cars['lanepos'] = [-1]*ncars # not given to Agent but needed for calculation
cars['x'] = [-1]*ncars
cars['y'] = [-1]*ncars
cars['angle'] = [-1]*ncars
cars['ilane'] = ['']*ncars
ttime = 0
maxTime = 100 # seconds
## run simulation
while ttime < maxTime and err == 0 and np.any(cars['status']<=0):
# create new vehicles
for carID in np.where(cars['status']<0)[0]:
car = cars.iloc[carID]
if car['time'] <= ttime:
err += Sim.createVehicle(str(carID), car['lane'], 0.)
# need to create an Agent?
cars['status'].iloc[carID] = 0
# gather vehicle info
for carID in np.where(cars['status']==0)[0]:
carLane,carLanePos,carPos,carAngle = Sim.getVehicleState(str(carID))
if carLane[1] == 'o':
cars['status'] = 1
cars['lane'].iloc[carID] = carLane
cars['lanepos'].iloc[carID] = carLanePos
cars['x'].iloc[carID] = carPos[0]
cars['y'].iloc[carID] = carPos[1]
cars['angle'].iloc[carID] = carAngle
if carLane[1] == 'i': # not in intersection yet
cars['ilane'].iloc[carID] = next((k for i,j,k in
lastStart = open('lastStart.int')
iteration = int(lastStart.read())
lastStart.close()
params = pd.read_csv(paramFile,header=0)
else:
iteration = 1
params = None
## 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','1i_0',0.)
egoSpeed = 25.
err += Sim.createVehicle('left','3i_1',0.)
leftSpeed = 20.
params_iter = pd.DataFrame([[egoSpeed, leftSpeed, 0., 0., -1., 'na']],
columns=ParameterColumns)
output = None
ttime = 0
maxTime = 100 # seconds
## run simulation
while ttime < maxTime:
# get info on this step
egoLane,egoLanePos,egoPos,egoAngle = Sim.getVehicleState('ego')
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)
output = None
ttime = 0
lastStart = open('lastStart.int')
iteration = int(lastStart.read())
lastStart.close()
params = pd.read_csv(paramFile, header=0)
else:
iteration = 1
params = None
## 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', '1i_0', 0.)
egoSpeed = 25.
err += Sim.createVehicle('left', '3i_1', 0.)
leftSpeed = 20.
params_iter = pd.DataFrame([[egoSpeed, leftSpeed, 0., 0., -1., 'na']],
columns=ParameterColumns)
output = None
ttime = 0
maxTime = 100 # seconds
## run simulation
while ttime < maxTime:
# get info on this step
egoLane, egoLanePos, egoPos, egoAngle = Sim.getVehicleState('ego')
] * ncars # not given to Agent but needed for calculation
cars['x'] = [-1] * ncars
cars['y'] = [-1] * ncars
cars['angle'] = [-1] * ncars
cars['ilane'] = [''] * ncars
ttime = 0
maxTime = 100 # seconds
## run simulation
while ttime < maxTime and err == 0 and np.any(cars['status'] <= 0):
# create new vehicles
for carID in np.where(cars['status'] < 0)[0]:
car = cars.iloc[carID]
if car['time'] <= ttime:
err += Sim.createVehicle(str(carID), car['lane'], 0.)
# need to create an Agent?
cars['status'].iloc[carID] = 0
# gather vehicle info
for carID in np.where(cars['status'] == 0)[0]:
carLane, carLanePos, carPos, carAngle = Sim.getVehicleState(
str(carID))
if carLane[1] == 'o':
cars['status'] = 1
cars['lane'].iloc[carID] = carLane
cars['lanepos'].iloc[carID] = carLanePos
cars['x'].iloc[carID] = carPos[0]
cars['y'].iloc[carID] = carPos[1]
cars['angle'].iloc[carID] = carAngle
if carLane[1] == 'i': # not in intersection yet
# -*- 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()
self.df = self.df.append(newrows)
def out(self):
if self.colnames is not None:
self.df.columns = self.colnames
#self.df.to_csv(fileName, sep=',', header=True, index=False)
self.restart=True
return self.df
err = 0
Sim = Sumo(configuration,gui=True)
# first gather the possible positions/angles of each intersection lane
allcars = {}
for start, end, road in intersectionLookUp:
print "at "+road
err += Sim.createVehicle(road, start, 90.)
err += Sim.moveVehicleAlong(road, 0.1, end)
thisdf = WriteFrame(['x','y','angle','length','width','lp'])
dist = 1.
status = -1
totaldist = 0
while status < 1 and totaldist < 50:
lane,lanepos,pos,angle = Sim.getVehicleState(road)
status = (lane[1]=='o')-(lane[1]=='i')
if status == 0: #add vehicle info to the dataframe
thisdf.add([[pos[0],pos[1],angle,VEHsize[0],VEHsize[1],lanepos]])
Sim.moveVehicleAlong(road, dist)
totaldist += dist
time.sleep(.05) # might guard against freeze
