nor_sul)
print ('Veiculos na via Leste/Oeste: ',les_oes)
z = traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_5_0_0") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_5_1_1") + traci.lanearea.getLastStepVehicleNumber("e2Detector_Faixa_5_2_2")
y = traci.lanearea.getJamLengthVehicle("e2Detector_Faixa_5_0_0") + traci.lanearea.getJamLengthVehicle("e2Detector_Faixa_5_1_1") + traci.lanearea.getJamLengthVehicle("e2Detector_Faixa_5_2_2")
print ('Veiculos na Area', z)
print ('Veiculos Parados', y)
#teste logica simples de mudança de fase (0 - nor sul, 1 - amarelo nor sul, 2 - les oes, 3 - amarelo les oes) - necessárias condições para mudança de fase ainda.
#if nor_sul>les_oes:
# traci.trafficlight.setPhase('Inter',0)
#if les_oes>nor_sul:
# traci.trafficlight.setPhase('Inter',2)
Dur_fase = (traci.trafficlight.getNextSwitch("Inter") - traci.simulation.getTime())
if Dur_fase == 0:
print('Duracao da fase ainda: ', (traci.trafficlight.getNextSwitch("Inter") - traci.simulation.getTime()))
print('Tempo Parado Faixa 5: ', (traci.lane.getWaitingTime('Faixa_5_0')+traci.lane.getWaitingTime('Faixa_5_1')+traci.lane.getWaitingTime('Faixa_5_2')))
tempo += traci.lane.getWaitingTime('Faixa_5_0')+traci.lane.getWaitingTime('Faixa_5_1')+traci.lane.getWaitingTime('Faixa_5_2')+ traci.lane.getWaitingTime('Faixa_1_0')+traci.lane.getWaitingTime('Faixa_1_1')+traci.lane.getWaitingTime('Faixa_1_2') + traci.lane.getWaitingTime('Faixa_3_0')+traci.lane.getWaitingTime('Faixa_3_1')+traci.lane.getWaitingTime('Faixa_3_2')+traci.lane.getWaitingTime('Faixa_7_0')+traci.lane.getWaitingTime('Faixa_7_1')+traci.lane.getWaitingTime('Faixa_7_2')
step += 1
print('Espera (s): ', tempo)
#traci.junction.subscribeContext("Inter", tc.CMD_GET_VEHICLE_VARIABLE, 42, [tc.VAR_SPEED, tc.VAR_WAITING_TIME])
#print('Results: ', traci.junction.getContextSubscriptionResults("Inter"))
#scResults = traci.junction.getContextSubscriptionResults("Inter")
#halting = 0
#if scResults:
# relSpeeds = [d[tc.VAR_SPEED] / d[tc.VAR_ALLOWED_SPEED] for d in scResults.values()]
# # compute values corresponding to summary-output
# running = len(relSpeeds)
# halting = len([1 for d in scResults.values() if d[tc.VAR_SPEED] < 0.1])
# meanSpeedRelative = sum(relSpeeds) / running
# timeLoss = (1 - meanSpeedRelative) * running * stepLength
# print(traci.simulation.getTime(), timeLoss, halting)
traci.close()
sys.stdout.flush()
data_writer="MyPublisher::CameraControllWriter",
output_buffer_size=10)
print("DDS connection has established")
while True:
print("starting sumo gui")
sumoBinary = "sumo-gui"
sumoCmd = [sumoBinary, "-c", "osm.sumocfg"] #,"--scale",'0.9'
traci.start(sumoCmd)
print("sumo gui has been started")
print("starting the simulation")
# warming up the simulation (because the simulation start without car)
traci.simulationStep(1500)
print("warm up has been finished")
for i in range(6000):
#wait 20 ms
sleep(1 / sim_speed)
#execute a simulation step
traci.simulationStep()
if traci.lanearea.getLastStepVehicleNumber("Camera1") > 0:
try:
dds_streamer_output_buffer.put_nowait({
"destination": str(0),
"validdata": True
})
except:
def run(self, i_run):
""" Runs the simulation on both SUMO and Python layers
Args:
i_run (int): run number
"""
# if there is a run configuration loaded use it to populate
# parkingspaces in environment otherwise initialize new
if not self._config.getRunCfg(str(i_run)):
if self._sim_config.get("verbose"):
print(
"* no run cfg found. Initializing random parking spaces.")
self._environment.initParkingSpaces(i_run)
elif self._config.isRunCfgOk(i_run):
self._environment.loadParkingSpaces(i_run)
else:
return
# if --routefile flag is provided, use the file for routing, otherwise
# generate (and overwrite if exists) route file (reroute.rou.xml) for
# this simulation run using the given number of parking search vehicles
route_file = os.path.join(self._sim_config.get("resourcedir"),
self._sim_config.get("routefile"))
if not (os.path.isfile(route_file)
and self._sim_config.get("forceroutefile")):
generatePsvDemand(self._sim_config.get("vehicles"),
self._sim_config.get("resourcedir"),
self._sim_config.get("routefile"))
# start sumo as a subprocess otherwise it wont work (because reasons)
l_sumoProcess = open_sumo(self._sim_config)
# execute the TraCI control loop
traci.init(self._sim_config.get("sumoport"))
# internal clock variable, start with 0
step = 0
# create empty list for parking search vehicles
l_parkingSearchVehicles = []
# compute phase 2 routing information (individual and cooperative)
l_individualRoutes, l_cooperativeRoutes = self.computePhase2Routings()
self.initPOI()
self.updatePOIColors()
# do simulation as long as vehicles are present in the network
while traci.simulation.getMinExpectedNumber() > 0:
# tell SUMO to do a simulation step
traci.simulationStep()
self.updatePOIColors()
# increase local time counter
step += 1
# every 1000 steps: ensure local time still corresponds to SUMO
if step != (traci.simulation.getCurrentTime() / 1000):
print("TIMESTEP ERROR", step, "getCurrentTime",
traci.simulation.getCurrentTime())
# if a new vehicle has departed in SUMO, create the corresponding
# Python representation and remove the vehicles that have
# disappeared in SUMO
dep_list = traci.simulation.getDepartedIDList()
# TODO: arr list is always empty? Possible bug i.e. we dont set
# vehicles to arrived or something
arr_list = traci.simulation.getArrivedIDList()
l_departedVehicles = (x for x in dep_list if x not in arr_list)
# TODO: from one debugging session I got the order of
# parkinSearchVehicles = [veh0, veh1, veh3, veh2, veh4]
# probably arr_list is not given in order...
l_parkingSearchVehicles.extend(
ParkingSearchVehicle(
vehID, self._environment, self._config, i_run, step,
self._environment._net.getEdge(l_individualRoutes[vehID]
[-1]).getToNode().getID(),
l_cooperativeRoutes[vehID], l_individualRoutes[vehID])
for vehID in l_departedVehicles)
# update status of all vehicles
for psv in (v for v in l_parkingSearchVehicles
if v.is_parked() is False):
psv.update(step)
env_edges = self._environment._roadNetwork["edges"]
for edge in env_edges:
oppositeEdgeID = env_edges[edge]["oppositeEdgeID"]
visitCount = (psv.traversed_route.count(str(edge)) +
psv.traversed_route.count(oppositeEdgeID))
plannedCount = (psv.active_route.count(str(edge)) +
psv.active_route.count(oppositeEdgeID))
env_edges[edge]["visitCount"][psv.name] = visitCount
env_edges[edge]["plannedCount"][psv.name] = plannedCount
# if last edge, choose next possible edges to continue
if psv.last_edge():
lastSegment = psv.current_route[-1]
succEdges = self._environment._net.getEdge(
lastSegment).getToNode().getOutgoing()
# calculate costs for every edge except opposite direction
# of current edge
succEdgeCost = {}
for edge in succEdges:
# consider all successor edges, BUT if no opposite edge
# exists, don't try to exclude it.
if lastSegment in self._environment._oppositeEdgeID:
if len(succEdges) == 1:
succEdgeCost[str(
edge.getID())] = self.edgeCost(psv, edge)
elif not str(edge.getID(
)) == self._environment._oppositeEdgeID[
lastSegment]:
succEdgeCost[str(
edge.getID())] = self.edgeCost(psv, edge)
# TODO: there is missing else here?
else:
succEdgeCost[str(edge.getID())] = self.edgeCost(
psv, edge)
# calculate minima of succEdgeCost
minValue = min(succEdgeCost.values())
minKeys = [
key for key in succEdgeCost
if succEdgeCost[key] == minValue
]
# choose randomly if costs are equal
p3_prob = self._vehicle_config["phase3randomprob"]
if random.random() < p3_prob:
next_link = random.choice(list(succEdgeCost.keys()))
else:
next_link = random.choice(minKeys)
psv.append_route(next_link)
# break the while-loop if all SUMO vehicles have parked
if remaining_vehicles(l_parkingSearchVehicles) == 0:
if self._sim_config.get("verbose"):
print("SUCCESSFULLY PARKED:",
parked_vehicles(l_parkingSearchVehicles), "OUT OF",
self._sim_config.get("vehicles"))
break
sumo_close(l_sumoProcess)
total_parked = parked_vehicles(l_parkingSearchVehicles)
searchTimes = [veh.search_time for veh in l_parkingSearchVehicles]
searchDistances = [
veh.search_distance for veh in l_parkingSearchVehicles
]
walkingTimes = [veh.walk_time for veh in l_parkingSearchVehicles]
walkingDistances = [
veh.walk_distance for veh in l_parkingSearchVehicles
]
searchPhases = [veh.search_phase for veh in l_parkingSearchVehicles]
# TODO: this should probably just return vehicles and leave processing
# to other instances
return (total_parked, searchTimes, walkingTimes, searchDistances,
walkingDistances, searchPhases)
def reset(self):
self.startSUMO()
self.addEgoVehicle() # Add the ego car to the scene
traci.simulationStep()
def start_sumo(sumo_cmd_str):
traci.start(sumo_cmd_str)
for i in range(20):
traci.simulationStep()
def run():
traci.vehicle.add("add1",
"right",
"typeA",
departLane="1",
departPos="250")
step = 0
period = 20
junction_x = traci.junction.getPosition("gneJ1")[0]
offset = 5
schedule_A = []
schedule_B = []
"""execute the TraCI control loop"""
# we start with phase 2 where EW has green
# traci.trafficlight.setPhase("0", 2)
while traci.simulation.getMinExpectedNumber(
) > 0: # The number of vehicles which are in the net plus the ones still waiting to start.
if traci.simulation.getLoadedNumber() > 0:
for vehID in traci.simulation.getLoadedIDList():
# print(vehID)
traci.vehicle.setLaneChangeMode(vehID, 0b000000000000)
# for vehID in traci.vehicle.getIDList():
# print(vehID + str(traci.vehicle.getPosition(vehID)))
traci.simulationStep()
step += 1
currentTime = traci.simulation.getTime()
print(currentTime)
# if len(schedule_A) > 0:
# vehID = schedule_A[0][0]
# # print('x', traci.vehicle.getPosition(vehID)[0])
# if traci.vehicle.getPosition(vehID)[0] >= (junction_x) and schedule_A[0][1] <= currentTime:
# print(vehID, traci.vehicle.getPosition(vehID)[0], traci.vehicle.getStops(vehID))
# try:
# traci.vehicle.resume(vehID)
# except traci.exceptions.TraCIException:
# pass
# del schedule_A[0]
# if len(schedule_B) > 0:
# vehID = schedule_B[0][0]
# # print('x', traci.vehicle.getPosition(vehID)[0])
# if traci.vehicle.getPosition(vehID)[0] >= (junction_x) and schedule_B[0][1] <= currentTime:
# print(vehID, traci.vehicle.getPosition(vehID)[0], traci.vehicle.getStops(vehID))
# try:
# traci.vehicle.resume(vehID)
# except traci.exceptions.TraCIException:
# pass
# del schedule_B[0]
# print(traci.vehicle.getSpeed(schedule_A[0][0]))
# break
if len(schedule_A) > 0 and schedule_A[0][2] == False:
d = schedule_A[0][1] - traci.simulation.getTime()
print('stop', schedule_A[0][0])
try:
traci.vehicle.setStop(schedule_A[0][0],
"E1",
pos=junction_x,
laneIndex=1,
duration=d)
schedule_A[0][2] = True
except traci.exceptions.TraCIException:
pass
if len(schedule_B) > 0 and schedule_B[0][2] == False:
d = schedule_B[0][1] - traci.simulation.getTime()
print('stop', schedule_B[0][0])
try:
traci.vehicle.setStop(schedule_B[0][0],
"E1",
pos=junction_x,
laneIndex=0,
duration=d)
schedule_B[0][2] = True
except traci.exceptions.TraCIException:
pass
# if len(schedule_A) > 0:
for i in schedule_A:
if i[1] < traci.simulation.getTime():
schedule_A.remove(i)
# if len(schedule_B) > 0:
for i in schedule_B:
if i[1] < traci.simulation.getTime():
schedule_B.remove(i)
if step == period:
if traci.lanearea.getLastStepVehicleNumber(
"dA") > 0 and traci.lanearea.getLastStepVehicleNumber(
"dB") > 0:
a, b, id_a, id_b = compute_earliest_arrival(
junction_x, schedule_A, schedule_B)
order_stack_A, order_stack_B = compute_entering_time(a, b)
index_A = 1
index_B = 1
schedule_A = []
schedule_B = []
while len(order_stack_A) > 0:
top = order_stack_A.pop()
schedule_A.append([id_a[index_A], top[2], False])
print(id_a[index_A], 'enter =', top[2])
# if index_A == 1:
# d = top[2]-currentTime
# print('stop', id_a[index_A])
# try:
# traci.vehicle.setStop(id_a[1], "E1", pos=junction_x, laneIndex=1, duration=d)
# except traci.exceptions.TraCIException:
# pass
index_A += 1
while len(order_stack_B) > 0:
top = order_stack_B.pop()
schedule_B.append([id_b[index_B], top[2], False])
print(id_b[index_B], 'enter =', top[2])
# if index_B == 1:
# d = top[2]-currentTime
# print('stop', id_b[index_B])
# try:
# traci.vehicle.setStop(id_b[1], "E1", pos=junction_x, laneIndex=0, duration=d)
# except traci.exceptions.TraCIException:
# pass
index_B += 1
step = 0
print(traci.simulation.getTime())
traci.close()
sys.stdout.flush()
def run():
net = sumolib.net.readNet('campusmap.net.xml')
oldUpcomingLightID = ''
"""execute the TraCI control loop"""
step = 0
#while traci.simulation.getMinExpectedNumber() > 0:
traci.vehicle.add("bike", "bike1",
typeID='typeBike') #Adds bike to simulation
traci.vehicle.setSpeed("bike", 0)
while True:
radius = 0.1
closestEdge = 0
#lat, lon, bear, speed = get_GPS_data()
#debugging
if step == 1:
data = (34.058250, -117.82232, 160, 5)
fileObject = open("gps.pkl", "wb")
pickle.dump(data, fileObject)
fileObject.close()
if step == 5:
fileObject2 = open("gps.pkl", "r")
data2 = pickle.load(fileObject2)
print(data2)
lat, lon, bear, speed = data2
# lat = 34.058250
# lon = -117.82232
# bear = 160
# speed= 5
#bear = (bear+360) % 360 #convert -180 -- +180 to 0 - 360 angles
x, y = net.convertLonLat2XY(lon, lat)
#print(x)
#print(y)
edges = net.getNeighboringEdges(x, y, 0.6)
# numedges = len(edges)
# print(numedges)
# for elem in edges:
# print(elem)
# pick the closest edge (FIX THIS)
if len(edges) > 0:
distancesAndEdges = sorted([(dist, edge)
for edge, dist in edges])
dist, closestEdge = distancesAndEdges[0]
edge_id = closestEdge.getID()
# temp = closestEdge.split(' ')
# temp2 = temp[1].split('"')
# print(temp2[-1])
#update bike parameters
traci.vehicle.moveToXY(
"bike", edge_id, 0, x, y, angle=bear, keepRoute=1
) #(vehID, edge, lane index, x, y, angle, keepRoute 0-2)
traci.vehicle.setSpeed("bike", speed) #speed update
timeRemainingInPhase = 0
if step == 8:
lights = traci.vehicle.getNextTLS("bike")
newUpcomingLightID = str(lights[0][0])
if newUpcomingLightID != oldUpcomingLightID:
oldUpcomingLightID = newUpcomingLightID
