def loadVTypeMap(fn):
'''loadVTypeMap(string) -> dict
Reads lines of the form 'origMode:leadMode:followMode:catchupMode:catchupFollowMode' (last three elements can be omitted) from a given file and write corresponding key:value pairs to PLATOON_VTYPES
'''
global PLATOON_VTYPES
with open(fn, "r") as f:
# if rp.VERBOSITY >= 2:
if rp.VERBOSITY >= 2:
report("Loading vehicle type mappings from file '%s'..." % fn, True)
splits = [l.split(":") for l in f.readlines()]
NrBadLines = 0
for j, spl in enumerate(splits):
if len(spl) >= 2 and len(spl) <= 5:
stripped = list(map(lambda x: x.strip(), spl))
origType = stripped[0]
if origType == "":
raise SimplaException("Original vType must be specified in line %s of vType file '%s'!" % (j, fn))
if rp.VERBOSITY >= 2:
report("original type: '%s'" % origType, True)
leadType = stripped[1]
if leadType == "":
raise SimplaException("Platoon leader vType must be specified in line %s of vType file '%s'!" % (j, fn))
if rp.VERBOSITY >= 2:
report("platoon leader type: '%s'" % leadType, True)
if (len(stripped) >= 3 and stripped[2] != ""):
followerType = stripped[2]
if rp.VERBOSITY >= 2:
report("platoon follower type: '%s'" % followerType, True)
else:
followerType = None
if (len(stripped) >= 4 and stripped[3] != ""):
catchupType = stripped[3]
if rp.VERBOSITY >= 2:
report("catchup type: '%s'" % catchupType, True)
else:
catchupType = None
if len(stripped) >= 5 and stripped[4] != "":
catchupFollowerType = stripped[4]
if rp.VERBOSITY >= 2:
report("catchup follower type: '%s'" % catchupFollowerType, True)
else:
catchupFollowerType = None
PLATOON_VTYPES[origType][PlatoonMode.NONE] = origType
PLATOON_VTYPES[origType][PlatoonMode.LEADER] = leadType
PLATOON_VTYPES[origType][PlatoonMode.FOLLOWER] = followerType
PLATOON_VTYPES[origType][PlatoonMode.CATCHUP] = catchupType
PLATOON_VTYPES[origType][PlatoonMode.CATCHUP_FOLLOWER] = catchupFollowerType
else:
NrBadLines += 1
if NrBadLines > 0:
if rp.VERBOSITY >= 1:
warn("vType file '%s' contained %d lines that were not parsed into a colon-separated sequence of strings!" % (fn, NrBadLines))
def __init__(self):
''' PlatoonManager()
Creates and initializes the PlatoonManager
'''
if rp.VERBOSITY >= 2:
report("Initializing simpla.PlatoonManager...", True)
# Load parameters from config
# vehicle type filter
self._typeSubstrings = cfg.VEH_SELECTORS
if self._typeSubstrings == [""] and rp.VERBOSITY >= 1:
warn("No typeSubstring given. Managing all vehicles.", True)
elif rp.VERBOSITY >= 2:
report("Managing all vTypes selected by %s" % str(self._typeSubstrings), True)
# max intra platoon gap
self._maxPlatoonGap = cfg.MAX_PLATOON_GAP
# max distance for trying to catch up
self._catchupDist = cfg.CATCHUP_DIST
# platoons currently in the simulation
# map: platoon ID -> platoon objects
self._platoons = dict()
# IDs of all potential platoon members currently in the simulation
# map: ID -> vehicle
self._connectedVehicles = dict()
for vehID in traci.vehicle.getIDList():
if self._hasConnectedType(vehID):
self._addVehicle(vehID)
# integration step-length
self._DeltaT = traci.simulation.getDeltaT()
# rate for executing the platoon logic
if(1. / cfg.CONTROL_RATE < self._DeltaT):
if rp.VERBOSITY >= 1:
warn(
"Restricting given control rate (= %d per sec.) to 1 per timestep (= %g per sec.)" %
(cfg.CONTROL_RATE, 1. / self._DeltaT), True)
self._controlInterval = self._DeltaT
else:
self._controlInterval = 1. / cfg.CONTROL_RATE
self._timeSinceLastControl = 1000.
