def __init__(self, env_params, sim_params, scenario):
# Invoke serializable if using rllab
if serializable_flag:
Serializable.quick_init(self, locals())
self.env_params = env_params
self.scenario = scenario
self.sim_params = sim_params
time_stamp = ''.join(str(time.time()).split('.'))
if os.environ.get("TEST_FLAG", 0):
# 1.0 works with stress_test_start 10k times
time.sleep(1.0 * int(time_stamp[-6:]) / 1e6)
# FIXME: this is sumo-specific
self.sim_params.port = sumolib.miscutils.getFreeSocketPort()
self.vehicles = scenario.vehicles
self.traffic_lights = scenario.traffic_lights
# time_counter: number of steps taken since the start of a rollout
self.time_counter = 0
# step_counter: number of total steps taken
self.step_counter = 0
# initial_state:
# Key = Vehicle ID,
# Entry = (type_id, route_id, lane_index, lane_pos, speed, pos)
self.initial_state = {}
self.state = None
self.obs_var_labels = []
# simulation step size
self.sim_step = sim_params.sim_step
# TraCI connection used to communicate with sumo
self.traci_connection = None
# dictionary of initial observations used while resetting vehicles
# after each rollout
self.initial_observations = dict.fromkeys(self.vehicles.get_ids())
# store the initial vehicle ids
self.initial_ids = deepcopy(self.vehicles.get_ids())
# store the initial state of the vehicles class (for restarting sumo)
self.initial_vehicles = deepcopy(self.vehicles)
# colors used to distinguish between types of vehicles in the network
self.colors = {}
# the simulator used by this environment
self.simulator = 'traci'
# create the Flow kernel
self.k = Kernel(simulator=self.simulator,
sim_params=sim_params)
# use the scenario class's network parameters to generate the necessary
# scenario components within the scenario kernel
self.k.scenario.generate_network(scenario)
# initialize the simulation using the simulation kernel. This will use
# the scenario kernel as an input in order to determine what network
# needs to be simulated.
self.traci_connection = self.k.simulation.start_simulation(
scenario=self.k.scenario, sim_params=sim_params)
# pass the kernel api to the kernel and it's subclasses
self.k.pass_api(self.traci_connection)
# the available_routes variable contains a dictionary of routes
# vehicles can traverse; to be used when routes need to be chosen
# dynamically
self.available_routes = self.k.scenario.rts
self.setup_initial_state()
# use pyglet to render the simulation
if self.sim_params.render in ['gray', 'dgray', 'rgb', 'drgb']:
save_render = self.sim_params.save_render
sight_radius = self.sim_params.sight_radius
pxpm = self.sim_params.pxpm
show_radius = self.sim_params.show_radius
# get network polygons
network = []
for lane_id in self.traci_connection.lane.getIDList():
_lane_poly = self.traci_connection.lane.getShape(lane_id)
lane_poly = [i for pt in _lane_poly for i in pt]
network.append(lane_poly)
# instantiate a pyglet renderer
self.renderer = Renderer(
network,
self.sim_params.render,
save_render,
sight_radius=sight_radius,
pxpm=pxpm,
show_radius=show_radius)
# render a frame
self.render(reset=True)
elif self.sim_params.render in [True, False]:
pass # default to sumo-gui (if True) or sumo (if False)
else:
raise ValueError("Mode %s is not supported!" %
self.sim_params.render)
atexit.register(self.terminate)
def __init__(self, env_params, sim_params, scenario, simulator='traci'):
"""Initialize the environment class.
Parameters
----------
env_params : flow.core.params.EnvParams
see flow/core/params.py
sim_params : flow.core.params.SimParams
see flow/core/params.py
scenario : flow.scenarios.Scenario
see flow/scenarios/base_scenario.py
simulator : str
the simulator used, one of {'traci', 'aimsun'}. Defaults to 'traci'
Raises
------
flow.utils.exceptions.FatalFlowError
if the render mode is not set to a valid value
"""
# Invoke serializable if using rllab
if serializable_flag:
Serializable.quick_init(self, locals())
self.env_params = env_params
self.scenario = scenario
self.net_params = scenario.net_params
self.initial_config = scenario.initial_config
self.sim_params = sim_params
time_stamp = ''.join(str(time.time()).split('.'))