upcomingLightPhase = traci.trafficlights.getPhase(
newUpcomingLightID)
nextLightProg = traci.trafficlights.getCompleteRedYellowGreenDefinition(
newUpcomingLightID)
lightProg = str(nextLightProg[0])
nextSwitch = traci.trafficlights.getNextSwitch(
newUpcomingLightID)
timeRemainingInPhase += nextSwitch - traci.simulation.getCurrentTime(
)
p = multiprocessing.Process(target=timeWorker,
args=(
lightProg,
upcomingLightPhase,
timeRemainingInPhase,
))
p.start()
#print(step)
if False: #step > 6:
lights = traci.vehicle.getNextTLS("bike")
nextLightID = str(lights[0][0])
nextSwitch = traci.trafficlights.getNextSwitch(nextLightID)
#duration = traci.trafficlights.getPhaseDuration(nextLightID)
#print(nextSwitch - traci.simulation.getCurrentTime())
if False: #step == 10:
lat = 34.057634
lon = -117.822184
bear = 165
speed = 2
#34.057634, -117.822184
#bear = (bear+360) % 360 #convert -180 -- +180 to 0 - 360 angles
x, y = net.convertLonLat2XY(lon, lat)
print(x)
print(y)
edges = net.getNeighboringEdges(x, y, 0.6)
# numedges = len(edges)
# print(numedges)
# for elem in edges:
# print(elem)
# file = open('testfile.txt','w')
# file.write(edges)
# file.close()
# for dist,edge in edges:
# print(dist)
# print('---'.join(edge))
# pick the closest edge (FIX THIS)
if len(edges) > 0:
distancesAndEdges = sorted([(dist, edge)
for edge, dist in edges])
dist, closestEdge = distancesAndEdges[0]
edge_id = closestEdge.getID()
# temp = closestEdge.split(' ')
# temp2 = temp[1].split('"')
# print(temp2[-1])
#update bike parameters
traci.vehicle.moveToXY(
"bike", edge_id, 0, x, y, angle=bear, keepRoute=1
) #(vehID, edge, lane index, x, y, angle, keepRoute 0-2)
traci.vehicle.setSpeed("bike", speed) #speed update
#calcSpeed = get_best_speed("bike") #calc best speed
lights = traci.vehicle.getNextTLS("bike")
print(lights)
#parse light id
for light in lights[0]:
print(light)
#getCompleteRedYellowGreenDefinition()
traci.simulationStep()
step += 1
traci.close()
sys.stdout.flush()
def step():
s = traci.simulation.getCurrentTime() / 1000
traci.simulationStep()
return s
def episode(RB_RLAlgorithm=None, Proudhon=None, episode_num=0):
########################
# 1 inits
done = False # are we done with the episode or not
step = 0 # step number
errors_arrays = np.zeros(7) # for error checking capability
if (Proudhon is None):
Proudhon = env(vehicles_list) # vehicles_list = [LH, RB]
## -- ##
Proudhon.reset()
traci.load(["-c", Sumocfg_DIR, "--tripinfo-output", "tripinfo.xml", "--seed", str(Sumo_random_seed)])
for vehc in vehicles_list:
vehc.initialize()
## -- ##
if (RB_RLAlgorithm is None):
algo_params = q_learning_params # from Config.py
RB_RLAlgorithm = RLAlgorithm(Proudhon, algo_params=algo_params, load_q_table=load_q_table,
test_mode_on=vis_update_params['test_mode_on']) # Algorithm for RB Agent
## ######################
########################
# 2 init measurements
traci.simulationStep() # After stepping
Proudhon.get_emer_start_lane()
# (communication from vehicle):
getters(vehicles_list) # measure all values from environment
# (communication to environment):
Proudhon.measure_full_state() # measure all values into our agents
# (communication to algorithm/agent):
new_observed_state_for_this_agent = Proudhon.observed_state[0]
# Chose Action from Feasible Actions:
feasible_actions_for_current_state = Proudhon.get_feasible_actions(vehicles_list[1])
chosen_action = RB_RLAlgorithm.pickAction(feasible_actions_for_current_state, new_observed_state_for_this_agent)
RB_RLAlgorithm.applyAction(chosen_action, vehicles_list[1]) # Request Action on Agent
episode_reward = 0
episode_reward_list = []
########################
# 3: MAIN LOOP
if (episode_num % vis_update_params['every_n_episodes'] == 0):
print(f'E:{episode_num: <{6}}|S:{0: <{4}} | '
f'epsilon: {RB_RLAlgorithm.epsilon: <{31}} | '
f'state: {[str(x)[:5] + " " * max(0, 5 - len(str(x))) for x in Proudhon.observed_state[0]]} |')
while traci.simulation.getMinExpectedNumber() > 0:
# 3.1: Store last states
amb_last_velocity = Proudhon.emer.spd
last_observed_state = Proudhon.observed_state
last_observed_state_for_this_agent = last_observed_state[0]
# ----------------------------------------------------------------#
# 3.1.1: Store last picked action
last_picked_action = chosen_action # check_related_fcn
# ----------------------------------------------------------------- #
# 3.2: M O V E O N E S I M U L A T I O N S T E P
# ----------------------------------------------------------------- #
traci.simulationStep() # actual action applying
step += 1
# TODO: Turn this into are_we_ok function
if (vehicles_list[0].getL() != Proudhon.emer_start_lane):
raise ValueError(
f"Ambulance Changed lane from {Proudhon.emer_start_lane} to {vehicles_list[0].getL()} on step {step}. "
f"\nAmbulance Should not change lane. Quitting.")
# ----------------------------------------------------------------- #
# 3.3: measurements and if we are done check
getters(vehicles_list)
Proudhon.measure_full_state()
new_observed_state_for_this_agent = Proudhon.observed_state[0]
done = Proudhon.are_we_done(full_state=Proudhon.full_state, step_number=step)
if (step % vis_update_params['every_n_iters'] == 0 and episode_num % vis_update_params[
'every_n_episodes'] == 0): # print step info
print(f'E:{episode_num: <{6}}|S:{step: <{4}} | '
f'reward : {str(Proudhon.reward)[:min(5, len(str(Proudhon.reward)))]: <{5}}, '
f'lastAction: {chosen_action : <{12}} | '
f'cumReward: ' + str(episode_reward)[:6] + ' ' * max(0, 6 - len(str(episode_reward))) +
f' | state: {[str(x)[:5] + " " * max(0, 5 - len(str(x))) for x in Proudhon.observed_state[0]]}, '
f'actionMethod: {RB_RLAlgorithm.action_chosing_method : <{14}}')
# 3.3.1: checking if we are ok
if (enable_checks):
errors_arrays += are_we_ok(1, True, Proudhon, step, last_picked_action, last_observed_state_for_this_agent,
new_observed_state_for_this_agent)
# 3.4: reward last step's chosen action
reward = Proudhon.calc_reward(amb_last_velocity, done, step)
episode_reward += reward # for history
episode_reward_list.append(reward) # for history
# 3.6: Feasibility check for current_state (for next step)
feasible_actions_for_current_state = Proudhon.get_feasible_actions(vehicles_list[1])
# 3.5: update q table using backward reward logic
RB_RLAlgorithm.update_q_table(chosen_action, reward, new_observed_state_for_this_agent,
last_observed_state_for_this_agent, feasible_actions_for_current_state)
if (done): # DO NOT REMOVE THIS (IT BREAKS IF WE ARE DONE)
if (episode_num % vis_update_params['every_n_episodes'] == 0):
if ( done == 1): # TODO: Remove episode_end_reason outsisde the print check -- we might need it elsewehere
episode_end_reason = "max steps"
elif (done == 2):
episode_end_reason = "ambulance goal"
elif (done == 3): # TODO: #TOFIX: What should be the state here?
episode_end_reason = "agent goal"
else:
raise ValueError(f"Episode: {episode_num} done is True ={done} but reason not known !")
print(f'E:{episode_num: <{6}}|S:{step: <{4}} | '
f'reward : {str(Proudhon.reward)[:min(5, len(str(Proudhon.reward)))]: <{5}}, '
f'lastAction: {chosen_action : <{12}} | '
f'cumReward: ' + str(episode_reward)[:6] + ' ' * max(0, 6 - len(str(episode_reward))) +
f' | state: {[str(x)[:5] + " " * max(0, 5 - len(str(x))) for x in Proudhon.observed_state[0]]}, '
f'actionMethod: {RB_RLAlgorithm.action_chosing_method : <{14}}')
if(enable_checks):
print( "non_requested_lane_change , acc_errors , dec_errors , _no_acc_errors , non_requested_speed_change ,change_left_errors , change_right_errors")
print(f"Error_happened_during_simulation {errors_arrays}")
break
# 3.7: Actually Choose Action from feasible ones (for next step)
chosen_action = RB_RLAlgorithm.pickAction(feasible_actions_for_current_state, new_observed_state_for_this_agent)
# 3.8: Request environment to apply new action (Request action on Agent for next step)
# Action is still not applied here, but on #3.2
RB_RLAlgorithm.applyAction(chosen_action, vehicles_list[1])
# Episode end
sys.stdout.flush()
# 4: Update Epsilon after episode is done
old_epsilon = RB_RLAlgorithm.epsilon
RB_RLAlgorithm.epsilon = RB_RLAlgorithm.min_epsilon + (RB_RLAlgorithm.max_epsilon - RB_RLAlgorithm.min_epsilon) * \
np.exp(
-RB_RLAlgorithm.decay_rate * episode_num) # DONE: Change epsilon to update every episode not every iteration
if (episode_num % vis_update_params['every_n_episodes'] == 0):
print(f'\n\nE:{episode_num: <{6}}| END:{step: <{4}} | '
f'finalCumReward: ' + str(episode_reward)[:6] + ' ' * max(0, 6 - len(str(episode_reward))) + " | "
f'reason: {episode_end_reason: <{15}} | '
f'old_eps: {old_epsilon: <{10}}, '
f'new_eps: {RB_RLAlgorithm.epsilon: <{10}}')
print('-' * 157)
print('=' * 157)
print('\n')
if (vis_update_params['print_reward_every_episode'] and episode_num % vis_update_params['every_n_episodes'] != 0):
print(f'E:{episode_num: <{6}}| END:{step: <{4}} | '
f'finalCumReward: ' + str(episode_reward)[:6] + ' ' * max(0, 6 - len(str(episode_reward))) + " | ")
return RB_RLAlgorithm, Proudhon, episode_reward, episode_reward_list, errors_arrays
"""判断是否开始某个相位"""
current_phase_id = traci.trafficlight.getPhase('J1')
current_phase_duration = traci.trafficlight.getPhaseDuration('J1')
next_switch = traci.trafficlight.getNextSwitch('J1')
sim_time = traci.simulation.getTime()
if next_switch - sim_time == current_phase_duration - 1: # 开始直行某个相位
if current_phase_id == 0:
print('开始：东西直行相位')
phase_0_extended = 0 # 恢复标志，即允许修改
elif current_phase_id == 2:
print('开始：南北直行相位')
else:
pass
"""执行仿真"""
traci.simulationStep()
step += 1
"""判断是否完成某个相位"""
current_phase_id = traci.trafficlight.getPhase('J1')
current_phase_duration = traci.trafficlight.getPhaseDuration('J1')
next_switch = traci.trafficlight.getNextSwitch('J1')
sim_time = traci.simulation.getTime()
if next_switch == sim_time: # 当前相位直行结束
if current_phase_id == 0:
print('结束：东西直行相位')
if phase_0_extended == 0:
traci.trafficlight.setPhaseDuration('J1', 3) # 加了3秒
phase_0_extended = 1 # 修改相位时长标识，修改标志后执行完该相位前，不再修改相位长度
elif current_phase_id == 2:
print('结束：南北直行相位')
def execute(self, action):
run = Assembler(self.carID)
self.output = run.getTensor()
#print(run.getTensor())
if self.output is None:
term = True
return self.getObservation(), term, 0
else:
self.co2.append(traci.vehicle.getFuelConsumption(self.carID))
rew = Reward('ego', run.getTraffic(), self.output,
run.getPrioritizedTraffic())
coll, term = rew.collision_test()
if term is True:
self.setCollisionCounter()
cost = coll
return self.getObservation(), term, cost
traci.vehicle.setSpeedMode('ego', 0)
num_vec = traci.vehicle.getIDList()
disruption = []
for i in range(len(num_vec)):
if num_vec[i] != 'ego':
if traci.vehicle.getAcceleration(num_vec[i]) < 0:
disruption.append(traci.vehicle.getAcceleration(
num_vec[i]))
traci.vehicle.setLaneChangeMode(num_vec[i], 512)
self.disruptionIntensity.append(sum(disruption))
###
#if i % 2 == 0:
#traci.vehicle.setSpeedMode(num_vec[i], 23)
carID = 'ego'
act = Action(carID)
if action == 0:
act.decelerate()
#print('dec')
elif action == 1:
act.accelerate()
#print('acc')
#elif action == 2:
# print('eme')
# act.emergency()
else:
act.remain()
#print('rem')
#print(traci.vehicle.getSpeed(self.carID))
#gap, term = rew.emergency_gap_test()
#wary = rew.wary_before_intersection()
#win = rew.target()
#brake = rew.emergency_brake()
cost = rew.optimum_speed_deviation() #+ gap #+ brake # #+ wary
traci.simulationStep()
#print(self.output)
self.terminationTime.append(traci.simulation.getCurrentTime())
#print(traci.simulation.getCurrentTime())
return self.getObservation(), term, cost
def simulate_step(self):
traci.simulationStep()
def run(isTesting):
"""execute the TraCI control loop"""
step = 0
YELLOW_PHASE = 4
RED_PHASE = 2
site4235_detector_delay = []
site4235_LOOP_COUNT = 11
for i in range(0, site4235_LOOP_COUNT + 1): # initiliaze array of 0s
site4235_detector_delay.append(0)
lanesForPhases_s4235 = { # key = phase, values = lanes with green lights
0: [1, 2, 3, 9, 10, 11], #A
1: [1, 2, 3, 4], #B
2: [6, 7] #C
}
detector_delay_s4219 = []
site4219_LOOP_COUNT = 21
ignored_phases_s4219 = [
20, 21, 22
] # could automate this I guess? if not in dict TODO
for i in range(0, site4219_LOOP_COUNT + 1): # initiliaze array of 0s
detector_delay_s4219.append(0)
lanesForGroupsForPhases_s4219 = { # key = phase, values = lanes with green lights
0: [0, 1], #A
1: [1, 6, 7], #B
2: [0, 2], #C
3: [3, 8], #D
4: [3, 4, 7], #E
5: [4, 5, 7], #F
6: [6, 2, 7] #G
}
lanesForGroups_s4219 = { # which lanes are grouped together, this is useful for finding when a lane group is no longer active
0: [
11, 12
], # such that, a right turn lane can be replaced by oncoming traffic
1: [1, 2],
2: [13, 14],
3: [15, 16, 17],
4: [7, 8],
5: [9, 10],
6: [3, 4],
7: [5, 6],
8: [18, 19]
}
conflictingGroups_s4219 = { # TODO automate this from lanesForGroupsForPhases_s4219 (necessary?)
0: [3, 4, 5, 6, 7, 8],
1: [2, 3, 4, 5, 8],
2: [1, 3, 4, 5, 8],
3: [0, 1, 2, 3, 5, 6],
4: [0, 1, 2, 6, 8],
5: [0, 1, 2, 3, 6, 8],
6: [0, 3, 4, 5, 8],
7: [1, 8],
8: [1, 2, 4, 5, 6, 7]
}
earliestDeadline_s4219 = 0
earliestDeadlineGroup_s4219 = 0
secondDeadlineGroup_s4219 = 0
waitTime_s4219 = 0
activeTraffic_s4219 = []
site4235_next_phase = 0
for i in range(0, len(lanesForGroups_s4219)): # initiliaze array of 99s
activeTraffic_s4219.append(99)
detector_delay_s4220 = []
site4220_LOOP_COUNT = 15
ignored_phases_s4220 = [
3, 8, 11
] # could automate this I guess? if not in dict TODO
for i in range(0, site4220_LOOP_COUNT + 1): # initiliaze array of -1s
detector_delay_s4220.append(0)
lanesForGroupsForPhases_s4220 = { # key = phase, values = lanes with green lights
0: [1, 5], #A
1: [5, 6, 0], #B
2: [1, 2], #C
3: [3, 4], #D
4: [2, 6] #E
}
lanesForGroups_s4220 = { # which lanes are grouped together, this is useful for finding when a lane group is no longer active
0: [1, 2],
1: [4, 5, 6],
2: [7],
3: [9],
4: [10],
5: [12, 13, 14],
6: [15]
}
conflictingGroups_s4220 = { # TODO automate this from lanesForGroupsForPhases_s4220 (necessary?)