# Check for undefined vtypes and fill with defaults
for origType, specialTypes in cfg.PLATOON_VTYPES.items():
if specialTypes[PlatoonMode.FOLLOWER] is None:
if rp.VERBOSITY >= 2:
report("Setting unspecified follower vtype for '%s' to '%s'" %
(origType, specialTypes[PlatoonMode.LEADER]), True)
specialTypes[PlatoonMode.FOLLOWER] = specialTypes[PlatoonMode.LEADER]
if specialTypes[PlatoonMode.CATCHUP] is None:
if rp.VERBOSITY >= 2:
report("Setting unspecified catchup vtype for '%s' to '%s'" % (origType, origType), True)
specialTypes[PlatoonMode.CATCHUP] = origType
if specialTypes[PlatoonMode.CATCHUP_FOLLOWER] is None:
if rp.VERBOSITY >= 2:
report("Setting unspecified catchup-follower vtype for '%s' to '%s'" %
(origType, specialTypes[PlatoonMode.FOLLOWER]), True)
specialTypes[PlatoonMode.CATCHUP_FOLLOWER] = specialTypes[PlatoonMode.FOLLOWER]
# Commented snippet generated automatically a catchup follower type with a different color
# catchupFollowerType = origType + "_catchupFollower"
# specialTypes[PlatoonMode.CATCHUP]=catchupFollowerType
# if rp.VERBOSITY >= 2:
# print("Catchup follower type '%s' for '%s' dynamically created as duplicate of '%s'" %
# (catchupFollowerType, origType, specialTypes[PlatoonMode.CATCHUP_FOLLOWER]))
# traci.vehicletype.copy(specialTypes[PlatoonMode.CATCHUP_FOLLOWER] , catchupFollowerType)
# traci.vehicletype.setColor(catchupFollowerType, (0, 255, 200, 0))
# fill global lookup table for vType parameters (used below in safetycheck)
knownVTypes = traci.vehicletype.getIDList()
for origType, mappings in cfg.PLATOON_VTYPES.items():
if origType not in knownVTypes:
raise SimplaException(
"vType '%s' is unknown to sumo! Note: Platooning vTypes must be defined at startup." % origType)
origLength = traci.vehicletype.getLength(origType)
origEmergencyDecel = traci.vehicletype.getEmergencyDecel(origType)
for typeID in list(mappings.values()) + [origType]:
if typeID not in knownVTypes:
raise SimplaException(
"vType '%s' is unknown to sumo! Note: Platooning vTypes must be defined at startup." % typeID)
mappedLength = traci.vehicletype.getLength(typeID)
mappedEmergencyDecel = traci.vehicletype.getEmergencyDecel(typeID)
if origLength != mappedLength:
if rp.VERBOSITY >= 1:
warn(("length of mapped vType '%s' (%sm.) does not equal length of original vType " +
"'%s' (%sm.)\nThis will probably lead to collisions.") % (
typeID, mappedLength, origType, origLength), True)
if origEmergencyDecel != mappedEmergencyDecel:
if rp.VERBOSITY >= 1:
warn(("emergencyDecel of mapped vType '%s' (%gm.) does not equal emergencyDecel of original " +
"vType '%s' (%gm.)") % (
typeID, mappedEmergencyDecel, origType, origEmergencyDecel), True)
simpla._pvehicle.vTypeParameters[typeID][tc.VAR_TAU] = traci.vehicletype.getTau(typeID)
simpla._pvehicle.vTypeParameters[typeID][tc.VAR_DECEL] = traci.vehicletype.getDecel(typeID)
simpla._pvehicle.vTypeParameters[typeID][tc.VAR_MINGAP] = traci.vehicletype.getMinGap(typeID)
simpla._pvehicle.vTypeParameters[typeID][tc.VAR_EMERGENCY_DECEL] = traci.vehicletype.getEmergencyDecel(
typeID)
def load(filename):
'''load(string)
This loads configuration parameters from a file and overwrites default values.
'''
global CONTROL_RATE, VEH_SELECTORS, MAX_PLATOON_GAP, CATCHUP_DIST, PLATOON_SPLIT_TIME
global VTYPE_FILE, PLATOON_VTYPES, LC_MODE, SPEEDFACTOR, SWITCH_IMPATIENCE_FACTOR
configDir = os.path.dirname(filename)
configElements = ET.parse(filename).getroot()
parsedTags = []
for e in configElements:
parsedTags.append(e.tag)
if e.tag == "verbosity":
if hasAttributes(e):
verbosity = int(list(e.attrib.values())[0])
if verbosity in range(5):
rp.VERBOSITY = verbosity
else:
if rp.VERBOSITY >= 1:
warn("Verbosity must be one of %s! Ignoring given value: %s" %
(str(list(range(5))), verbosity), True)
elif e.tag == "controlRate":
if hasAttributes(e):
rate = float(list(e.attrib.values())[0])
if rate <= 0.:
if rp.VERBOSITY >= 1:
warn("Parameter controlRate must be positive. Ignoring given value: %s" % (rate), True)
else:
CONTROL_RATE = float(rate)
elif e.tag == "vehicleSelectors":
if hasAttributes(e):
VEH_SELECTORS = list(map(lambda x: x.strip(), list(e.attrib.values())[0].split(",")))
elif e.tag == "maxPlatoonGap":
if hasAttributes(e):