if os.environ.get("TEST_FLAG", 0):
# 1.0 works with stress_test_start 10k times
time.sleep(1.0 * int(time_stamp[-6:]) / 1e6)
# FIXME: this is sumo-specific
self.sim_params.port = sumolib.miscutils.getFreeSocketPort()
# time_counter: number of steps taken since the start of a rollout
self.time_counter = 0
# step_counter: number of total steps taken
self.step_counter = 0
# initial_state:
self.initial_state = {}
self.state = None
self.obs_var_labels = []
# simulation step size
self.sim_step = sim_params.sim_step
# the simulator used by this environment
self.simulator = simulator
# create the Flow kernel
self.k = Kernel(simulator=self.simulator, sim_params=sim_params)
# use the scenario class's network parameters to generate the necessary
# scenario components within the scenario kernel
self.k.scenario.generate_network(scenario)
# initial the vehicles kernel using the VehicleParams object
self.k.vehicle.initialize(deepcopy(scenario.vehicles))
# initialize the simulation using the simulation kernel. This will use
# the scenario kernel as an input in order to determine what network
# needs to be simulated.
kernel_api = self.k.simulation.start_simulation(
scenario=self.k.scenario, sim_params=sim_params)
# pass the kernel api to the kernel and it's subclasses
self.k.pass_api(kernel_api)
# the available_routes variable contains a dictionary of routes
# vehicles can traverse; to be used when routes need to be chosen
# dynamically
self.available_routes = self.k.scenario.rts
# store the initial vehicle ids
self.initial_ids = deepcopy(scenario.vehicles.ids)
# store the initial state of the vehicles kernel (needed for restarting
# the simulation)
self.k.vehicle.kernel_api = None
self.k.vehicle.master_kernel = None
self.initial_vehicles = deepcopy(self.k.vehicle)
self.k.vehicle.kernel_api = self.k.kernel_api
self.k.vehicle.master_kernel = self.k
self.setup_initial_state()
# use pyglet to render the simulation
if self.sim_params.render in ['gray', 'dgray', 'rgb', 'drgb']:
save_render = self.sim_params.save_render
sight_radius = self.sim_params.sight_radius
pxpm = self.sim_params.pxpm
show_radius = self.sim_params.show_radius
# get network polygons
network = []
# FIXME: add to scenario kernel instead of hack
for lane_id in self.k.kernel_api.lane.getIDList():
_lane_poly = self.k.kernel_api.lane.getShape(lane_id)
lane_poly = [i for pt in _lane_poly for i in pt]
network.append(lane_poly)
# instantiate a pyglet renderer
self.renderer = Renderer(network,
self.sim_params.render,
save_render,
sight_radius=sight_radius,
pxpm=pxpm,
show_radius=show_radius)
# render a frame
self.render(reset=True)
elif self.sim_params.render in [True, False]:
pass # default to sumo-gui (if True) or sumo (if False)
else:
raise FatalFlowError('Mode %s is not supported!' %
self.sim_params.render)
atexit.register(self.terminate)
def __init__(self,
env_params,
sim_params,
network=None,
simulator='traci',
scenario=None):
"""Initialize the environment class.
Parameters
----------
env_params : flow.core.params.EnvParams
see flow/core/params.py
sim_params : flow.core.params.SimParams
see flow/core/params.py
network : flow.networks.Network
see flow/networks/base.py
simulator : str
the simulator used, one of {'traci', 'aimsun'}. Defaults to 'traci'
Raises
------
flow.utils.exceptions.FatalFlowError
if the render mode is not set to a valid valuefor _ in range(self.env_params.sims_per_step):
self.time_counter += 1
self.step_counter += 1
# perform acceleration actions for controlled human-driven vehicles
if len(self.k.vehicle.get_controlled_ids()) > 0:
accel = []
for veh_id in self.k.vehicle.get_controlled_ids():
action = self.k.vehicle.get_acc_controller(
veh_id).get_action(self)
accel.append(action)
if self.k.vehicle.get_edge(veh_id)[0] == ":":
if self.k.vehicle.get_speed(veh_id) <= 0.00000001:
print(self.time_counter,'veh_id:',veh_id,'its leader:',self.k.vehicle.get_leader(veh_id),'headway to leader:',self.k.vehicle.get_headway(veh_id),'action:',action,'speed:',self.k.vehicle.get_speed(veh_id))
#if self.k.vehicle.get_leader(self.k.vehicle.get_leader(veh_id))==veh_id:
# break
self.k.vehicle.apply_acceleration(
self.k.vehicle.get_controlled_ids(), accel)