0: [1, 4],
1: [0, 6, 4, 3],
2: [5, 4, 3],
3: [0, 1, 2, 5, 6],
4: [0, 1, 2, 5, 6],
5: [2, 3, 4],
6: [2, 3, 4, 5]
}
earliestDeadline_s4220 = 0
earliestDeadlineGroup_s4220 = 0
waitTime_s4220 = 0
activeTraffic_s4220 = []
for i in range(0, len(lanesForGroups_s4220)): # initiliaze array of 99s
activeTraffic_s4220.append(99)
next_phase_s4220 = 0
detector_delay_s4221 = []
site4221_LOOP_COUNT = 18
ignored_phases_s4221 = [
6, 10, 14
] # could automate this I guess? if not in dict TODO
for i in range(0, site4221_LOOP_COUNT + 1): # initiliaze array of -1s
detector_delay_s4221.append(0)
lanesForGroupsForPhases_s4221 = { # key = phase, values = lanes with green lights
0: [3, 7], #A
1: [3, 4], #B
2: [7, 8, 0], #C
3: [1, 2, 0], #D
4: [5, 6], #E
5: [4, 8, 0] #f
}
lanesForGroups_s4221 = { # which lanes are grouped together, this is useful for finding when a lane group is no longer active
0: [1, 2],
1: [3],
2: [4, 5],
3: [7, 8],
4: [9],
5: [11, 12],
6: [13],
7: [15, 16],
8: [17, 18]
}
conflictingGroups_s4221 = { # TODO automate this from lanesForGroupsForPhases_s4221 (necessary?)
0: [3, 6],
1: [3, 4, 6, 7, 8],
2: [3, 4, 5, 7, 8],
3: [0, 1, 2, 5, 6, 8],
4: [1, 2, 5, 6, 7],
5: [2, 3, 4, 7, 8],
6: [0, 1, 2, 3, 4, 7, 8],
7: [1, 2, 4, 5, 6],
8: [1, 2, 3, 5, 6]
}
earliestDeadline_s4221 = 0
earliestDeadlineGroup_s4221 = 0
waitTime_s4221 = 0
activeTraffic_s4221 = []
for i in range(0, len(lanesForGroups_s4221)): # initiliaze array of 99s
activeTraffic_s4221.append(99)
next_phase_s4221 = 0
MINIMUM_TRAFFIC_ACTIVITY = 3
traci.trafficlight.setPhase("5861321343", 0)
#RL stuff
e = 0.0
rng = str(datetime.datetime.now().time())[6:8]
random.seed(rng)
# make this a function
#db_file = r"C:\Users\Elliot\Documents\GitHub\P4Project\_TiRakauDrive\RLv4.2\QTable.db"
db_file = os.getcwd() + "\QTable.db"
#print(db_file)
conn = None
try:
conn = sqlite3.connect(db_file)
except Error as e:
print(e)
cur = conn.cursor()
db_file2 = os.getcwd() + "\\UCB.db"
#print(db_file)
conn2 = None
try:
conn2 = sqlite3.connect(db_file2)
except Error as e:
print(e)
cur2 = conn2.cursor()
totalEps = open("learningUpdates.csv", "r")
t = 1
for ep in totalEps:
t += 1
totalEps.close()
saveStateActions = open("stateActions.csv", "w")
takeMove = True
transitionCounter_s4219 = 0
currentActivePhase = traci.trafficlight.getPhase(
"cluster_25977365_314059191_314060044_314061754_314061758_314062509_314062525"
)
transition_s2419 = chr(65 + currentActivePhase) + "-" + chr(
65 + currentActivePhase) + "-1" # eg. A-A-1
move = currentActivePhase
while step <= 600:
traci.simulationStep()
# add in other traffic lights
#static edf algo
# ----------------------------------------------------------------------SITE 4221--------------------------------------------------------------------------------------------------
phase_s4221 = traci.trafficlight.getPhase(
"cluster_25953432_313863435_313863521_314053282"
) # phase indexing starts at 0
if (phase_s4221 in lanesForGroupsForPhases_s4221.keys()
): # if not a transition phase
waitTime_s4221 += 1 # current phase wait time
transitionCounter_s4221 = 0
for i in range(0, len(lanesForGroups_s4221)):
if i in lanesForGroupsForPhases_s4221[phase_s4221]:
groupActivity = []
for lane in lanesForGroups_s4221[i]:
groupActivity.append(
int(
traci.inductionloop.getTimeSinceDetection(
"site4221_" + str(lane))))
detector_delay_s4221[lane] = 0
activeTraffic_s4221[i] = min(groupActivity)
else:
for lane in lanesForGroups_s4221[i]:
if int(
traci.inductionloop.getTimeSinceDetection(
"site4221_" + str(lane))
) == 0: # if getLastStepVehicleNumber>0,
detector_delay_s4221[lane] = detector_delay_s4221[
lane] + 1 # increment loopDetectorDelay
earliestDeadline_s4221 = detector_delay_s4221.index(
max(detector_delay_s4221))
switchPhase_s4221 = True
for group in lanesForGroups_s4221: # find which group the EDF lane belongs to
if earliestDeadline_s4221 in lanesForGroups_s4221[group]:
earliestDeadlineGroup_s4221 = group
for group in lanesForGroupsForPhases_s4221[
phase_s4221]: # do not switch phase if any conflicting lane has traffic, all inactive groups automatically are 99
if group != 0:
if activeTraffic_s4221[group] < MINIMUM_TRAFFIC_ACTIVITY:
switchPhase_s4221 = False
#if earliestDeadlineGroup_s4221 in lanesForGroupsForPhases_s4221[phase_s4221]:
# switchPhase_s4221 = False
if earliestDeadline_s4221 == 0:
switchPhase_s4221 = False
if waitTime_s4221 == 180:
switchPhase_s4221 = True
if switchPhase_s4221 == True:
transitionCounter = 0
# build new phase
secondDeadline = -1
secondaryDeadlineGroup_s4221 = earliestDeadlineGroup_s4221
for i in range(
0, len(lanesForGroupsForPhases_s4221)
): # find the secondary group to create new phase
if earliestDeadlineGroup_s4221 in lanesForGroupsForPhases_s4221[
i]:
for group in lanesForGroupsForPhases_s4221[i]:
if group != earliestDeadlineGroup_s4221:
for lane in lanesForGroups_s4221[group]:
if detector_delay_s4221[
lane] >= secondDeadline:
secondDeadline = detector_delay_s4221[
lane]
secondaryDeadlineGroup_s4221 = group
for i in range(0, len(lanesForGroupsForPhases_s4221)
): # find the [hase containing both groups
if earliestDeadlineGroup_s4221 in lanesForGroupsForPhases_s4221[
i]:
if secondaryDeadlineGroup_s4221 in lanesForGroupsForPhases_s4221[
i]:
next_phase_s4221 = i
prev_phase_s4221 = phase_s4221
transition = chr(65 + phase_s4221) + "-" + chr(
65 + next_phase_s4221) + "-1" # eg. A-C-1
if phase_s4221 != next_phase_s4221:
logics = traci.trafficlight.getAllProgramLogics(
"cluster_25953432_313863435_313863521_314053282")
names = str(logics[0].getPhases()).split("name='")
for i in range(1, len(names)):
if str(names[i].split("'")[0]) == str(transition):
transitionID = i - 1
traci.trafficlight.setPhase(
"cluster_25953432_313863435_313863521_314053282",
transitionID) #change to transition
for group in lanesForGroups_s4221: # find which group the EDF lane belongs to
if next_phase_s4221 in lanesForGroups_s4221[group]:
next_group_s4221 = group
leftTurn_phase = traci.trafficlight.getPhase("313863797")
if (
next_phase_s4221 == 0 or next_phase_s4221 == 1
or next_phase_s4221 == 4
) and leftTurn_phase == 0: # should it be green for 4? # if traffic is turning left and should not in next phase, switch to red light
traci.trafficlight.setPhase("313863797", 1)
elif (
next_phase_s4221 == 2 or next_phase_s4221 == 3
or next_phase_s4221 == 5
) and leftTurn_phase == 2: # if traffic can turn left, switch to green light
traci.trafficlight.setPhase("313863797", 3)
else: # if active phase is transition phase
switchPhase_s4221 = False
waitTime_s4221 = 0
for group in lanesForGroupsForPhases_s4221[
prev_phase_s4221]: # reset the traffic activity level of each active phase group
activeTraffic_s4221[group] = 99
if transitionCounter_s4221 < YELLOW_PHASE: # while lights are still yellow
switchPhase_s4221 = False
#for lane in lanesForGroups_s4221[group]:
# detector_delay_s4221[lane] = 0
elif transitionCounter_s4221 == YELLOW_PHASE + RED_PHASE - 1:
traci.trafficlight.setPhase(
"cluster_25953432_313863435_313863521_314053282",
next_phase_s4221) #change to next phase
transitionCounter_s4221 = transitionCounter_s4221 + 1
# ----------------------------------------------------------------------SITE 4220--------------------------------------------------------------------------------------------------
phase_s4220 = traci.trafficlight.getPhase(
"gneJ41") # phase indexing starts at 0
if (phase_s4220 in lanesForGroupsForPhases_s4220.keys()
): # if not a transition phase
waitTime_s4220 += 1 # current phase wait time
transitionCounter_s4220 = 0
for i in range(0, len(lanesForGroups_s4220)):
if i in lanesForGroupsForPhases_s4220[phase_s4220]:
groupActivity = []
for lane in lanesForGroups_s4220[i]:
groupActivity.append(
int(
traci.inductionloop.getTimeSinceDetection(
"site4220_" + str(lane))))
detector_delay_s4220[lane] = 0
activeTraffic_s4220[i] = min(groupActivity)
else:
for lane in lanesForGroups_s4220[i]:
if int(
traci.inductionloop.getTimeSinceDetection(
"site4220_" + str(lane))
) == 0: # if getLastStepVehicleNumber>0,
detector_delay_s4220[lane] = detector_delay_s4220[
lane] + 1 # increment loopDetectorDelay
earliestDeadline_s4220 = detector_delay_s4220.index(
max(detector_delay_s4220))
switchPhase_s4220 = True
for group in lanesForGroups_s4220: # find which group the EDF lane belongs to
if earliestDeadline_s4220 in lanesForGroups_s4220[group]:
earliestDeadlineGroup_s4220 = group
for group in lanesForGroupsForPhases_s4220[
phase_s4220]: # do not switch phase if any conflicting lane has traffic, all inactive groups automatically are 99
if activeTraffic_s4220[group] < MINIMUM_TRAFFIC_ACTIVITY:
switchPhase_s4220 = False
#if earliestDeadlineGroup_s4220 in lanesForGroupsForPhases_s4220[phase_s4220]:
# switchPhase_s4220 = False
if earliestDeadline_s4220 == 0:
switchPhase_s4220 = False
if waitTime_s4220 == 180:
switchPhase_s4220 = True
if switchPhase_s4220 == True:
transitionCounter = 0
# build new phase
secondDeadline = -1
secondaryDeadlineGroup_s4220 = earliestDeadlineGroup_s4220
for i in range(
0, len(lanesForGroupsForPhases_s4220)
): # find the secondary group to create new phase
if earliestDeadlineGroup_s4220 in lanesForGroupsForPhases_s4220[
i]:
for group in lanesForGroupsForPhases_s4220[i]:
if group != earliestDeadlineGroup_s4220:
for lane in lanesForGroups_s4220[group]:
if detector_delay_s4220[
lane] >= secondDeadline:
secondDeadline = detector_delay_s4220[
lane]
secondaryDeadlineGroup_s4220 = group
for i in range(0, len(lanesForGroupsForPhases_s4220)
): # find the [hase containing both groups
if earliestDeadlineGroup_s4220 in lanesForGroupsForPhases_s4220[
i]:
if secondaryDeadlineGroup_s4220 in lanesForGroupsForPhases_s4220[
i]:
next_phase_s4220 = i
prev_phase_s4220 = phase_s4220
transition_s4220 = chr(65 + phase_s4220) + "-" + chr(
65 + next_phase_s4220) + "-1" # eg. A-C-1
if phase_s4220 != next_phase_s4220:
logics = traci.trafficlight.getAllProgramLogics("gneJ41")
names = str(logics[0].getPhases()).split("name='")
for i in range(1, len(names)):
if str(names[i].split("'")[0]) == str(
transition_s4220):
transitionID = i - 1
traci.trafficlight.setPhase(
"gneJ41", transitionID) #change to transition
for group in lanesForGroups_s4220: # find which group the EDF lane belongs to
if next_phase_s4220 in lanesForGroups_s4220[group]:
next_group_s4220 = group
else: # if active phase is transition phase
switchPhase_s4220 = False
waitTime_s4220 = 0
for group in lanesForGroupsForPhases_s4220[
prev_phase_s4220]: # reset the traffic activity level of each active phase group
activeTraffic_s4220[group] = 99
if transitionCounter_s4220 < YELLOW_PHASE: # while lights are still yellow
switchPhase_s4220 = False
#for lane in lanesForGroups_s4220[group]:
# detector_delay_s4220[lane] = 0
elif transitionCounter_s4220 == YELLOW_PHASE + RED_PHASE - 1:
traci.trafficlight.setPhase(
"gneJ41", next_phase_s4220) #change to next phase
transitionCounter_s4220 = transitionCounter_s4220 + 1
# ----------------------------------------------------------------------SITE 4219--------------------------------------------------------------------------------------------------
#https://sumo.dlr.de/docs/Simulation/Output/Summary.html for each step reward
# e1 output can be used if timesteps can be changed to 1 per step
# Files: rl-runner, stateActionValues.xml, actions.xml, summary.xml, episodeStates.xml, updateTable.xml
#States:
# Loop detectors groups high/low (2^8) *
# or time since last activation? 4s = 4^8
# max expected demand group (9 options) *
# (and 2nd max? (8 options))
# Current phase (7 options) *
# -sum of exit lane detector_delays? would indicate the load on adjacent junctions
# state space size = 4,194,000 or 16,384
# can hard-code minimum activity time to reduce state size (but kind of goes against RL)
#Actions:
# Do nothing, transition to new phase (must stay in new phase for >=1s, transitoining to phase B will affect the reward for state B)
#Rewards:
# -vehicles halting
# or -meanSpeedRelative,
# not -sum(detector_delay_s4219) as this won't give total time spent waiting?
# during that state (divide by total steps between actions?)
#Algorithm:
# Expected return of next move = Sum(nextMaxGroup&&nextPhase)[loopDetectorsOff->loopDetectorsOn]
# e-greedy policy for training: e = .05 = %chance of taking random move. 1-e = .95 = %chance of taking move with max expected reward
currentPhase_s4219 = traci.trafficlight.getPhase(
"cluster_25977365_314059191_314060044_314061754_314061758_314062509_314062525"
)
groupActivity_s4219 = []
for i in range(0, len(lanesForGroups_s4219)):
if i in lanesForGroupsForPhases_s4219[
move]: # if group in current phase
for lane in lanesForGroups_s4219[
i]: # reset delay for each lane
detector_delay_s4219[lane] = 0
else:
for lane in lanesForGroups_s4219[i]:
if int(
traci.inductionloop.getTimeSinceDetection(
"site4219_" + str(lane))
) == 0: # if vehicle waiting on any lane in group
detector_delay_s4219[lane] += 1 # increment delay time
for group in lanesForGroupsForPhases_s4219[move]:
for lane in lanesForGroups_s4219[
group]: #if getTimeSinceDetection > 0?