maxgap = float(list(e.attrib.values())[0])
if maxgap <= 0:
if rp.VERBOSITY >= 1:
warn("Parameter maxPlatoonGap must be positive. Ignoring given value: %s" % (maxgap), True)
else:
MAX_PLATOON_GAP = maxgap
elif e.tag == "catchupDist":
if hasAttributes(e):
dist = float(list(e.attrib.values())[0])
if dist <= 0:
if rp.VERBOSITY >= 1:
warn("Parameter catchupDist must be positive. Ignoring given value: %s" % (dist), True)
else:
CATCHUP_DIST = dist
elif e.tag == "switchImpatienceFactor":
if hasAttributes(e):
impfact = float(list(e.attrib.values())[0])
if impfact < 0:
if rp.VERBOSITY >= 1:
warn("Parameter switchImpatienceFactor must be non-negative. Ignoring given value: %s" %
(impfact), True)
else:
SWITCH_IMPATIENCE_FACTOR = impfact
elif e.tag == "platoonSplitTime":
if hasAttributes(e):
splittime = float(list(e.attrib.values())[0])
if splittime < 0:
if rp.VERBOSITY >= 1:
warn("Parameter platoonSplitTime must be non-negative. Ignoring given value: %s" %
(splittime), True)
else:
PLATOON_SPLIT_TIME = splittime
elif e.tag == "lcMode":
if hasAttributes(e):
if ("leader" in e.attrib):
if isValidLCMode(int(e.attrib["leader"])):
LC_MODE[PlatoonMode.LEADER] = int(e.attrib["leader"])
if ("follower" in e.attrib):
if isValidLCMode(int(e.attrib["follower"])):
LC_MODE[PlatoonMode.FOLLOWER] = int(e.attrib["follower"])
if ("catchup" in e.attrib):
if isValidLCMode(int(e.attrib["catchup"])):
LC_MODE[PlatoonMode.CATCHUP] = int(e.attrib["catchup"])
if ("catchupFollower" in e.attrib):
if isValidLCMode(int(e.attrib["catchupFollower"])):
LC_MODE[PlatoonMode.CATCHUP_FOLLOWER] = int(e.attrib["catchupFollower"])
if ("original" in e.attrib):
if isValidLCMode(int(e.attrib["original"])):
LC_MODE[PlatoonMode.NONE] = int(e.attrib["original"])
elif e.tag == "speedFactor":
if hasAttributes(e):
if ("leader" in e.attrib):
if isValidSpeedFactor(float(e.attrib["leader"])):
SPEEDFACTOR[PlatoonMode.LEADER] = float(e.attrib["leader"])
if ("follower" in e.attrib):
if isValidSpeedFactor(float(e.attrib["follower"])):
SPEEDFACTOR[PlatoonMode.FOLLOWER] = float(e.attrib["follower"])
if ("catchup" in e.attrib):
if isValidSpeedFactor(float(e.attrib["catchup"])):
SPEEDFACTOR[PlatoonMode.CATCHUP] = float(e.attrib["catchup"])
if ("catchupFollower" in e.attrib):
if isValidSpeedFactor(float(e.attrib["catchupFollower"])):
SPEEDFACTOR[PlatoonMode.CATCHUP_FOLLOWER] = float(e.attrib["catchupFollower"])
if ("original" in e.attrib):
if isValidSpeedFactor(float(e.attrib["original"])):
SPEEDFACTOR[PlatoonMode.NONE] = float(e.attrib["original"])
elif e.tag == "vTypeMapFile":
if hasAttributes(e):
fn = os.path.join(configDir, list(e.attrib.values())[0])
if not os.path.isfile(fn):
raise SimplaException("Given vTypeMapFile '%s' does not exist." % fn)
VTYPE_FILE = fn
elif e.tag == "vTypeMap":
if hasAttributes(e):
if "original" not in e.attrib:
warn("vTypeMap must specify original type. Ignoring malformed vTypeMap element.", True)
else:
origType = e.attrib["original"]
PLATOON_VTYPES[origType][PlatoonMode.NONE] = origType
if ("leader" in e.attrib):
leaderType = e.attrib["leader"]
PLATOON_VTYPES[origType][PlatoonMode.LEADER] = leaderType
# report("Registering vtype map '%s':'%s'"%(origType,leaderType), True)
if ("follower" in e.attrib):
followerType = e.attrib["follower"]
PLATOON_VTYPES[origType][PlatoonMode.FOLLOWER] = followerType
# report("Registering vtype map '%s':'%s'"%(origType,followerType), True)
if ("catchup" in e.attrib):
catchupType = e.attrib["catchup"]
PLATOON_VTYPES[origType][PlatoonMode.CATCHUP] = catchupType
# report("Registering vtype map '%s':'%s'"%(origType,followerType), True)
if ("catchupFollower" in e.attrib):
catchupFollowerType = e.attrib["catchupFollower"]
PLATOON_VTYPES[origType][PlatoonMode.CATCHUP_FOLLOWER] = catchupFollowerType
# report("Registering vtype map '%s':'%s'"%(origType,followerType), True)
elif rp.VERBOSITY >= 1:
warn("Encountered unknown configuration parameter '%s'!" % e.tag, True)
if "vTypeMapFile" in parsedTags:
# load vType mapping from file
loadVTypeMap(VTYPE_FILE)
if SPEEDFACTOR[PlatoonMode.CATCHUP_FOLLOWER] is None:
# if unset, set speedfactor for catchupfollower mode to the same as in catchup mode
SPEEDFACTOR[PlatoonMode.CATCHUP_FOLLOWER] = SPEEDFACTOR[PlatoonMode.CATCHUP]
