laneChange = False
car['speed'] = car['speed']+speedChange
distance = car['speed']*DELTAT
if turn and grade=='i':
zz = list((j for i,j,k in intersectionLookUp if i==car['lane']))
if len(zz) > 1:
if zz[0]==car['dest']:
newdest=zz[1]
else:
newdest=zz[0]
#right = next((i for i,j in enumerate(roadOrder) if
# j==route)) + 1
#newdest = makeRoad(roadOrder[right],'o',ln)
#if not newdest == car['dest']:
err += Sim.moveVehicleAlong(str(carID), 0.0, newdest)
#car['dest'] = newdest # keep old destination?
if laneChange and (grade =='i' or grade=='o'):
newlane = makeRoad(route,grade,1-ln)
err += Sim.moveVehicle(str(carID), newlane, car['lanepos'])
cars['lane'] = newlane
if Sim.getLaneInfo(car['lane'])[0] - carLanePos <= distance:
if grade=='i': # entering intersection
#internal = next((k for i,j,k in intersectionLookUp if
# i==car['lane'] and j==car['dest']))
#err += Sim.moveVehicleAlong(str(carID), distance, internal)
err += Sim.moveVehicleAlong(str(carID), distance, ':')
elif grade=='o': # leaving simulation
Sim.removeVehicle(str(carID))
cars['status'].iloc[carID] = 1
if params_iter['Collision Time'].iloc[0] < 0:
egoObject = pd.Series(egoState[2:5] + list(VEHsize),
index=collisionCheck.collisionVars)
leftObject = pd.Series(leftState[2:5] + list(VEHsize),
index=collisionCheck.collisionVars)
if collisionCheck.check(egoObject,leftObject):
params_iter['Collision Time'].iloc[0] = ttime
params_iter['Collision Vehicle'].iloc[0] = 'left'
# construct next step
ttime += DELTAT
egoDist = egoSpeed*DELTAT
if Sim.getLaneInfo(egoLane)[0] - egoLanePos <= egoDist:
if egoLane[1]=='i': # ego entering intersection
if uniform(0,2)<1:
err += Sim.moveVehicleAlong('ego',egoDist, '2o_0')
else:
err += Sim.moveVehicleAlong('ego',egoDist, '2o_1')
elif egoLane[1]=='o': # remove vehicle or exit simulation
break
#else: # ego leaving intersection
# destLane = Sim.getLaneInfo(egoLane)[2][0]
# err += Sim.moveVehicleAlong('ego',egoDist,destLane)
elif egoDist > 0.:
err += Sim.moveVehicleAlong('ego', egoDist)
leftDist = leftSpeed*DELTAT
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
else:
output = output.append([egoState, leadState])
# check for first collision - others too difficult to store..
if params_iter['Collision Time'].iloc[0] < 0:
egoObject = pd.Series(egoState[2:5] + list(VEHsize),
index=collisionCheck.collisionVars)
leadObject = pd.Series(leadState[2:5] + list(VEHsize),
index=collisionCheck.collisionVars)
if collisionCheck.check(egoObject,leadObject):
params_iter['Collision Time'].iloc[0] = ttime
# construct next step
ttime += DELTAT
if egoSpeed > 0.:
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()
if params_iter['Collision Time'].iloc[0] < 0:
egoObject = pd.Series(egoState[2:5] + list(VEHsize),
index=collisionCheck.collisionVars)
leftObject = pd.Series(leftState[2:5] + list(VEHsize),
index=collisionCheck.collisionVars)
if collisionCheck.check(egoObject, leftObject):
params_iter['Collision Time'].iloc[0] = ttime
params_iter['Collision Vehicle'].iloc[0] = 'left'
# construct next step
ttime += DELTAT
egoDist = egoSpeed * DELTAT
if Sim.getLaneInfo(egoLane)[0] - egoLanePos <= egoDist:
if egoLane[1] == 'i': # ego entering intersection
if uniform(0, 2) < 1:
err += Sim.moveVehicleAlong('ego', egoDist, '2o_0')
else:
err += Sim.moveVehicleAlong('ego', egoDist, '2o_1')
elif egoLane[1] == 'o': # remove vehicle or exit simulation
break
#else: # ego leaving intersection
# destLane = Sim.getLaneInfo(egoLane)[2][0]
# err += Sim.moveVehicleAlong('ego',egoDist,destLane)
elif egoDist > 0.:
err += Sim.moveVehicleAlong('ego', egoDist)
leftDist = leftSpeed * DELTAT
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
car['speed'] = car['speed'] + speedChange
distance = car['speed'] * DELTAT
if turn and grade == 'i':
zz = list(
(j for i, j, k in intersectionLookUp if i == car['lane']))
if len(zz) > 1:
if zz[0] == car['dest']:
newdest = zz[1]
else:
newdest = zz[0]
#right = next((i for i,j in enumerate(roadOrder) if
# j==route)) + 1
#newdest = makeRoad(roadOrder[right],'o',ln)
#if not newdest == car['dest']:
err += Sim.moveVehicleAlong(str(carID), 0.0, newdest)
#car['dest'] = newdest # keep old destination?
if laneChange and (grade == 'i' or grade == 'o'):
newlane = makeRoad(route, grade, 1 - ln)
err += Sim.moveVehicle(str(carID), newlane, car['lanepos'])
cars['lane'] = newlane
if Sim.getLaneInfo(car['lane'])[0] - carLanePos <= distance:
if grade == 'i': # entering intersection
#internal = next((k for i,j,k in intersectionLookUp if
# i==car['lane'] and j==car['dest']))
#err += Sim.moveVehicleAlong(str(carID), distance, internal)
err += Sim.moveVehicleAlong(str(carID), distance, ':')
elif grade == 'o': # leaving simulation
Sim.removeVehicle(str(carID))
cars['status'].iloc[carID] = 1
# -*- 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()
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
allcars[road] = thisdf.out()