groupActivity_s4219.append(
int(
traci.inductionloop.getTimeSinceDetection("site4219_" +
str(lane))))
carsFlowing = min(groupActivity_s4219)
carsFlowing = min(carsFlowing, 9)
earliestDeadline_s4219 = detector_delay_s4219.index(
max(detector_delay_s4219))
detector_delay_s4219_sorted = sorted(detector_delay_s4219)
secondDeadline_s4219 = detector_delay_s4219.index(
detector_delay_s4219_sorted[-2])
for group in lanesForGroups_s4219:
if earliestDeadline_s4219 in lanesForGroups_s4219[group]:
earliestDeadlineGroup_s4219 = group
if secondDeadline_s4219 in lanesForGroups_s4219[group]:
secondDeadlineGroup_s4219 = group
currentState = str(next_phase_s4220) + str(
secondDeadlineGroup_s4219) + str(carsFlowing) + str(
currentActivePhase) + str(earliestDeadlineGroup_s4219)
if takeMove: # when takeMove is true, the move is made on the same timestep
transitionCounter_s4219 = 0
stateInDec = (int(currentState[0]) * 9 * 10 * 9 * 7) + (
int(currentState[1]) * 10 * 9 *
7) + (int(currentState[2]) * 9 *
7) + (int(currentState[3]) * 9) + int(
currentState[4],
9) + 1 #convert the state to its row no equivalent
cur.execute("SELECT * FROM States WHERE rowid = " +
str(stateInDec))
nextStateActions = cur.fetchone()
cur2.execute("SELECT * FROM States WHERE rowid = " +
str(stateInDec))
timesVisited = np.array(cur2.fetchone())
ntArray = np.sqrt((2 * math.log(t)) / timesVisited)
#print("qvals = " + str(nextStateActions))
#print("UCB = " + str(ntArray))
#print(t)
nextStateActions += ntArray
move = np.argmax(nextStateActions)
transition_s2419 = chr(65 + currentPhase_s4219) + "-" + chr(
65 + move) + "-1" # eg. A-C-1
if move != currentPhase_s4219:
logics = traci.trafficlight.getAllProgramLogics(
"cluster_25977365_314059191_314060044_314061754_314061758_314062509_314062525"
)
names = str(logics[0].getPhases()).split("name='")
for i in range(1, len(names)):
if str(names[i].split("'")[0]) == str(transition_s2419):
transitionID_s4219 = i - 1
traci.trafficlight.setPhase(
"cluster_25977365_314059191_314060044_314061754_314061758_314062509_314062525",
transitionID_s4219) #change to transition
takeMove = False # do not take moves while transitioning phase
leftTurn_phase = traci.trafficlight.getPhase("5861321343")
if (
move == 0 or move == 2 or move == 3
) and leftTurn_phase == 0: # if traffic is turning left and should not in next phase, switch to red light
traci.trafficlight.setPhase("5861321343", 1)
elif (
move == 1 or move == 4 or move == 5 or move == 6
) and leftTurn_phase == 2: # if traffic can turn left, switch to green light
traci.trafficlight.setPhase("5861321343", 3)
#otherwise, do nothing. Reset duration of phase?
#saveStateActions.write(transition_s2419 +","+ currentLoopsState +","+ str(currentActivePhase) +"\n")#TODO: add max group
else:
#need to account for left turn traffic light
transitionCounter_s4219 += 1
if transitionCounter_s4219 == YELLOW_PHASE + RED_PHASE:
currentActivePhase = move
takeMove = True
traci.trafficlight.setPhase(
"cluster_25977365_314059191_314060044_314061754_314061758_314062509_314062525",
move) #change to next phase
currentState = str(next_phase_s4220) + str(
secondDeadlineGroup_s4219) + str(carsFlowing) + str(
currentActivePhase) + str(earliestDeadlineGroup_s4219)
#in order: current phase, index of longest waiting group, loop states[8 bits], activity in current phase[1 bit], action
#print(currentState +","+ str(move))
saveStateActions.write(currentState + "," + str(move) +
"\n") #TODO: add max group
# ----------------------------------------------------------------------SITE 4235--------------------------------------------------------------------------------------------------
site4235_phase = traci.trafficlight.getPhase(
"cluster_1707799581_314056954_5931861577"
) # phase indexing starts at 0
for i in range(1, site4235_LOOP_COUNT): # for each loop detector
if (i != 5) and (i != 8): # ignore lanes 5 and 8
if int(
traci.inductionloop.getLastStepVehicleNumber(
"site4235_" +
str(i))) > 0 or site4235_detector_delay[
i] > 0: # if getLastStepVehicleNumber>0,
site4235_detector_delay[i] = site4235_detector_delay[
i] + 1 # increment loopDetectorDelay
if (site4235_phase
in lanesForPhases_s4235.keys()): # if not a transition phase
activeTraffic = 99
for i in lanesForPhases_s4235[site4235_phase]:
site4235_detector_delay[
i] = 0 # reset loopDetectorDelay for loops in current phase
if i != 1 and i != 2 and i != 3: # ignore non conflicting traffic
if int(
traci.inductionloop.getTimeSinceDetection(
"site4235_" + str(i))) < activeTraffic:
activeTraffic = int(
traci.inductionloop.getTimeSinceDetection(
"site4235_" + str(i)))
if activeTraffic > MINIMUM_TRAFFIC_ACTIVITY: # if no traffic through active lanes, switch to transition phase for max(loopDetectorDelay)
activeTraffic = 0
transitionCounter = 0
site4235_prev_phase = site4235_phase
earliestDeadline = site4235_detector_delay.index(
max(site4235_detector_delay))
# build next phase
if earliestDeadline == 9 or earliestDeadline == 10 or earliestDeadline == 11: #this can be changed with lanesForGroups_s4235 (TODO)
site4235_next_phase = 0 #A
if site4235_phase == 1:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
7) #change to B-A
elif site4235_phase == 2:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
11) #change to C-A
elif earliestDeadline == 4: # loop detector no. 4
site4235_next_phase = 1 #B
if site4235_phase == 0:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
3) #change to A-B
elif site4235_phase == 2:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
13) #change to C-B
elif earliestDeadline == 6 or earliestDeadline == 7:
site4235_next_phase = 2 #C
if site4235_phase == 0:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
5) #change to A-C
elif site4235_phase == 1:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
9) #change to B-C
elif earliestDeadline == 1 or earliestDeadline == 2 or earliestDeadline == 3:
if site4235_detector_delay[4] > max(
site4235_detector_delay[9:11]
): # compare conflicting lanes
site4235_next_phase = 1 #B
if site4235_phase == 0:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
3) #change to A-B
elif site4235_phase == 2:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
13) #change to C-B
else:
site4235_next_phase = 0 #A
if site4235_phase == 1:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
7) #change to B-A
elif site4235_phase == 2:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
11) #change to C-A
else: # if active phase is transition phase
if transitionCounter < YELLOW_PHASE: # while lights are still yellow
for i in lanesForPhases_s4235[site4235_prev_phase]:
site4235_detector_delay[i] = 0
elif transitionCounter == YELLOW_PHASE + RED_PHASE - 1:
traci.trafficlight.setPhase(
"cluster_1707799581_314056954_5931861577",
site4235_next_phase) #change to next phase
transitionCounter = transitionCounter + 1
#add for case where lights change with no traffic?
step += 1
traci.close()
sys.stdout.flush()
def run():
"""execute the TraCI control loop"""
traci.init(PORT)
while traci.simulation.getMinExpectedNumber() > 0:
#A=np.array([[0,0,0,0],[0,0,0,0],[0,0,0,0]])
#d={}
column_names = ['1', '2', '3', '4']
row_names = ['_2', '_1', '_0']
matrix = np.reshape((0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), (3, 4))
df = pd.DataFrame(matrix, columns=column_names, index=row_names)
c_names = ['2', '1', '0']
r_names = ['RS1', 'RS2', 'RS3', 'RS4']
matrix1 = np.reshape(
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(4, 3))
df1 = pd.DataFrame(matrix1, columns=c_names, index=r_names)
traci.simulationStep()
l = traci.lane.getIDList()
RS1 = l[34:37]
RS2 = l[37:40]
RS3 = l[40:43]
RS4 = l[43:46]
RS = [RS1, RS2, RS3, RS4]
for segment in RS:
for lane in segment:
veh_list = traci.lane.getLastStepVehicleIDs(lane)
#print veh_list , lane
le = rig = stra = 0
for vehi in veh_list:
rou = traci.vehicle.getRoute(vehi)
if rou in left:
le = le + 1
elif rou in right:
rig = rig + 1
elif rou in straight:
stra = stra + 1
print(le, rig, stra, lane)
if '_2' in lane:
if stra == 0:
df['3']['_2'] = 1
df['2']['_1'] = 1
df['2']['_0'] = 1
elif rig == 0:
if stra != 0:
if le == 0:
df['2']['_2'] = 1
df['2']['_1'] = 1
df['2']['_0'] = 1
elif stra != 0:
if le != 0:
df['4']['_2'] = 1
df['4']['_1'] = 1
df['4']['_0'] = 1
elif '_0' in lane:
if stra == 0:
df['1']['_0'] = 1
print("******The Drift attribute Matrix is as follows******")
print(df)
#.plot()
for segment in range(0, 4):
for lane in RS[segment]:
#finding the number of vehiles
n = traci.lane.getLastStepVehicleNumber(lane)
lane_ = lane[4:5]
# Declare speed, acceleration, distnace and passing rate variables
speed, accel, distance, ptime, prate = 0.0, 0.0, 0.0, 0.0, 0.0
#getting the vehicle ids
veh_list = traci.lane.getLastStepVehicleIDs(lane)
#get last and second last vehicle ids
#print("+++++++++++++++++")
#print("+++++++++++++++++")
# get the distance of the last vehicle from the intersection
if not veh_list:
print(
"*********** veh_list is empty to show distance from junction"
)
else:
#print("+++++++++++++++++")
distance = traci.vehicle.getDistance(veh_list[-1])
print("Distance from junction is " + str(distance))
#print ("+++++++++++++++")
# get speed of last vehicle
if not veh_list:
print("*********** veh_list is empty to show last speed ")
else:
#print(" ?????????????????????????? ")
speed = traci.vehicle.getSpeed(veh_list[-1])
print("Speed of last vehicle is " + str(speed))
#print(" ?????????????????????????? ")
'''for veh in veh_list:
var_speed=traci.vehicle.getSpeed(veh)
print(var_speed)'''
#get acceleration of second last vehicle
if not veh_list:
print(
"*********** veh_list is empty to show second last acceleration "
)
else:
# print("###########################")
accel = traci.vehicle.getAccel(veh_list[-1])
print("Acceleration of second last vehicle is " +
str(accel))
#print("###########################")
#print acc
#calculate the flow rate using the formula
if not veh_list:
print(
"*********** veh_list is empty to show passing rate ")
else:
ptime = (-speed + math.sqrt(
(speed * speed) + 2 * accel * distance)) / accel
print("Passing time is " + str(ptime))
##########################################enter flow time matrix here
#col = ['2', '1', '0']
#row = ['RS1','RS2','RS3','RS4']
#matrix2 = np.reshape((0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0), (4, 3))
#df2 = pd.DataFrame(matrix2, columns=col, index=row)
if ptime != 0:
prate = n / ptime
print("Flow rate is " + str(prate))
a = (str(lane_))
#print a
b = ('RS' + str(segment + 1))
#print b
df1[a][b] = prate
#df2[a][b]=ptime
print("******The Flow rate Matrix is as follows******")
print(df1)
#df1.plot()
X = [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]
# 3x4 matrix
Y = [[0, 0, 0, 0], [0, 0, 0, 0], [0, 0, 0, 0]]
# result is 3x4
APR = [[0, 0, 0, 0], [0, 0, 0, 0], [0, 0, 0, 0], [0, 0, 0, 0]]
# iterate through rows of X
for i in range(len(X)):
# iterate through columns of Y
for j in range(len(Y[0])):
# iterate through rows of Y
for k in range(len(Y)):
APR[i][j] += X[i][k] * Y[k][j]
#for r in APR:
# print(r)
print("******The aggregated flow rate is as follows******")
for r in APR:
print(APR)
print("******The 16 Condition Matrices Printed below******")
data1 = [[1, 0, 0, 0], [1, 0, 0, 0], [0, 0, 1, 0], [0, 0, 1, 0]]
TM1 = pd.DataFrame(data1, dtype=float)
print(TM1)
data2 = [[0, 0, 1, 0], [0, 0, 1, 0], [1, 0, 0, 0], [1, 0, 0, 0]]
TM2 = pd.DataFrame(data2, dtype=float)
print(TM2)
data3 = [[0, 1, 0, 0], [0, 1, 0, 0], [0, 0, 0, 0], [0, 0, 0, 0]]
TM3 = pd.DataFrame(data3, dtype=float)
print(TM3)
data4 = [[0, 0, 0, 0], [0, 0, 0, 0], [0, 1, 0, 0], [0, 1, 0, 0]]
TM4 = pd.DataFrame(data4, dtype=float)
print(TM4)
data5 = [[0, 0, 0, 1], [0, 0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0]]
TM5 = pd.DataFrame(data5, dtype=float)
print(TM5)
data6 = [[0, 0, 0, 0], [0, 0, 0, 1], [0, 0, 0, 0], [1, 0, 0, 0]]
TM6 = pd.DataFrame(data6, dtype=float)
print(TM6)
data7 = [[0, 0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 1], [0, 0, 0, 0]]
TM7 = pd.DataFrame(data7, dtype=float)
print(TM7)
data8 = [[1, 0, 0, 0], [0, 0, 0, 0], [0, 0, 0, 0], [0, 0, 0, 1]]
TM8 = pd.DataFrame(data8, dtype=float)
print(TM8)
data9 = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 0, 0], [1, 0, 0, 0]]
TM9 = pd.DataFrame(data9, dtype=float)
print(TM9)
data10 = [[0, 1, 0, 0], [1, 0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0]]
TM10 = pd.DataFrame(data10, dtype=float)
print(TM10)
data11 = [[0, 0, 0, 0], [1, 0, 0, 0], [0, 1, 0, 0], [1, 0, 0, 0]]
TM11 = pd.DataFrame(data11, dtype=float)
print(TM11)
data12 = [[1, 0, 0, 0], [0, 0, 0, 0], [1, 0, 0, 0], [0, 1, 0, 0]]
TM12 = pd.DataFrame(data12, dtype=float)
print(TM12)
data13 = [[1, 0, 1, 0], [0, 0, 0, 0], [1, 0, 0, 0], [1, 0, 0, 0]]
TM13 = pd.DataFrame(data13, dtype=float)
print(TM13)
data14 = [[0, 0, 0, 0], [1, 0, 1, 0], [1, 0, 0, 0], [1, 0, 0, 0]]
TM14 = pd.DataFrame(data14, dtype=float)
print(TM14)
data15 = [[1, 0, 0, 0], [1, 0, 0, 0], [1, 0, 1, 0], [0, 0, 0, 0]]
TM15 = pd.DataFrame(data15, dtype=float)
print(TM15)
data16 = [[1, 0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0], [1, 0, 1, 0]]
TM16 = pd.DataFrame(data16, dtype=float)
print(TM16)
#enter code here
list_T = [
TM1, TM2, TM3, TM4, TM5, TM6, TM7, TM8, TM9, TM10, TM11, TM12,
TM13, TM14, TM15, TM16
]
WAPR = []
STOTAL = []
for frame in list_T:
#WAPR.append(np.matmul(APR,frame))
WAPR.append(APR * frame)
#print WAPR
for frame in WAPR:
STOTAL.append(frame.sum().sum())
print(
"******The following list contains the sum of flow rates for each ont f the 16 condition matrices when multiplied with aggregated flow rates******"
)
print(STOTAL)
#plt.rcdefaults()
#objects = ('TM1', 'TM2', 'TM3', 'TM4' , 'TM5' , 'TM6' , 'TM7' , 'TM8' , 'TM9' , 'TM10' , 'TM11' , 'TM12' , 'TM13' , 'TM14' , 'TM15' , 'TM16')
#y_pos = np.arange(len(objects))
#performance = STOTAL
#plt.bar(y_pos, performance, align='center', alpha=0.5)
#plt.xticks(y_pos, objects)
#plt.ylabel('Total Passing Rate')
#plt.title('Transition Matrix Selection')
#plt.show()
max_value = max(STOTAL)
print(max_value)
