def __init__(self, _id, name, waypoint, arrow, route, spot):
super().__init__(_id, name, waypoint, arrow, route)
self.waypoint = waypoint
self.arrow = arrow
self.route = route
self.spot = spot
self.relation = Relation()
self.__bus_routes = {}
self.__bus_schedules = {}
self.bus_parkable_spots = self.spot.get_spots_of_target_group(
Target.new_node_target(SimBus))
self.vehicle_statuses = self.manager.dict()
self.vehicle_statuses_lock = self.manager.Lock()
self.vehicle_schedules = {}
self.vehicle_last_indices = {}
self.bus_schedules = {}
self.bus_stop_spots = {}
self.state_machines = {}
self.__topicPubVehicleSchedules = Topic()
self.__topicPubVehicleSchedules.set_categories(
FleetManager.CONST.TOPIC.CATEGORIES.SCHEDULES)
self.__topicSubVehicleStatus = Topic()
self.__topicSubVehicleStatus.set_targets(
Target.new_target(None, SIM_BUS.NODE_NAME), None)
self.__topicSubVehicleStatus.set_categories(
Vehicle.CONST.TOPIC.CATEGORIES.STATUS)
self.__topicSubVehicleStatus.set_message(VehicleStatus)
self.set_subscriber(self.__topicSubVehicleStatus,
self.update_vehicle_status)
default="../../res/spot.json",
help="spot.json path")
args = parser.parse_args()
if __name__ == '__main__':
waypoint = Waypoint()
waypoint.load(args.path_waypoint_json)
arrow = Arrow(waypoint)
arrow.load(args.path_arrow_json)
spot = Spot()
spot.load(args.path_spot_json)
bus_parkable_spots = spot.get_spots_of_target_group(
Target.new_node_target(SimBus))
bus_stop_ids = list(bus_parkable_spots.keys())
start_bus_stop_id = random.choice(bus_stop_ids)
start_waypoint_id = bus_parkable_spots[
start_bus_stop_id].contact.waypoint_id
start_arrow_code = bus_parkable_spots[start_bus_stop_id].contact.arrow_code
start_time = time() - 5
bus_stop_ids.remove(start_bus_stop_id)
goal_bus_stop_id = random.choice(bus_stop_ids)
goal_waypoint_id = bus_parkable_spots[goal_bus_stop_id].contact.waypoint_id
goal_arrow_code = bus_parkable_spots[goal_bus_stop_id].contact.arrow_code
bus_user = SimBusUser(_id=args.id if args.id is not None else str(uuid()),
"8966",
"8967",
"8968",
]
start_waypoint_id = args.start_waypoint_id
if start_waypoint_id is None:
start_waypoint_id = random.choice(stop_waypoint_ids)
start_arrow_code = arrow.get_arrow_codes_from_waypoint_id(
start_waypoint_id)[0]
current_time = time()
sim_taxi = SimTaxi(_id=args.id if args.id is not None else str(uuid()),
name=args.name,
waypoint=waypoint,
arrow=arrow,
route=route,
intersection=intersection,
dt=0.5)
sim_taxi.set_waypoint_id_and_arrow_code(start_waypoint_id,
start_arrow_code)
sim_taxi.set_velocity(3.0)
sim_taxi.set_schedules([
Schedule.new_schedule([Target.new_node_target(sim_taxi)],
SimTaxi.CONST.TRIGGER.STAND_BY, current_time,
current_time + 100,
Route.new_route(start_waypoint_id,
start_waypoint_id,
[start_arrow_code]))
])
sim_taxi.start(host=args.host, port=args.port)
start_waypoint_id = random.choice(stop_waypoint_ids)
start_arrow_code = arrow.get_arrow_codes_from_waypoint_id(
start_waypoint_id)[0]
current_time = time()
sim_car = SimCar(_id=args.id if args.id is not None else str(uuid()),
name=args.name,
waypoint=waypoint,
arrow=arrow,
route=route,
intersection=intersection,
dt=0.5)
next_start_waypoint_id = start_waypoint_id
schedules = [
Schedule.new_schedule([Target.new_node_target(sim_car)],
SimCar.CONST.TRIGGER.STOP, current_time,
current_time + 5,
Route.new_route(next_start_waypoint_id,
next_start_waypoint_id,
[start_arrow_code]))
]
current_time += 5
if args.route_code is not None:
schedule = Schedule.new_schedule(
[Target.new_node_target(sim_car)], SimCar.CONST.TRIGGER.MOVE,
current_time, current_time + 100,
Route.new_route(next_start_waypoint_id, goal_waypoint_id,
arrow_codes))
schedules = Schedule.get_merged_schedules(schedules, [schedule])
if __name__ == "__main__":