# perform lane change actions for controlled human-driven vehicles
if len(self.k.vehicle.get_controlled_lc_ids()) > 0:
direction = []
for veh_id in self.k.vehicle.get_controlled_lc_ids():
target_lane = self.k.vehicle.get_lane_changing_controller(
veh_id).get_action(self)
direction.append(target_lane)
self.k.vehicle.apply_lane_change(
self.k.vehicle.get_controlled_lc_ids(),
direction=direction)
# perform (optionally) routing actions for all vehicles in the
# network, including RL and SUMO-controlled vehicles
routing_ids = []
routing_actions = []
for veh_id in self.k.vehicle.get_ids():
if self.k.vehicle.get_routing_controller(veh_id) \
is not None:
routing_ids.append(veh_id)
route_contr = self.k.vehicle.get_routing_controller(
veh_id)
routing_actions.append(route_contr.choose_route(self))
self.k.vehicle.choose_routes(routing_ids, routing_actions)
self.apply_rl_actions(rl_actions)
#self.additional_command()
# advance the simulation in the simulator by one step
"""
self.process_seeds_file = None
self.env_params = env_params
self.time_with_no_vehicles = 0
if scenario is not None:
deprecated_attribute(self, "scenario", "network")
self.network = scenario if scenario is not None else network
self.net_params = self.network.net_params
self.initial_config = self.network.initial_config
self.sim_params = sim_params
time_stamp = ''.join(str(time.time()).split('.'))
if os.environ.get("TEST_FLAG", 0):
# 1.0 works with stress_test_start 10k times
time.sleep(1.0 * int(time_stamp[-6:]) / 1e6)
# FIXME: this is sumo-specific
self.sim_params.port = sumolib.miscutils.getFreeSocketPort()
# time_counter: number of steps taken since the start of a rollout
self.time_counter = 0
# step_counter: number of total steps taken
self.step_counter = 0
# initial_state:
self.initial_state = {}
self.state = None
self.obs_var_labels = []
# simulation step size
self.sim_step = sim_params.sim_step
# the simulator used by this environment
self.simulator = simulator
# create the Flow kernel
self.k = Kernel(simulator=self.simulator, sim_params=sim_params)
# use the network class's network parameters to generate the necessary
# network components within the network kernel
self.k.network.generate_network(self.network)
# initial the vehicles kernel using the VehicleParams object
self.k.vehicle.initialize(deepcopy(self.network.vehicles))
# initialize the simulation using the simulation kernel. This will use
# the network kernel as an input in order to determine what network
# needs to be simulated.
kernel_api = self.k.simulation.start_simulation(network=self.k.network,
sim_params=sim_params)
# pass the kernel api to the kernel and it's subclasses
self.k.pass_api(kernel_api)
# the available_routes variable contains a dictionary of routes
# vehicles can traverse; to be used when routes need to be chosen
# dynamically
self.available_routes = self.k.network.rts
# store the initial vehicle ids
self.initial_ids = deepcopy(self.network.vehicles.ids)
# store the initial state of the vehicles kernel (needed for restarting
# the simulation)
self.k.vehicle.kernel_api = None
self.k.vehicle.master_kernel = None
self.initial_vehicles = deepcopy(self.k.vehicle)
self.k.vehicle.kernel_api = self.k.kernel_api
self.k.vehicle.master_kernel = self.k
self.setup_initial_state()
# use pyglet to render the simulation
if self.sim_params.render in ['gray', 'dgray', 'rgb', 'drgb']:
save_render = self.sim_params.save_render
sight_radius = self.sim_params.sight_radius
pxpm = self.sim_params.pxpm
show_radius = self.sim_params.show_radius
# get network polygons
network = []
# FIXME: add to network kernel instead of hack
for lane_id in self.k.kernel_api.lane.getIDList():
_lane_poly = self.k.kernel_api.lane.getShape(lane_id)
lane_poly = [i for pt in _lane_poly for i in pt]
network.append(lane_poly)
# instantiate a pyglet renderer
self.renderer = Renderer(network,
self.sim_params.render,
save_render,
sight_radius=sight_radius,
pxpm=pxpm,
show_radius=show_radius)
# render a frame
self.render(reset=True)
elif self.sim_params.render in [True, False]:
pass # default to sumo-gui (if True) or sumo (if False)
else:
raise FatalFlowError('Mode %s is not supported!' %
self.sim_params.render)
atexit.register(self.terminate)