matrix_selection = STOTAL.index(max_value)
#print matrix_selection
print("#####The selected Condition matrix#####")
print(list_T[matrix_selection])
no_of_veh = traci.vehicle.getIDCount()
print(no_of_veh)
tgreen = no_of_veh / max_value
if tgreen < 15:
tgreen = 15
elif tgreen > 150:
tgreen = 150
print("The Tgreen value after applying limits is as given below")
print(tgreen)
#t=traci.simulation.getCurrentTime()
#list_of_max.append(max_value)
#print list_of_max
#print max(list_of_max)
#print help(traci.trafficlights)
# print(traci.trafficlights.getIDList())
#traci.trafficlights.setRedYellowGreenState('0','rRGGGG')
#traci.trafficlights.setPhaseDuration('0',tgreen)
#print traci.trafficlights.getControlledLanes('0')
#print "plzzz work"
#print traci.trafficlights.getCompleteRedYellowGreenDefinition('0')
#print "plzzz work"
#print traci.trafficlights.getControlledLinks('0')
#print "plzzz work"
#print traci.trafficlights.getNextSwitch('0')
#print "plzzz work"
#print traci.trafficlights.getPhase('0')
#print "plzzz work"
#print traci.trafficlights.getPhaseDuration('0')
#print "plzzz work"
#print traci.trafficlights.getProgram('0')
#print "plzzz work"
#print traci.trafficlights.getRedYellowGreenState('0')
#print "plzzz work"
#traci.trafficlights.setLinkState('0','E10_0', 'E02_0', ':0_0_0','rRgGyYoOu')
#postioning of the dictionary think about it
sys.stdout.flush()
traci.close()
def main():
POIEdges = { 'Sathorn_Thai_1':['L197#1','L197#2'],
'Sathorn_Thai_2': ['L30', 'L58#1','L58#2'],
'Charoenkrung_1': ['L30032'],
'Charoenkrung_2': ['L60', 'L73', 'L10149#1','L10149#2'],
'Charoenkrung_3': ['L67'],
'Silom_1': ['L138'],
'Silom_2': ['L133.25'],
'Silom_3': ['L49'],
'Mehasak':['L64'],
'Surasak': ['L10130', 'L10189'],
'Charoen_Rat': ['L40']
}
percentage = ['1%', '5%', '10%', '15%', '20%', '25%', '30%', '35%', '40%', '45%', '50%','100%']
frequency = [1, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60]
randomlist = []
dirpath = os.getcwd()
path = dirpath + 'RetrieveOnly100%DATAFROMSUMO_RANDOMSEED(One time)-DATASET-WithoutReplicatedVID/random.csv'
myfile1 = open(path,'w', newline='')
writer1 = csv.writer(myfile1)
heading = ["Output File","random seed"]
writer1.writerow(heading)
myfile1.close()
for outputFile in range(0,100):
random_number = random.randint(50, 23423)
#################### this code block is to keep random seed number permanently####################
random_df = pd.read_csv(path)
# print(random_df.columns)
randomlist = random_df['random seed'].values.tolist()
if len(randomlist) >=0:
while random_number in randomlist:
random_number = random.randint(50, 23423)
#randomlist.append(r)
myfile = open(path, 'a', newline='')
writer = csv.writer(myfile)
with myfile:
writer.writerow([(outputFile+1),random_number])
myfile.close()
##################################################################################################
print(randomlist)
print('Random Seed Number : ', random_number)
os.mkdir(dirpath + '/'+ str(outputFile+1))
createFile(POIEdges, percentage, frequency, str(outputFile+1))
# sumoBinary = sumolib.checkBinary('sumo-gui')
sumoBinary = sumolib.checkBinary('sumo')
sumoCmd = [sumoBinary,
"--no-internal-links", 'true',
"--ignore-junction-blocker", '1',
'--start', 'true',
'--quit-on-end', 'true',
# "--random",'true',
"-c", "sathorn_w.sumo.cfg",
# '-a',"sathon_wide_tls_20160418_edited.add(upperSurasak)_withoutLaneclose.xml",
'-a', "sathon_wide_tls_20160418_edited.add.xml",
'--time-to-teleport', "-1",
'--seed', str(random_number),
'--no-warnings','true'
]
# sumoCmd = [sumoBinary, "-c", "sathorn_w.sumo.cfg",'-a',"sathon_wide_tls_20160418_edited.add.xml",'--time-to-teleport',"-1"]
# sumoCmd = [sumoBinary, "-c", "sathorn_w.sumo.cfg"]
traci.start(sumoCmd)
step = 21600
import time
start_time = time.time()
while step <= 32400:
traci.simulationStep()
for freq in frequency:
if step % freq == 0:
for pcent in percentage:
percent = parseFloat(pcent)
for road, links in POIEdges.items():
temp = []
vList = []
for link in links:
IDs = list(traci.edge.getLastStepVehicleIDs(link))
vList.extend(IDs)
# print(vList)
temp.append(len(list(traci.edge.getLastStepVehicleIDs(link))))
###### This code segment has issues about replicated vehicle IDs##########
# random_v = []
# g = (r(0, len(vList) - 1) for _ in range(int(len(vList) * (percent))))
# for i in g:
# random_v.append(vList[i])
# print(percent,random_v)
##########################################################################
random_v = random.sample(vList, int(len(vList) * (percent)))
# print(percent,random_v)
totalSpeed = 0.0
for v in random_v:
totalSpeed += float(traci.vehicle.getSpeed(v))
if (len(random_v)) > 0:
meanSpeed = float(totalSpeed / int(len(random_v)))
else:
meanSpeed = -1.00
format_time = datetime.strptime(getTime(float(step)), '%H:%M:%S')
time = format_time.time()
if meanSpeed * 3.6 <= 5 and meanSpeed >= 0:
low_meanSpeed = 1
else:
low_meanSpeed = 0
persistent_low_meanSpeed = 0
myfile = open(
dirpath + '/' + str(
outputFile + 1) + '/' + road + '_' + str(
freq) + '_' + pcent + '.csv', 'a', newline='')
writer = csv.writer(myfile)
with myfile:
writer.writerow(
[time, step, *temp, int(len(random_v)), meanSpeed, low_meanSpeed,
persistent_low_meanSpeed])
myfile.close()
step += 1
traci.close()
import time
print("--- %s seconds ---" % (time.time() - start_time))
def workerThread(self):
try:
traci.start([
checkBinary("sumo-gui"), "-c", self.sumocfg,
"--lateral-resolution", "0.32", "--collision.action", "warn",
"--step-length",
str(TS)
])
# steal focus for keyboard input after sumo-gui has loaded
# self.master.focus_force() # not working on all platforms
# make sure ego vehicle is loaded
traci.simulationStep()
speed = traci.vehicle.getSpeed(self.egoID)
angle = traci.vehicle.getAngle(self.egoID)
traci.vehicle.setSpeedMode(self.egoID, 0)
steerAngle = 0
x, y = traci.vehicle.getPosition(self.egoID)
traci.gui.trackVehicle(traci.gui.DEFAULT_VIEW, self.egoID)
while traci.simulation.getMinExpectedNumber() > 0:
try:
if eventQueue.qsize() == 0:
if steerAngle > 0:
steerAngle = max(0, steerAngle - 15 * TS)
else:
steerAngle = min(0, steerAngle + 15 * TS)
# print("revert steerAngle=%.2f" % steerAngle)
while eventQueue.qsize():
try:
msg = eventQueue.get(0)
if msg == 'up':
speed += TS * traci.vehicle.getAccel(
self.egoID)
if msg == 'down':
speed -= TS * traci.vehicle.getDecel(
self.egoID)
if msg == 'left':
steerAngle -= TS * 5
if msg == 'right':
steerAngle += TS * 5
except Queue.Empty:
pass
# move vehicle
speed = max(
-5, min(speed, traci.vehicle.getMaxSpeed(self.egoID)))
steerAngle = min(15, max(-15, steerAngle))
angle += steerAngle
angle = angle % 360
rad = -angle / 180 * math.pi + 0.5 * math.pi
x2 = x + math.cos(rad) * TS * speed
y2 = y + math.sin(rad) * TS * speed
traci.vehicle.setSpeed(self.egoID, speed)
traci.vehicle.moveToXY(self.egoID,
"dummy",
-1,
x2,
y2,
angle,
keepRoute=2)
x3, y3 = traci.vehicle.getPosition(self.egoID)
x, y = x2, y2
traci.simulationStep()
if VERBOSE:
print(
"old=%.2f,%.2f new=%.2f,%.2f found=%.2f,%.2f speed=%.2f steer=%.2f angle=%s rad/pi=%.2f cos=%.2f sin=%.2f"
% (x, y, x2, y2, x3, y3, speed, steerAngle, angle,
rad / math.pi, math.cos(rad), math.sin(rad)))
except traci.TraCIException:
pass
traci.close()
except traci.FatalTraCIError:
pass
self.running = False
def run():
global ExtensionGiven
global LastExtension
global Extensions
global RedShortenings
global TotalExtraGreen
global RedShortTrafficLight
#Set simulation variables to 0
step = 0
x = 0
RedShort = 0
#This is to check if the current red light has already been shortened
Redshortened = {
"333": {
3: 0,
6: 0
},
"334": {
3: 0,
6: 0
},
"336": {
0: 0,
},
"338": {
3: 0,
6: 0
},
"405": {
0: 0,
3: 0,
9: 0
},
"409": {
0: 0,
3: 0,
9: 0
},
"410": {
3: 0,
6: 0
},
"420": {
3: 0
}
}
#Gives the minimum phase time. The first key is the intersection number. The second key
#in the nested dictionary is the phase number that can be shortened and the value tells us
#what the minimum time for that phase is.
#The extension key, tells which phase can be extended and by how much it can be extended. The phase
#that can be extended is always in the first position(index 0) in the list and the extension time is
#in the second position (index 1)
MinimumPhaseTime = {
"333": {
3: 6,
6: 6,
"extension": [0, 30]
},
"334": {
6: 15,
3: 7,
"extension": [0, 30]
},
"336": {
0: 0,
"extension": [3, 20]
},
"338": {
3: 0,
6: 0,
"extension": [0, 30]
},
"405": {
0: 15,
3: 6,
9: 8,
"extension": [6, 30]
},
"409": {
0: 12,
3: 8,
9: 10,
"extension": [6, 25]
},
"420": {
3: 12,
"extension": [0, 30]
}
}
#To check if the sixth phase has been shortened
vehicleIDsBefore = {
} #This stores all the before the intersection detector values from the current step in the simulation
vehicleIDsAfter = {
} #This stores all the after the intersection detector values from the current step in the simulation
BusPriorityRequested = {
} #To check if there is buses in the intersection currently
ExtraGreen = {
"334": [
0, 2, 14, 6
] #[(0= no extra green, 1 = extra green ongoing; 2 extra green allowed to end, 3=extra green shortened),phase when it should continue normaly
,
"409": [0, 8, 10,
0] # minimum time of extra green, phase that continues]
}
ExtraGreenRequest = {
"334": [5, 0] #[phase where extra green is applied, green phase]
,
"409": [11, 6]
}
All_intersections = [
"333", "334", "336", "338", "405", "409", "410", "420"
]
#Create the variables
for x in All_intersections:
BusPriorityRequested[x] = []
ExtensionGiven[x] = 0
#Intersection 334
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
step += 1
#Retrieve loop data. Sometimes there are detectors for longer distances that needs to be added here.
#60m: Remove: 334E_B3; add: 420W_B2,420E_B2, 334_B3
#90m: Remove: Add 420E_B2; Remove: 334E_B3
#120m: Remove: 334E_B3,420E_B2, 334E_B3
#In 150m: Remove: 409W_B2, 420E_B2,420W_B2; add: 334E_B3
#180m: 409W_B2, 420E_B2,420W_B2; add: 334E_B3
vehicleIDsBefore["333"] = traci.inductionloop.getLastStepVehicleIDs(
"333E_B1") + traci.inductionloop.getLastStepVehicleIDs(
"333E_B2") + traci.inductionloop.getLastStepVehicleIDs(
"333E_B3") + traci.inductionloop.getLastStepVehicleIDs(
"333W_B1") + traci.inductionloop.getLastStepVehicleIDs(
"333W_B2")
vehicleIDsAfter["333"] = traci.inductionloop.getLastStepVehicleIDs(
"333E_A1") + traci.inductionloop.getLastStepVehicleIDs(
"333E_A2") + traci.inductionloop.getLastStepVehicleIDs(
"333W_A1") + traci.inductionloop.getLastStepVehicleIDs(
"333W_A2")
vehicleIDsBefore["334"] = traci.inductionloop.getLastStepVehicleIDs(
"334E_B1") + traci.inductionloop.getLastStepVehicleIDs(
"334E_B2") + traci.inductionloop.getLastStepVehicleIDs(
"334E_B3") + traci.inductionloop.getLastStepVehicleIDs(
"334W_B1") + traci.inductionloop.getLastStepVehicleIDs(
"334W_B2")
vehicleIDsAfter["334"] = traci.inductionloop.getLastStepVehicleIDs(
"334E_A1") + traci.inductionloop.getLastStepVehicleIDs(
"334E_A2") + traci.inductionloop.getLastStepVehicleIDs(
"334W_A1") + traci.inductionloop.getLastStepVehicleIDs(
"334W_A2")
vehicleIDsBefore["336"] = traci.inductionloop.getLastStepVehicleIDs(
"336E_B1") + traci.inductionloop.getLastStepVehicleIDs("336W_B1")
vehicleIDsAfter["336"] = traci.inductionloop.getLastStepVehicleIDs(
"336E_A1") + traci.inductionloop.getLastStepVehicleIDs("336W_A1")
vehicleIDsBefore["338"] = traci.inductionloop.getLastStepVehicleIDs(
"338E_B1") + traci.inductionloop.getLastStepVehicleIDs("338W_B1")
vehicleIDsAfter["338"] = traci.inductionloop.getLastStepVehicleIDs(
"338E_A1") + traci.inductionloop.getLastStepVehicleIDs("338W_A1")
vehicleIDsBefore["405"] = traci.inductionloop.getLastStepVehicleIDs(
"405E_B1") + traci.inductionloop.getLastStepVehicleIDs(
"405W_B1") + traci.inductionloop.getLastStepVehicleIDs(
"405E_B2")
vehicleIDsAfter["405"] = traci.inductionloop.getLastStepVehicleIDs(
"405E_A1") + traci.inductionloop.getLastStepVehicleIDs("405W_A1")
vehicleIDsBefore["409"] = traci.inductionloop.getLastStepVehicleIDs(
"409E_B1") + traci.inductionloop.getLastStepVehicleIDs(
"409W_B1"
) # + traci.inductionloop.getLastStepVehicleIDs("409W_B2")
vehicleIDsAfter["409"] = traci.inductionloop.getLastStepVehicleIDs(
"409E_A1") + traci.inductionloop.getLastStepVehicleIDs(
"409E_A2") + traci.inductionloop.getLastStepVehicleIDs(
"409W_A1") + traci.inductionloop.getLastStepVehicleIDs(
"409W_A2")
vehicleIDsBefore["410"] = traci.inductionloop.getLastStepVehicleIDs(
"410E_B1") + traci.inductionloop.getLastStepVehicleIDs("410W_B1")
vehicleIDsAfter["410"] = traci.inductionloop.getLastStepVehicleIDs(
"410E_A1") + traci.inductionloop.getLastStepVehicleIDs("410W_A1")
vehicleIDsBefore["420"] = traci.inductionloop.getLastStepVehicleIDs(
"420E_B1"
) + traci.inductionloop.getLastStepVehicleIDs(
"420W_B1"
) #+ traci.inductionloop.getLastStepVehicleIDs("420W_B2") + traci.inductionloop.getLastStepVehicleIDs("420E_B2")
vehicleIDsAfter["420"] = traci.inductionloop.getLastStepVehicleIDs(
"420E_A1") + traci.inductionloop.getLastStepVehicleIDs("420W_A1")
#Check if any buses drove past a detector
for intersection in vehicleIDsBefore:
if "bus" in str(vehicleIDsBefore[intersection]):
for vehicle in vehicleIDsBefore[intersection]:
if 'bus' in vehicle:
if vehicle not in BusPriorityRequested[intersection]:
BusPriorityRequested[intersection].append(vehicle)
#Extra green
for intersection in ExtraGreenRequest:
if ExtraGreen[intersection][0] != 0:
continue
elif len(BusPriorityRequested[intersection]) != 0:
if ExtraGreenRequest[intersection][0] == get_phase(
intersection
): #Check if the current phase is the phase before the extra green can be implemented
if int(
traci.trafficlight.getNextSwitch(intersection) -
traci.simulation.getTime()
) == 0: #Switches to green phase
traci.trafficlight.setPhase(
intersection, ExtraGreenRequest[intersection][1])
ExtraGreen[intersection][0] = 1
TotalExtraGreen += 1
#First Checks if there are any busses in the intersections
#Checks if the current phase can be shorten and shortens it
#The index(get_Phase) of the traffic phases can be seen in netedit or directly in the net-file.
