QLearnInfo = WriteFrame([
'ID', 'Car Location', 'Lane Number', 'Destination Road',
'Destination Lane', 'Correct Lane', 'Speed', 'Collision',
'Adjacent Lane Free', 'Front of Line', 'Speed of Ahead Car',
'Distance to Ahead Car', 'Time to Nearest Vehicle'
])
iteration = 1
err = 0
## run iteration
while iteration <= numiter and err == 0:
starttime = time.time()
Sim = Sumo(configuration)
## now set up parameters and vehicles
# [creation time, starting lane, destination lane, starting speed]
cars = pd.DataFrame([[0., '1i_0', '3o_0', 20.]])
cars = cars.append([[0., '2i_0', '1o_0', 20.]])
cars.columns = ['time', 'lane', 'dest', 'speed']
ncars = cars.shape[0]
cars['status'] = [
-1
] * ncars #-1 not created, 0 created, 1 exited, 2 crashed
cars['lanepos'] = [
-1
] * ncars # not given to Agent but needed for calculation
cars['x'] = [-1] * ncars
# smart restart if file is saved
if 'lastStart.int' in os.listdir(os.path.realpath('.')):
lastStart = open('lastStart.int')
iteration = int(lastStart.read())
lastStart.close()
params = pd.read_csv(paramFile,header=0)
else:
iteration = 1
params = None
call(['mkdir','-p',outputFolder+'/'+options.outputName]) # add folder
## run iteration
while iteration <= options.numiter:
err = 0
starttime = time.time()
Sim = Sumo(configuration, options.gui)
## now set up parameters and vehicles
err += Sim.createVehicle('ego','main_0',VEHsize[0])
#egoControl = Controllers.RearEndEgo(vehicleSpeed(), vehicleAccel())
egoControl = Controllers.RearEndRandom(vehicleSpeed(),maxdecel=.5)
err += Sim.createVehicle('lead','main_0',50+VEHsize[0])
#leadControl = Controllers.RearEndBrake(vehicleSpeed(), vehicleAccel())
leadControl = Controllers.RearEndRandom(vehicleSpeed(),maxdecel=5.)
# params_iter = pd.DataFrame([[egoControl.speed, leadControl.speed,
# egoControl.accel, leadControl.accel,
# leadControl.brakeMagnitude, leadControl.brakeTime,
# -1.]], columns=ParameterColumns)
params_iter = pd.DataFrame([[egoControl.speed, leadControl.speed, -1.]],
columns=ParameterColumns)
# -*- coding: utf-8 -*-
"""
Created on Tue Nov 17 20:13:37 2015
@author: motro
"""
from sumoMethods import Sumo
configuration = 'emptyhighway'
sim = Sumo(configuration, gui=True)
sim.createVehicle('a','main_0',40)
[lane,lanex,xy] = sim.getVehicleState('a')
print 'a, 0: '+str(xy[0])
sim.createVehicle('b','main_0')
[lane,lanex,xy] = sim.getVehicleState('b')
print 'b, 0: '+str(xy[0])
sim.moveVehicleAlong('b',38)
[lane,lanex,xy] = sim.getVehicleState('a')
print 'a, 1: '+str(xy[0])
[lane,lanex,xy] = sim.getVehicleState('b')
print 'b, 1: '+str(xy[0])
sim.end()