waypoint = Waypoint()
waypoint.load(args.path_waypoint_json)
arrow = Arrow(waypoint)
arrow.load(args.path_arrow_json)
route = Route()
route.set_waypoint(waypoint)
route.set_arrow(arrow)
current_time = time()
autoware_taxi = AutowareTaxi(
_id=args.id,
name=args.name,
waypoint=waypoint,
arrow=arrow,
route=route,
dt=0.5
)
autoware_taxi.set_schedules([Schedule.new_schedule(
[Target.new_node_target(autoware_taxi)],
AutowareTaxi.CONST.STATE.STANDBY, current_time, current_time+100,
None
)])
autoware_taxi.start(host=args.host, port=args.port)
waypoint.load(args.path_waypoint_json)
arrow = Arrow(waypoint)
arrow.load(args.path_arrow_json)
route = Route()
route.set_waypoint(waypoint)
route.set_arrow(arrow)
current_time = time()
autoware = Autoware(_id=args.id,
name=args.name,
waypoint=waypoint,
arrow=arrow,
route=route,
dt=0.5)
autoware.set_schedules([
Schedule.new_schedule([Target.new_node_target(autoware)],
Autoware.CONST.TRIGGER.LAUNCH, current_time,
current_time + 100, None),
Schedule.new_schedule([Target.new_node_target(autoware)],
Autoware.CONST.TRIGGER.ACTIVATE, current_time,
current_time + 100, None),
Schedule.new_schedule([Target.new_node_target(autoware)],
Autoware.CONST.TRIGGER.SCHEDULE, current_time,
current_time + 1, None)
])
# autoware.set_velocity(3.0)
autoware.start(host=args.host, port=args.port)
"10374",
"9697", "9698", "9699", "9700", "9701", "9702", "9703", "9704", "9705", "9706", "9707", "9708",
"8936", "8937", "8938", "8939", "8940", "8941", "8942", "8943", "8944", "8945", "8946", "8947", "8948", "8949",
"8950", "8951", "8952", "8953", "8954", "8955", "8956", "8957", "8958", "8959", "8960", "8961", "8962", "8963",
"8964", "8965", "8966", "8967", "8968",
]
start_waypoint_id = args.start_waypoint_id
if start_waypoint_id is None:
start_waypoint_id = random.choice(stop_waypoint_ids)
start_arrow_code = arrow.get_arrow_codes_from_waypoint_id(start_waypoint_id)[0]
start_time = time() - 5
stop_waypoint_ids.remove(start_waypoint_id)
goal_waypoint_id = random.choice(stop_waypoint_ids)
goal_arrow_code = arrow.get_arrow_codes_from_waypoint_id(goal_waypoint_id)[0]
taxi_user = SimTaxiUser(
_id=args.id if args.id is not None else str(uuid()),
name=args.name,
dt=3.0
)
trip_schedule = Schedule.new_schedule(
[Target.new_node_target(taxi_user)],
User.CONST.EVENT.TRIP, start_time, start_time+9999,
Route.new_route(start_waypoint_id, goal_waypoint_id, [start_arrow_code, goal_arrow_code])
)
taxi_user.set_trip_schedules([trip_schedule])
taxi_user.start(host=args.host, port=args.port)
"10362", "10363", "10364", "10365", "10366", "10367", "10368", "10369", "10370", "10371", "10372", "10373",
"10374",
"9697", "9698", "9699", "9700", "9701", "9702", "9703", "9704", "9705", "9706", "9707", "9708",
"8936", "8937", "8938", "8939", "8940", "8941", "8942", "8943", "8944", "8945", "8946", "8947", "8948", "8949",
"8950", "8951", "8952", "8953", "8954", "8955", "8956", "8957", "8958", "8959", "8960", "8961", "8962", "8963",
"8964", "8965", "8966", "8967", "8968",
]
start_waypoint_id = args.start_waypoint_id
if start_waypoint_id is None:
start_waypoint_id = random.choice(stop_waypoint_ids)
start_arrow_code = arrow.get_arrow_codes_from_waypoint_id(start_waypoint_id)[0]
current_time = time()
sim_bus = SimBus(
_id=args.id if args.id is not None else str(uuid()),
name=args.name,
waypoint=waypoint,
arrow=arrow,
route=route,
intersection=intersection,
dt=0.5
)
sim_bus.set_waypoint_id_and_arrow_code(start_waypoint_id, start_arrow_code)
sim_bus.set_velocity(3.0)
sim_bus.set_schedules([Schedule.new_schedule(
[Target.new_node_target(sim_bus)],
SimBus.CONST.TRIGGER.STAND_BY, current_time, current_time + 86400,
Route.new_point_route(start_waypoint_id, start_arrow_code)
)])
sim_bus.start(host=args.host, port=args.port)