for intersection in MinimumPhaseTime:
if len(BusPriorityRequested[intersection]
) != 0: #Checks if there is any buses in the intersection
for phase in MinimumPhaseTime[intersection]:
if phase == get_phase(
intersection
) and Redshortened[intersection][
phase] == 0 and intersection != "410": #Checks if the current phase can be shortened and if it has already been shortened
RedShorter(intersection,
MinimumPhaseTime[intersection][phase])
Redshortened[intersection][phase] = 1
elif phase == "extension" and ExtensionGiven[
intersection] != 1 and intersection != "410": #Check if current intersection is allowed to have extension, check if there is an extension on going and check if it is an extra green.
if MinimumPhaseTime[intersection][phase][
0] == get_phase(intersection):
TrafficLightExtension(
intersection,
MinimumPhaseTime[intersection][phase][1])
#Intersection 410, special case because the extension depends on what direction the bus is going
#Did not do for 338 because extending phase 3 would go over the maximum time for turning direction
if len(BusPriorityRequested["410"]) != 0:
phase = get_phase("410")
#Only for busses going east
if "bus_W" not in str(
BusPriorityRequested["410"]): #Only for busses going east
#Shorten current phase
if phase == 6 and Redshortened["410"][6] == 0:
RedShorter("410", 6)
Redshortened["410"][6] = 1
#Extension
elif phase == 0 and ExtensionGiven["410"] == 0:
TrafficLightExtension("410", 30)
elif phase == 3 and ExtensionGiven["410"] == 0:
TrafficLightExtension("410", 30)
else:
#Shorten current phase, even if there is an extension for phase 3, while a bus is incoming from west,
#it's not a problem because phase 3 will then be shortened. Happens when bus from both directions
if phase == 3 and Redshortened["410"][3] == 0:
RedShorter("410", 20)
Redshortened["410"][3] = 1
elif phase == 6 and Redshortened["410"][6] == 0:
RedShorter("410", 6)
Redshortened["410"][6] = 1
#Extension
elif phase == 0 and ExtensionGiven["410"] == 0:
TrafficLightExtension("410", 30)
for intersection in vehicleIDsAfter:
if "bus" in str(vehicleIDsAfter[intersection]):
for x in vehicleIDsAfter[intersection]:
try:
BusPriorityRequested[intersection].remove(
x
) #Removes bus from priority list, must be try because the bus sometimes triggers the detectors twice
except:
pass
if BusPriorityRequested[
intersection] == []: #Checks that no other buses are in the same intersection at the moment.
if intersection in ExtensionGiven:
if ExtensionGiven[intersection] == 1:
ExtensionGiven[intersection] = 0
traci.trafficlight.setPhaseDuration(
intersection, 0)
for TrafficPhase in Redshortened[intersection]:
if Redshortened[intersection][TrafficPhase] == 1:
Redshortened[intersection][TrafficPhase] = 0
RedShortenings += 1
RedShort = 1
if RedShort == 1:
RedShortTrafficLight += 1
RedShort = 0
if intersection in ExtraGreen:
if ExtraGreen[intersection][0] == 1:
ExtraGreen[intersection][0] = 2
#This ends the extra green and keeps track of phases
for intersection in ExtraGreen:
#Shorten the phase if possible
if ExtraGreen[intersection][0] == 2:
RedShorter(intersection, ExtraGreen[intersection][2])
ExtraGreen[intersection][0] = 3
#Continue the cycle as it was before the extra green
if ExtraGreen[intersection][0] == 3:
if get_phase(intersection) == ExtraGreen[intersection][1]:
if int(
traci.trafficlight.getNextSwitch(intersection) -
traci.simulation.getTime()) == 0:
traci.trafficlight.setPhase(
intersection, ExtraGreen[intersection][3])
ExtraGreen[intersection][0] = 0
traci.close()
sys.stdout.flush()
print("Extra Greens: ", TotalExtraGreen, "\nRedShortenings: ",
RedShortenings, "\nRedShortInTrafficLight: ", RedShortTrafficLight,
"\nExtensions: ", Extensions)
def main():
xmldoc = md.parse('../maps/kt2.net.xml')
find_junction = xmldoc.getElementsByTagName('junction')
find_edge = xmldoc.getElementsByTagName('edge')
edge_num = len(find_edge)
check = bool
count = 0
junc_list, from_node, to_node, edge_list = insertIntoList(
find_junction, edge_num, find_edge)
rank = len(junc_list)
traci.start(sumoCmd)
step = 0
end = "e40"
weight_list = []
'''while step < 1:
for i in range(len(edge_list)):
weight = traci.edge.getTraveltime(edge_list[i])
weight_list.append(weight)
step += 1
traci.simulationStep()'''
while traci.simulation.getMinExpectedNumber() > 0:
if step == 70:
for i in range(len(edge_list)):
weight = traci.edge.getTraveltime(edge_list[i])
weight_list.append(weight)
cost_matrix = createMatrix(junc_list, from_node, to_node,
weight_list, check)
aco = ACO(5, 100, 0.6, 0.4, 0.3, 10)
graph = Graph(cost_matrix, rank)
path, cost = aco.solve(graph)
route = createRoute(path, junc_list)
edge = selectEdges(edge_num, find_edge, route, count)
traci.route.add("optRoute", edge)
traci.vehicle.add('veh0', "optRoute", typeID='DEFAULT_VEHTYPE')
traci.vehicle.setColor('veh0', (255, 0, 0))
# traci.vehicle.setRoute('veh0', edge)
while traci.simulation.getMinExpectedNumber() > 0:
if "veh0" in traci.simulation.getArrivedIDList():
break
traci.simulationStep()
break
step += 1
traci.simulationStep()
traci.close()
display(cost, route, edge)
def run(env):
rou_curr0 = "0to" + str(random.choice([1, 5]))
rou_curr1 = "24to" + str(random.choice([19, 23]))
rou_curr = [rou_curr0, rou_curr1]
env.reset(rou_curr0, rou_curr1)
sumo_step = 1.0
cr = [0.0, 0.0]
rl_step = 1.0
idle = [np.zeros((25, 1)), np.zeros((25, 1))]
global_idl = np.zeros((25, 1))
global_v_idl = [[] for _ in range(25)]
v_idle = [[[] for _ in range(25)], [[] for _ in range(25)]]
edge = [0, 0]
prev_node = env.state
curr_node = [0.0, 0.0]
temp_n = [0., 0.]
temp_p = [0, 24]
ga = []
gav = []
ss = []
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
idle[0] += 1
idle[1] += 1
global_idl += 1
edge[0] = traci.vehicle.getRoadID('veh0')
edge[1] = traci.vehicle.getRoadID('veh1')
#print('veh edge data: ',edge)
for i, ed in enumerate(edge):
if ed and (ed[0] != ':'):
curr_node[i] = ed.split('to')
curr_node[i] = int(curr_node[i][1])
elif ed[0] == ':':
curr_node[i] = ed[1:].split('_')
curr_node[i] = int(curr_node[i][0])
env.state = curr_node.copy()
#print('p_node:',prev_node, 'c_node:',curr_node, 'temp_p: ', temp_p, 'temp_n: ', temp_n)
# Action decision on new edge
for i in range(2):
if prev_node[i] != curr_node[i]:
temp_p[i] = prev_node[i]
print(':::::::::::::to next node for', i, '::::::::::::::::')
print('Veh angle: ', traci.vehicle.getAngle('veh' + str(i)))
rou_step = []
glo_reward = env.reward_out(global_idl, prev_node[i], i)[0]
prev_reward = env.reward_out(idle[i], prev_node[i], i)[0]
print('reward on prev step: ', prev_reward)
v_idle[i][int(prev_node[i])].append(prev_reward.copy())
global_v_idl[int(prev_node[i])].append(glo_reward.copy())
avg_v_idl, max_v_idl, sd_v_idl, glo_v_idl, glo_max_v_idl, glo_sd_v_idl, glo_idl, glo_max_idl = eval_met(
global_idl, global_v_idl, sumo_step, 25)
print('global avg node visit idleness: ', glo_v_idl,
'\nglobal max node visit idleness: ', glo_max_v_idl)
print('global avg instant idleness: ', glo_idl,
'\nglobal max instant idleness: ', glo_max_idl)
#print(np.array(v_idle).reshape(5,5))
gav.append(glo_v_idl)
ga.append(glo_idl)
ss.append(sumo_step)
cr[i] += prev_reward
#acr=cr/sumo_step
#print('acr: ', acr)
idle[i][int(prev_node[i])] = 0
global_idl[int(prev_node[i])] = 0
print('agent_', i, 'idleness:\n', idle[i].reshape(5, 5))
print('global idleness:\n', global_idl.reshape(5, 5))
# fa=[[True, True, True, True], [True, True, True, True]]
# bool_f, j=forb_action(temp_p, curr_node, temp_n)
# if j==0 or j==1:
# fa[j]= bool_f
# print(fa)
action = CR_patrol(idle[i], curr_node[i], env)
next_state, reward, action = env.step(action, idle[i], i)
temp_n[i] = next_state
print('action: ', action, 'next_state: ', next_state,
'reward: ', reward)
#print('curr_node after step: ',curr_node, env.state)
rou_new = str(curr_node[i]) + 'to' + str(next_state)
rou_step.append(rou_curr[i])
rou_step.append(rou_new)
print('next_route: ', rou_step)
traci.vehicle.setRoute(vehID='veh' + str(i), edgeList=rou_step)
rou_curr[i] = rou_new
prev_node = curr_node.copy()
#print('curr route: ',rou_curr)
sumo_step += 1
if sumo_step == 20000:
break
plt.plot(ss, ga, "-r", linewidth=0.6, label="Global Average Idleness")
plt.plot(ss,
gav,
"-b",
linewidth=4,
label="Global Average Node Visit Idleness")
plt.legend(loc="lower right")
up = np.ceil(max(ga) / 10) * 10
plt.yticks(np.linspace(0, up, (up / 10) + 1, endpoint=True))
plt.xlabel('Unit Time')
plt.ylabel('Idleness')
plt.title('Performance')
traci.close()
plt.show()
sys.stdout.flush()
def simulation(self):
lastNumDict = {} #记录上一帧各个检测器的状态
passedNumDict = {} #记录各个检测器累积的车辆数
for k,v in config.junction_detectors.items():
for det in v:
passedNumDict[det] = 0
print("passedNumDict = ", passedNumDict)
while True:
# 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() #开始切帧
# loopdata = traci.inductionloop.getInductionLoopStat()
# lanedata = traci.lane.getLaneStat()
# cross_data = [loopdata, lanedata]
# print(cross_data)
# result = traci.inductionloop.getLastStepVehicleNumber(self.inductionloopid)
# print("getLastStepVehicleNumber = ", result)
self.frame+=1 #步长+1
if not self.inductionloopid == '##':
temp = traci.inductionloop.getContextSubscriptionResults(self.inductionloopid)
#print(temp)
if self.frame > 1:
for k, v in temp.items():
currStatus = v[16]
preStatus = lastNumDict[k][16]
if currStatus - preStatus == 1:
passedNumDict[k] += 1
if self.frame % int(20 / config.steplength) == 0: ##时长达到1分钟，将数据推出去
passedNumDictDup = copy.deepcopy(passedNumDict)
A_queuedata.flow_queue.put(passedNumDictDup) ##将1分钟流量数据，推送到flow队列中，用别的线程进行处理
for k, v in config.junction_detectors.items():
for det in v:
passedNumDict[det] = 0
# if not self.lane == '##':
# temp1 = traci.lane.getContextSubscriptionResults(self.lane)
# print(temp1)
#print("更新后的passedNumDict1 = ", passedNumDict)
lastNumDict = temp
A_queuedata.det_queue.put(temp)
#print(currStatus, preStatus)
#print(k)
#print(passedNumDict)
#print("当来车时：", temp)
#print(temp) ##此处打印检测器是否检测到车辆的信息
# for vec_id in traci.vehicle.getIDList():
# dic = traci.vehicle.getSubscriptionResults(vec_id)
# print(dic) ##这里打印的是之前车辆订阅的信息：坐标，角度，车辆类型，颜色，速度
# if dic:
# #print(dic[66])
# x,y = dic[66]
# lon, lat = traci.simulation.convertGeo(x,y)
#print(lon,lat)
q_size = A_queuedata.ryg_queue.qsize()
while q_size > 0:
print(" 5.4、当前ryg_queue.qsize：", q_size)
tlsID, newryg = A_queuedata.ryg_queue.get()
traci.trafficlight.setRedYellowGreenState(tlsID, newryg)
traci.trafficlight.setPhaseDuration(tlsID,999)
print(" 5.5、向sumo仿真系统中设置灯色信息及其持续时间：", (tlsID, newryg))
q_size -= 1
logitTime = self.frame * config.steplength
realTime = time.perf_counter() - self.start
diff = logitTime - realTime
if(diff > 0):
time.sleep(diff)
def step(self, action):
# define action:
# action | meaning
# 0 | go straight
# 1 | break down
# 2 | change left
# 3 | change right
# 4 | do nothing
traci.vehicle.setSpeedMode(self.AgentId, 0)
traci.vehicle.setLaneChangeMode(self.AgentId, 0)
position = traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_POSITION]
if (abs(position[0]) + abs(position[1])) < 999:
self.maxLaneNumber = 2
else:
self.maxLaneNumber = 1
self.end = 0
reward = 0
DistanceTravelled = 0
if action == 0:
maxSpeed = 16
time = (maxSpeed - (traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_SPEED])) / self.AgentAccRate
traci.vehicle.slowDown(self.AgentId, maxSpeed, 100 * time)
elif action == 1:
time = ((traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_SPEED]) - 0) / self.AgentDecRate
traci.vehicle.slowDown(self.AgentId, 0, 100 * time)
elif action == 2:
laneindex = traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_LANE_INDEX]
if laneindex < self.maxLaneNumber:
traci.vehicle.changeLane(self.AgentId, laneindex + 1, 100)
traci.vehicle.setSpeed(
self.AgentId,
traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_SPEED])
elif action == 3:
laneindex = traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_LANE_INDEX]
if laneindex > self.minLaneNumber:
traci.vehicle.changeLane(self.AgentId, laneindex - 1, 100)
traci.vehicle.setSpeed(
self.AgentId,
traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_SPEED])
elif action == 4:
traci.vehicle.setSpeed(
self.AgentId,
traci.vehicle.getSubscriptionResults(
self.AgentId)[tc.VAR_SPEED])
traci.simulationStep()
self.VehicleIds = traci.vehicle.getIDList()
if self.AgentId in self.VehicleIds:
for vehId in self.VehicleIds:
traci.vehicle.subscribe(vehId,
(tc.VAR_SPEED, tc.VAR_POSITION,
tc.VAR_LANE_INDEX, tc.VAR_DISTANCE))
traci.vehicle.subscribeLeader(self.AgentId, 50)
Vehicle_Params = traci.vehicle.getSubscriptionResults(self.AgentId)
self.AutocarSpeed = Vehicle_Params[tc.VAR_SPEED]
posAutox = Vehicle_Params[tc.VAR_POSITION]
if math.sqrt((self.end_x - posAutox[0])**2 +
(self.end_y - posAutox[1])**2) < 30:
self.end = 100
self.state, breaklight, breakstop, wronglane = self.perception()
reward = self.cal_reward(self.end, breaklight, breakstop,
wronglane)
else:
#self.state = self.perception()
self.end = 1
reward = self.cal_reward(is_collision=self.end,
breaklight=0,
breakstop=0,
wronglane=0)
DistanceTravelled = 0
return self.state, reward, self.end, DistanceTravelled
def makeMove(state, action):
traci.trafficlight.setPhase("0", action)
# agent.simulateFrames(SIM_FRAMES)
traci.simulationStep()
traci.simulationStep()
traci.simulationStep()
traci.simulationStep()
traci.simulationStep()
traci.simulationStep()
traci.simulationStep()
traci.simulationStep()
traci.simulationStep()
newState = getState()
return newState
def runSimulation():
'''runSimulation(CarsInSimulation) -> none'''
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
traci.close()
def _sumo_step(self):
traci.simulationStep()
self.get_departed_veh()
self.get_travel_time()
def run(self):
traci.start(
self.sumoCmd
) # Start SUMO. Comment out if running Driver as standalone module.
