err += Sim.moveVehicleAlong('ego', egoSpeed * DELTAT)
if leadSpeed > 0.:
err += Sim.moveVehicleAlong('lead', leadSpeed * DELTAT)
# check for ending of simulation
if lanelength - max(leadLanePos, egoLanePos) < 10:
# either vehicle is near the end of the road
break
if egoLanePos - leadLanePos > 100:
# ego passed lead a while ago
break
if err > 0:
break
if err == 0:
Sim.end()
# save iteration information
outputFile = outputFolder+'/'+options.outputName+'/'+str(iteration)+'.csv'
output.columns = outputColumns
output.to_csv(outputFile, sep=',',header=True,index=False)
if params is None:
params = params_iter
else:
params = params.append(params_iter)
# finish step
print "iteration "+str(iteration)+" : "+str(time.time()-starttime)
iteration += 1
time.sleep(.05)
else:
if Sim.getLaneInfo(leftLane)[0] - leftLanePos < leftDist:
if leftLane[1]=='i': # ego entering intersection
err += Sim.moveVehicleAlong('left',leftDist, '1o_1')
elif leftLane[1]=='o': # remove or exit sim
break
#else:
# err += Sim.moveVehicleAlong('left',leftDist, '1o_1')
elif leftDist > 0.:
err += Sim.moveVehicleAlong('left', leftDist)
# check for ending of simulation
if err > 0:
break
if err == 0:
Sim.end()
# save iteration information
outputFile = outputFolder+'/'+options.outputName+str(iteration)+'.csv'
output.columns = outputColumns
output.to_csv(outputFile, sep=',',header=True,index=False)
if params is None:
params = params_iter
else:
params = params.append(params_iter)
# finish step
print "iteration "+str(iteration)+" : "+str(time.time()-starttime)
iteration += 1
time.sleep(.05)
else:
# -*- 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()