# Run set-up script and acquire list of user defined rules and traffic light agents in simulation
userDefinedRules = self.setUpTuple[0]
trafficLights = self.setUpTuple[1]
rule = None
nextRule = None
# Assign each traffic light an individual from their agent pool for this simulation run, and a starting rule
for tl in trafficLights:
tl.assignIndividual()
rule = self.applicableUserDefinedRule(
tl, userDefinedRules) # Check user-defined rules
# If no user-defined rules can be applied, get a rule from Agent Pool
if rule == False:
validRules = self.getValidRules(tl, tl.getAssignedIndividual())
rule = tl.getNextRule(validRules[0], validRules[1],
traci.simulation.getTime()
) # Get a rule from assigned Individual
# if no valid rule applicable, apply the Do Nothing rule.
if rule == -1:
# print("No valid rule. Do Nothing action applied.")
tl.doNothing() # Update traffic light's Do Nothing counter
tl.getAssignedIndividual().updateFitnessPenalty(
False, 0) # Update fitness penalty for individual
else:
# If rule conditions are satisfied, apply its action. Otherwise, do nothing.
if not rule.hasDoNothingAction():
traci.trafficlight.setPhase(tl.getName(),
rule.getAction())
else:
self.applyUserDefinedRuleAction(
tl, traci.trafficlight.getPhaseName(tl.getName()), rule)
tl.setCurrentRule(rule) # Set current rule in traffic light
# Simulation loop
step = 0
# Variables for rule rewards
carsWaitingBefore = {}
carsWaitingAfter = {}
while traci.simulation.getMinExpectedNumber(
) > 0 and traci.simulation.getTime() < self.maxSimulationTime:
traci.simulationStep(
) # Advance SUMO simulation one step (1 second)
# Traffic Light agents reevaluate their state every 5 seconds
if step % 5 == 0:
# For every traffic light in simulation, select and evaluate new rule from its agent pool
for tl in trafficLights:
carsWaitingBefore = tl.getCarsWaiting()
carsWaitingAfter = self.carsWaiting(tl)
nextRule = self.applicableUserDefinedRule(
tl, userDefinedRules
) # Check if a user-defined rule can be applied
# If no user-defined rules can be applied, get a rule from Agent Pool
if nextRule == False:
validRules = self.getValidRules(
tl, tl.getAssignedIndividual())
nextRule = tl.getNextRule(
validRules[0], validRules[1],
traci.simulation.getTime(
)) # Get a rule from assigned Individual
# if no valid rule applicable, apply the Do Nothing rule.
if nextRule == -1:
tl.doNothing(
) # Update traffic light's Do Nothing counter
tl.getAssignedIndividual().updateFitnessPenalty(
False,
False) # Update fitness penalty for individual
# If next rule is not a user-defined rule, update the weight of the last applied rule
else:
oldRule = tl.getCurrentRule()
# If applied rule isn't user-defined, update its weight
if oldRule not in userDefinedRules:
if oldRule != -1:
ruleWeightBefore = oldRule.getWeight(
) # Used to calculate fitness penalty to individual
oldRule.updateWeight(
ReinforcementLearner.updatedWeight(
oldRule, nextRule,
self.getThroughputRatio(
self.getThroughput(
tl, carsWaitingBefore,
carsWaitingAfter),
len(carsWaitingBefore)),
self.getWaitTimeReducedRatio(
self.getThroughputWaitingTime(
tl, carsWaitingBefore,
carsWaitingAfter),
self.getTotalWaitingTime(
carsWaitingBefore)),
len(carsWaitingAfter) -
len(carsWaitingBefore)))
tl.getAssignedIndividual(
).updateFitnessPenalty(
True,
oldRule.getWeight() > ruleWeightBefore)
print("Old weight was", ruleWeightBefore,
"and new weight is",
oldRule.getWeight())
# Apply the next rule; if action is -1 then action is do nothing
if not nextRule.hasDoNothingAction():
# print('Next rule action is', nextRule.getAction())
traci.trafficlight.setPhase(
tl.getName(), nextRule.getAction())
if nextRule.getType() == 0:
print(
"Applying TL action from RS! Action is",
nextRule.getAction(), "\n\n")
else:
print(
"Applying TL action from RSint! Action is",
nextRule.getAction(), "\n\n")
else:
self.applyUserDefinedRuleAction(
tl, traci.trafficlight.getPhaseName(tl.getName()),
nextRule)
# # print("Applying action of", nextRule.getConditions())
tl.setCurrentRule(
nextRule
) # Update the currently applied rule in the traffic light
tl.updateCarsWaiting(
carsWaitingAfter
) # Set the number of cars waiting count within the TL itself
step += 1 # Increment step in line with simulator
# Update the fitnesses of the individuals involved in the simulation based on their fitnesses
simRunTime = traci.simulation.getTime()
print("***SIMULATION TIME:", simRunTime, "\n\n")
for tl in trafficLights:
# # print(tl.getName(), "has these communicated intentions:", tl.getCommunicatedIntentions())
i = tl.getAssignedIndividual()
i.updateLastRunTime(simRunTime)
print("Individual", i, "has a last runtime of", i.getLastRunTime())
i.updateFitness(
EvolutionaryLearner.rFit(i, simRunTime,
i.getAggregateVehicleWaitTime()))
traci.close() # End simulation
return self.setUpTuple[
2] # Returns all the agent pools to the main module
def learnDiscretization(daysToTrain):
# """ SIMULATION """
dynamic = 0
day = 0
totalDays = daysToTrain
# learning rates and discount factors
gamma = 0.95
# epsilons = [1, 0.99, 0.97, 0.93, 0.91, 0.89, 0.80, 0.75, 0.70, 0.6, 0.5, 0.45, 0.3, 0.20, 0.18, 0.17, 0.15, 0.10, 0.08, 0.05, 0.04, 0.02, 0.01, 0.01]
# print 'len(epsilons) = ', len(epsilons)
for day in range(totalDays): # range(len(epsilons)+1): #len(alphas)
# generate the random route schedule for the day
arrivalRateGen.writeRoutes(day + 1)
sumoProcess = subprocess.Popen(['sumo-gui.exe', "-c", "palm.sumocfg", \
"--remote-port", str(PORT)], stdout=sys.stdout, stderr=sys.stderr)
# sumoProcess = subprocess.Popen(['sumo.exe', "-c", "palm.sumocfg", "--fcd-output", \
# "out.fcd.xml", "--tripinfo-output", "out.trip.xml", "--summary", "out.summary.xml", "--queue-output", "out.queue.xml", "--remote-port", str(PORT)], stdout=sys.stdout, stderr=sys.stderr)
traci.init(PORT)
dfObjVals = pd.DataFrame()
dfQueueTracker = pd.DataFrame()
dfWaitingTracker = pd.DataFrame()
action = 0 # number of seconds over minimum that we decided to take in 5 buckets (0,1,2,4)
lastAction = 0
hod = 0
currSod = 0
epsilon = 1 # TODO - change epsilon dynamically?
currPhaseID = 0
secsThisPhase = 0
while currSod < secondsInDay:
if currPhaseID == int(traci.trafficlights.getPhase(
SL)) and currSod != 0: # if phase HAS NOT changed
secsThisPhase += 1 # increase the seconds in the currentPhase
else: # IF THE PHASE HAS CHANGED
secsThisPhase = 0
currPhaseID = int(traci.trafficlights.getPhase(SL))
# STORE INFORMATION TO DETERMINE IF ITS TIME TO MAKE A DECISION
# ARRAY TO MAP STATE:
# (2) Hour of day (24)
# (1) Light phase for decision (4) getPhase
# (2) Num stopped cars X 4 getLastStepHaltingNumber
# (3) Num vehicles in lane getLastStepVehicleNumber
# (4) Cum waiting time x 4 getWaitingTime
# (5) Last step mean speed X 4 getLastStepMeanSpeed
if currPhaseID % 2 == 0 and secsThisPhase == 0: # only collecting data when we come to the end of a yellow phase
#============ HOD
if hod != currSod / secondsInHour:
hod = int(currSod / secondsInHour)
print 'observation day = ', day
print 'hod = ', hod
# print 'len(stateData[h][1]) = ', len(stateData[hod][1])
# print 'int(sum(np.std(stateData[h][a], axis = 0))) = ', int(sum(np.std(stateData[hod][1], axis = 0)))
# print 'len(stateData[h][3]) = ', len(stateData[hod][3])
# print 'int(sum(np.std(stateData[h][a], axis = 0))) = ', int(sum(np.std(stateData[hod][3], axis = 0)))
# print 'len(stateData[h][5]) = ', len(stateData[hod][5])
# print 'int(sum(np.std(stateData[h][a], axis = 0))) = ', int(sum(np.std(stateData[hod][5], axis = 0)))
# print 'len(stateData[h][7]) = ', len(stateData[hod][7])
# print 'int(sum(np.std(stateData[h][a], axis = 0))) = ', int(sum(np.std(stateData[hod][7], axis = 0)))
#============ currPhaseID
#================= count halted vehicles (4 elements)
for lane in listLanes:
laneQueueTracker[
lane] = traci.lane.getLastStepHaltingNumber(str(lane))
# laneQueueTracker[lane] = traci.lane.getLastStepVehicleNumber(str(lane))
for edge in queueTracker.keys():
queueTracker[edge] = laneQueueTracker[
str(edge) + '_' +
str(0)] + laneQueueTracker[str(edge) + '_' + str(1)]
# inherently, we assume balancing here
# TODO - later chage this to only track
# df = pd.DataFrame([[currSod, queueTracker['8949170'], queueTracker['-164126513'], queueTracker['52016249'], queueTracker['-164126511']]])
# dfQueueTracker = dfQueueTracker.append(df, ignore_index = True)
# ================ count vehicles in lane
for lane in listLanes:
laneNumVehiclesTracker[
lane] = traci.lane.getLastStepVehicleNumber(str(lane))
for edge in numVehiclesTracker.keys():
numVehiclesTracker[edge] = laneNumVehiclesTracker[
str(edge) + '_' +
str(0)] + laneNumVehiclesTracker[str(edge) + '_' +
str(1)]
# ================ cum waiting time in minutes
for lane in listLanes:
laneWaitingTracker[lane] = traci.lane.getWaitingTime(
str(lane)) / 60
for edge in waitingTracker.keys():
waitingTracker[edge] = laneWaitingTracker[
str(edge) + '_' +
str(0)] + laneWaitingTracker[str(edge) + '_' + str(1)]
# df = pd.DataFrame([[currSod, waitingTracker['8949170'], waitingTracker['-164126513'], waitingTracker['52016249'], waitingTracker['-164126511']]])
# dfWaitingTracker = dfWaitingTracker.append(df, ignore_index = True)
# ================ mean speed
# for lane in listLanes:
# laneMeanSpeedTracker[lane] = traci.lane.getLastStepMeanSpeed(str(lane))
# for edge in meanSpeedTracker.keys():
# meanSpeedTracker[edge] = (laneMeanSpeedTracker[str(edge) + '_' + str(0)] + laneMeanSpeedTracker[str(edge) + '_' + str(1)])/2
# ============== CREATE A NEW ENTRY FOR OUR STATE TRACKER
stateDataEntry = []
for edge in listEdges:
stateDataEntry.append(queueTracker[edge])
for edge in listEdges:
stateDataEntry.append(numVehiclesTracker[edge])
for edge in listEdges:
stateDataEntry.append(waitingTracker[edge])
# for edge in listEdges:
# stateDataEntry.append(meanSpeedTracker[edge])
if len(stateData[hod][currPhaseID]) == 0:
stateData[hod][currPhaseID] = np.array(stateDataEntry)
else:
stateData[hod][currPhaseID] = np.vstack(
[stateData[hod][currPhaseID], stateDataEntry])
# TRACK OBJECTIVE FUNCTION
currObjValue = computeObjValue(queueTracker, waitingTracker)
df = pd.DataFrame([[
currSod, currObjValue
]]) # todo - fix so plot shows the second of the day
dfObjVals = dfObjVals.append(df, ignore_index=True)
# print 'currPhaseID = ', currPhaseID
# print 'secsThisPhase = ', secsThisPhase
# print 'currSod = ', currSod
# print 'hod = ', hod
# print 'queueTracker = ', queueTracker
# print 'waitingTracker = ', waitingTracker
# # we can make a decision
# if currPhaseID%2 == 0 and secsThisPhase%secsPerInterval == 0 and secsThisPhase >=4: # and currSod > 20000:
# # print 'currPhaseID = ', currPhaseID
# # print 'secsThisPhase = ', secsThisPhase
# # arrayObjVals = np.append(arrayObjVals, currObjValue)
# # arrayQueueSizes = np.append(arrayQueueSizes, queueTracker.values())
# # if day > 0:
# # dynamic = 1
# if dynamic:
# # CONTROL ACTION
# phaseNum = traci.trafficlights.getPhase(SL)
# currState = assignStateNum(phaseNum, queueTracker, waitingTracker, queueBuckets, waitingBuckets)
# # reward = objective value; we want it to be as close to zero as possible (will always be negative)
# reward = currObjValue - lastObjValue
# lastObjValue = currObjValue
# updateQValues(int(lastState), int(lastAction), int(currState), reward, alpha) # alpha controls whether we explore or exploit
# updateQProbs(int(lastState), int(lastAction), epsilon)
# # pick action
# unigen = random.random()
# if QProbs[currState,0] < unigen or secsThisPhase == 0:
# action = 0 # stay in this phase
# else:
# action = 1 # change phases; transition to the next yellow phase immediately
# # TODO - totally change the actions to be the number of seconds (# of 4-second time chunks we are choosing for the cycle)
# traci.trafficlights.setPhase(SL, (int(currPhaseID) + 1)%8)
# #TODO - tell the light how long to run for; not just whether or not to change
# # print 'int(traci.trafficlights.getPhase(SL)) = ', int(traci.trafficlights.getPhase(SL))
# df = pd.DataFrame([[currSod, secsThisPhase, currPhaseID, currState, lastState, action, currObjValue, lastObjValue, reward]]) # todo - fix so plot shows the second of the day
# dfActions = dfActions.append(df, ignore_index=True)
# lastState = currState
# lastAction = action
currSod += 1
# print traci.vehicle.getIDList()
traci.simulationStep()
# print stateData
# totalSize = 0
# for i in actionPhases:
# totalSize += len(stateData[0][i])
# print 'totalSize = ', totalSize
# for i in actionPhases:
# print 'np.std(stateData[0][i], axis = 0) = ', np.std(stateData[0][i], axis = 0)
# print 'sumvariability = ', sum(np.std(stateData[0][i], axis = 0))
# print 'np.std(stateData[0][i], axis = 0) = ', np.std(stateData[0][i], axis = 0)
# print 'sumstd = ', sum(np.std(stateData[0][i], axis = 0))
# totalSize += len(stateData[0][i])
traci.close(
) # TODO - fix; need to figure out how to plot multiple with different x-axes
print 'dfObjVals = ', dfObjVals
dfMean = dfObjVals.mean(axis=0)
meanObjVal = dfMean[1]
dfMedian = dfObjVals.median(axis=0)
medianObjVal = dfMedian[1]
# vMedian = dfMedian[1]
dfMin = dfObjVals.min(axis=0)
minObjVal = dfMin[1]
listMeanObjVals.append(meanObjVal)
listMedianObjVals.append(medianObjVal)
listMinObjVals.append(minObjVal)
for h in range(hoursInDay): #TODo - change to hoursInDay
for a in actionPhases:
numClustersTracker[h][a] = int(sum(np.std(stateData[h][a],
axis=0))) #
print 'h = ', h
print 'a = ', a
print 'numClustersTracker[h][a] = ', numClustersTracker[h][a]
dictClusterObjects[h][a] = KMeans(
n_clusters=numClustersTracker[h][a])
dictClusterObjects[h][a].fit(stateData[h][a])
# result = dictClusterObjects[0][a].predict(stateData[0][a])
# print 'result = ', result
# print 'max(result) = ', max(result)
# print 'hod = ', hod
# print 'dictClusterObjects = ', dictClusterObjects
print 'numClustersTracker = ', numClustersTracker
totalClusters = 0
for h in range(hoursInDay): #TODO - change to hoursInDay
for a in actionPhases:
totalClusters += numClustersTracker[h][a]
print 'totalClusters = ', totalClusters
stateCounter = 0
for h in range(hoursInDay): #TODO - change to hoursInDay
mapDiscreteStates[h] = {}
for a in actionPhases:
mapDiscreteStates[h][a] = {}
for c in range(numClustersTracker[h][a]):
mapDiscreteStates[h][a][c] = stateCounter
stateCounter += 1
print 'stateCounter = ', stateCounter
def runQLearning():
stateVect = [[]]
policyPi = []
for i in range(0, 80, 1):
policyPi.insert(i, random.randint(0, 5))
QSA = np.random.rand(81, 6)
# Returns = [[0]*6 for x in range(81)]
currTLS = []
Actions = [20, 25, 30, 20, 25, 30]
# Actions = [30, 60, 120, 30, 60, 120]
totTime = []
avgTime = []
numVehs = []
avgNumVehs = []
EPSILON = 0.20
ALPHA = 0.05
GAMMA = 0.9
step = 0
stateNorth = 0
stateSouth = 0
stateEast = 0
stateWest = 0
currAction = 0
reward = 0
totWaittimeSoFar = 0
curWaittime = 0
totVehsSoFar = 0
currVehsHere = 0
while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep()
stateNorth = traci.lane.getLastStepOccupancy('nc_0')
stateSouth = traci.lane.getLastStepOccupancy('sc_0')
stateEast = traci.lane.getLastStepOccupancy('ec_0')
stateWest = traci.lane.getLastStepOccupancy('wc_0')
tlsPhase = traci.trafficlight.getPhase("center")
stateVect.insert(step, [
getState(stateNorth),
getState(stateEast),
getState(stateSouth),
getState(stateWest),
getPhase(tlsPhase), 0, 0, 0
])
index = getStateIndex(stateVect[step])
reward = getStateReturn(stateVect[step])
currAction = policyPi[index]
stateVect[step][5] = index
stateVect[step][6] = currAction
stateVect[step][7] = reward
if currAction > 2:
phaseToChange = 2
else:
phaseToChange = 0
currTLS = traci.trafficlight.getCompleteRedYellowGreenDefinition(
"center")
currTLS[0].phases[phaseToChange].duration = Actions[currAction]
currTLS[0].phases[phaseToChange].minDur = Actions[currAction]
currTLS[0].phases[phaseToChange].maxDur = Actions[currAction]
traci.trafficlight.setCompleteRedYellowGreenDefinition(
"center", currTLS[0])
if step > 0 and step % 850 == 0:
episodeStates = [[]]
index = 0
A = 0
R = 0
for t in range(0, 849, 1):
episodeStates.insert(t, stateVect[step - 849 + t])
for t in range(0, 848, 1):
if random.uniform(0, 1) < EPSILON:
policyPi[index] = random.randint(0, 5)
else:
policyPi[index] = np.argmax(QSA[index])
S = episodeStates[t]
R = S[7]
A = S[6]
index = S[5]
Sprime = episodeStates[t + 1]
# print(Sprime)
indexPrime = Sprime[5]
QSA[index][A] = QSA[index][A] + ALPHA * (
R + (GAMMA * max(QSA[indexPrime])) - QSA[index][A])
step += 1
curWaittime = traci.edge.getWaitingTime(
'nc') + traci.edge.getWaitingTime(
'ec') + traci.edge.getWaitingTime(
'sc') + traci.edge.getWaitingTime('wc')
totWaittimeSoFar = totWaittimeSoFar + curWaittime
totTime.append(totWaittimeSoFar)
avgTime.append(totWaittimeSoFar / step)
currVehsHere = traci.simulation.getArrivedNumber()
totVehsSoFar = totVehsSoFar + currVehsHere
numVehs.append(totVehsSoFar)
avgNumVehs.append(totVehsSoFar / (step))
traci.close()
sys.stdout.flush()
return step, totTime, avgTime, numVehs, avgNumVehs
def dqnlearn(num_timesteps, num_simulations, *args, **kwargs):
yellowTime = 3 # I have Warning: Vehicle '3.527' performs emergency stop at the end of lane for 3
redTime = 0
itBetweenDecision = int(
(yellowTime + redTime + 3) / stepLength
) # each itteration is stepLength s, I need at least 3s of green time
lightList = traci.trafficlight.getIDList()
#obsLen = 2*4*3*2 # max of in and out lanes, 4 directions, 3 lanes per edges, 2 information per lane
alg = []
lanes = []
lanesEdge = []
OutLanes = []
OutLanesEdge = []
rewardsLength = 0
for i, tl in enumerate(lightList):
phases = traci.trafficlight.getCompleteRedYellowGreenDefinition(
tl)[0].getPhases()
num_phases = len(
phases
) // 2 # The tl have 4 or 6 phases in their base program, so so it can be 2 or 3
ph = []
for phase in phases[::2]: # skip yellow
ph.append(phase._phaseDef)
print('phase', ph)
outlane = set()
#outlanedic = {}
for link in traci.trafficlight.getControlledLinks(tl):
#print('link', link[0][0]) # incoming lane
#print('link', link[0][1]) # outgoing lane
outlane.add(link[0][1]) # outgoing lane
#print('link', link[0][2]) # junction lane
#print()
#outlanedic[link[0][0]] = link[0][1] # I want to ensure it's the straight path, not the left or right turning one though, so I will use another way
OutLanes.append(outlane)
# get number of edges and number of lanes per edges
# they are sorted by their order in the phase
# To be coherent: obs must be sorted in the same order as hidden and
# output. It works for obs since lanes are sorted in the same order as
# phase. Now, we need to ensure it works also for hidden state (since it is sent)
lanes.append(traci.trafficlight.getControlledLanes(
tl)) # also needed to get neighbors
#print('lanes', lanes[-1])
lanesEdge.append([])
edgeList = [None]
oldlane = None
OutLanesEdge.append([])
for lane in lanes[-1]: # 1st dim: tl, 2nd dim: one for each lane
if lane == oldlane:
continue
oldlane = lane
if traci.lane.getEdgeID(lane) == edgeList[-1]:
lanesEdge[-1][-1].append(lane)
#OutLanesEdge[-1].append(outlanedic[lane])
#print(lane, outlanedic[lane])
else:
lanesEdge[-1].append([lane])
#OutLanesEdge[-1].append([outlanedic[lane]])
#print('new edge',lane, outlanedic[lane])
edgeList.append(traci.lane.getEdgeID(lane))
for iedge, edge in enumerate(
edgeList[1:]
): # get the 2 lanes that are before the junction where the road goes from 2 to 3 lanes (will need to be change for different road network)
for ilane in range(2):
lanesEdge[-1][iedge].append(
edge[:-1] + '_' +
str(ilane)) # I wrote that for this network. Not general
edgeDic = {}
for lane in outlane: # it's a set so no repeat even though they aren't in the same order
edge = traci.lane.getEdgeID(lane)
if edge in edgeDic:
OutLanesEdge[-1][edgeDic[edge]].append(lane)
#print('old edge',lane, edgeDic[edge], edge)
else:
OutLanesEdge[-1].append([lane])
edgeDic[edge] = len(OutLanesEdge[-1]) - 1
#print('new edge',lane, edgeDic[edge], edge)
print(lanesEdge[-1])
print(OutLanesEdge[-1])
#return None # stop here to look at the lanes
obs, rw = getobs(
tl, num_phases, lanesEdge[-1]
) #, OutLanesEdge[-1]) # first dim of lanesEdge is tl, 2nd dim is edge (direction), value is lane (3rd dim)
alg.append(
dqn.QLearner(num_phases=num_phases,
observation_shape=len(obs),
scope=str(i),
phases=ph,
timeBetweenDecision=itBetweenDecision * stepLength,
*args,
**kwargs))
alg[i].last_obs = obs * itBetweenDecision # because we will divide by that afterwards
# neighTL = [] # I would like to know for sure which one is left and which one is right. Maybe use lanesEdge
# # Comparing lanes in common doesn't work, because only incoming lanes are in the list
# for i, tl in enumerate(lightList):
# neigh = np.array([-1,-1]) # only 2 neighbors in this map
# for j, tl2 in enumerate(lightList):
# if i != j:
# # if i == 0 and j == 4:
# # print(lanes[i])
# # print(OutLanes[j])
# # print(lanes[i][:len(lanes[i])//2])
# # print(lanes[i][len(lanes[i])//2:])
# # print(set(lanes[i][:len(lanes[i])//2]).intersection(OutLanes[j]))
# # print(set(lanes[i][len(lanes[i])//2:]).intersection(OutLanes[j]))
# # print()
# if len(set(lanes[i][:len(lanes[i])//2]).intersection(OutLanes[j]))>0:
# neigh[0] = j
# elif len(set(lanes[i][len(lanes[i])//2:]).intersection(OutLanes[j]))>0:
# neigh[1] = j
# #print('neighbor tl', i, neigh, tl)
# neighTL.append(neigh) # 1st dim of neighTL is tl, value is the neighbor tl (2nd dim)
# # 0,4,5,1,3,2 # 0 didn't get 4
# neighTL[0][1] = 4 # correct manually. Due to edge expanding from 3 lanes to 4 lanes
# # I will need a better way on another map
saver = tf.train.Saver() # create saver
#saveFrequency = 10000
saveFile = r"/model/A.ckpt"
if False: # put True here if I want to restore
saver.restore(kwargs['session'], saveFile)
print("Model restored.")
for i in range(len(alg)):
alg[i].model_initialized = True # I believe it is initialized if it is restored
episode_rewards = []
action = np.empty_like(
alg,
int) # Need to save all actions and then use them to learn each q
reward = np.empty((len(alg), 2), float) # now I have 2 rewards
# hid = np.empty((len(alg),kwargs['num_hidden']),float)
# Hs = np.empty((len(alg),2*kwargs['num_hidden']),float) # 2 because each tl has 2 neighbors
#it = 0
for isim in range(num_simulations):
for it in range(num_timesteps):
for q in alg:
q.t += 1 # upgrade timestep here
#print(it, traci.simulation.getTime())
#if (it+1) % saveFrequency == 0: # save model # Don't save for now
# saver.save(kwargs['session'], saveFile)
# print("Model saved.")
if traci.simulation.getMinExpectedNumber() <= 0:
print('Error: No more cars')
break
if it % itBetweenDecision == 0:
if it > 0: #not first time
episode_rewards.append(reward / itBetweenDecision)
done = it > num_timesteps - itBetweenDecision # done if it's the last action
for i, tl in enumerate(lightList):
if it > 0: #not first time
#info = None
#print('reward',reward[i], np.sum(reward[i]))
alg[i].replay_buffer.store_effect(
idx, action[i], np.sum(reward[i]), done)
#alg[i].replay_buffer.store_effect(idx, action[i], reward[i], done, Hs[i])
alg[i].update_model()
lastObs = alg[i].last_obs / itBetweenDecision
#idx = alg[i].replay_buffer.store_frame(lastObs, 2*kwargs['num_hidden'])
idx = alg[i].replay_buffer.store_frame(lastObs)
#lastObs = alg[i].replay_buffer.encode_recent_observation() # No need to encode, I'm not using context
if not alg[i].model_initialized:
alg[i].model_initialized = True
initialize_interdependent_variables(
alg[i].session, tf.global_variables(), {
alg[i].obs_t_ph: lastObs[np.newaxis, :],
})
#hid[i] = alg[i].session.run(alg[i].hid, feed_dict={alg[i].obs_t_ph:lastObs[np.newaxis,:]})
alg[0].log_progress(episode_rewards,
it) # need to log only once.
if done:
print('done')
continue # no need to finish if it's done. it will be less than itBetweenDecision iterations
# Choose action (with epsilon greedy)
for i, tl in enumerate(lightList):
# h = []
# for ntl in neighTL[i]:
# if ntl != -1:
# h.append(hid[ntl,:])
# else:
# h.append(np.zeros((kwargs['num_hidden'],)))
# h = np.concatenate(h,axis=0)
# Hs[i] = h
if random.random() > alg[i].exploration.value(alg[i].t):
#q = alg[i].session.run(alg[i].q, feed_dict={alg[i].obs_t_ph:lastObs[np.newaxis,:],alg[i].tl_ph:h[np.newaxis,:]})
q = alg[i].session.run(alg[i].q,
feed_dict={
alg[i].obs_t_ph:
lastObs[np.newaxis, :]
})
action[i] = np.argmax(q, axis=1)
#print('chosen action', q, action[i])
else:
action[i] = alg[i].randomAction(
) #random.randrange(alg[i].num_phases) # random integer
#print('random action', action[i], alg[i].num_phases)
alg[i].updatePhase(action[i])
current_phase = traci.trafficlight.getRedYellowGreenState(
tl)
newphase = alg[i].phases[action[i]]
#print(i, current_phase, newphase)
if newphase != current_phase: # not same phase
traci.trafficlight.setPhaseDuration(
tl, yellowTime
) # trying to force switch by putting duration to 0. Actually, 0 made it swtich to red, so let's try yellowtime
#program = traci.trafficlight.Logic(programID, type, currentPhaseIndex, phases=None, subParameter=None)
yellowphase = list(current_phase)
#redphase = list(current_phase)
for ichar, char in enumerate(current_phase):
if newphase[ichar] == 'r' and char != 'r':
yellowphase[ichar] = 'y'
#redphase[ichar] = 'r'
yellowphase = ''.join(yellowphase)
#redphase = ''.join(redphase) # Says duration are in miliseconds, but that was in 2012 they might have changed it
phases = [
traci.trafficlight.Phase(phaseDef=yellowphase,
duration=yellowTime,
duration1=yellowTime,
duration2=yellowTime),
#traci.trafficlight.Phase(phaseDef=redphase,duration=redTime,duration1=redTime,duration2=redTime),
traci.trafficlight.Phase(phaseDef=newphase,
duration=10000,
duration1=10000,
duration2=10000)
]
program = traci.trafficlight.Logic(phases=phases,
subID='0',
type=0,
subParameter=0,
currentPhaseIndex=0)
traci.trafficlight.setCompleteRedYellowGreenDefinition(
tl, program)
#print(traci.trafficlight.getRedYellowGreenState(tl))
traci.simulationStep()
for i, tl in enumerate(lightList):
#print(' ', i, traci.trafficlight.getRedYellowGreenState(tl), traci.trafficlight.getNextSwitch(tl), traci.trafficlight.getPhaseDuration(tl))
obs, rw = getobs(tl, alg[i].num_phases,
lanesEdge[i]) #,OutLanesEdge[i])
#print('obs', obs)
#print('rw', rw)
if it % itBetweenDecision == 0:
alg[i].last_obs = obs
reward[i] = rw
else:
alg[i].last_obs += obs
reward[i] += rw
traci.close()
saver.save(kwargs['session'], saveFile)
print("Model saved.")
print('End of one simulation', 'iteration this time',
len(episode_rewards) - rewardsLength, 'mean reward',
np.mean(episode_rewards[rewardsLength:], axis=0))
rewardsLength = len(episode_rewards)
traci.start([
r"D:\InstalledProgram\SUMO\bin\sumo.exe", "-c", "conf2.sumocfg",
"--tripinfo-output", "tripinfo" + str(isim) + ".xml",
"--no-step-log", "--time-to-teleport", "-1"
])
