def default_entry_tactic(
default_entry_speed: Optional[float] = None) -> EntryTactic:
"""The default tactic the simulation will use to acquire an actor for an agent."""
return TrapEntryTactic(
wait_to_hijack_limit_s=0,
exclusion_prefixes=tuple(),
zone=None,
default_entry_speed=default_entry_speed,
)
def generate_left_turn_missions(
mission,
route_distributions,
route_lanes,
speed,
map_dir,
level_name,
save_dir,
stopwatcher_behavior,
stopwatcher_route,
seed,
intersection_name,
traffic_density,
):
# dont worry about these seeds, theyre used by sumo
sumo_seed = random.choice([0, 1, 2, 3, 4])
stopwatcher_info = None
stopwatcher_added = False
if stopwatcher_behavior:
stopwatcher_info = {
"behavior": stopwatcher_behavior,
"direction": get_direction(stopwatcher_route),
}
random.seed(seed)
np.random.seed(seed)
all_flows = []
metadata = {"routes": {}, "total_vehicles": 0, "stopwatcher": None}
scenario = save_dir + f"-flow-{seed}"
# Remove old traffic route if it exists(otherwise, won't update to new flows)
if os.path.exists(f"{scenario}/traffic/all.rou.xml"):
shutil.rmtree(scenario)
for route_key, route_info in route_distributions["routes"].items():
# to skip None
if route_info:
if stopwatcher_behavior: # put the ego on the side road
ego_start_lane, ego_end_lane = 0, 0
mission_start, mission_end = "south-side", "dead-end"
ego_start_pos, ego_end_pos = 100, 5
ego_num_lanes = 1
else:
mission_start, mission_end = mission["start"], mission["end"]
ego_start_lane, ego_end_lane = (
route_lanes[mission_start] - 1,
route_lanes[mission_end] - 1,
)
ego_start_pos, ego_end_pos = (
random.randint(50, 120),
random.randint(50, 150),
)
ego_num_lanes = route_lanes[mission_start]
ego_route = Route(
begin=(f"edge-{mission_start}", ego_start_lane, ego_start_pos),
end=(f"edge-{mission_end}", ego_end_lane, ego_end_pos),
)
flows, vehicles_log_info = generate_social_vehicles(
ego_start_lane=ego_start_lane,
route_distribution=route_info["distribution"],
begin_time_init=route_info["begin_time_init"],
num_vehicles=route_info["vehicles"],
route_direction=get_direction(route_key),
route_lanes=route_lanes,
route_has_turn=route_info["has_turn"],
start_end_on_different_lanes_probability=route_info[
"start_end_on_different_lanes_probability"],
deadlock_optimization=route_info["deadlock_optimization"],
stopwatcher_info=stopwatcher_info,
)
if (stopwatcher_behavior and len(flows) > 0 and
get_direction(route_key) == stopwatcher_info["direction"]):
stopwatcher_added = True
print(
f'stop watcher added to {get_direction(route_key)} flows among {route_info["vehicles"]} vehicles!'
)
all_flows.extend(flows)
metadata["routes"][route_key] = vehicles_log_info
scenario = save_dir + f"-flow-{seed}"
if stopwatcher_behavior:
if not stopwatcher_added and level_name != "no-traffic":
print(
f'There was no matching flows for stopwatcher, adding it to {stopwatcher_info["direction"]}.'
)
# vehicles_log_info[f'stopwatcher_{stopwatcher_info["behavior"]}']["count"] += 1
all_flows.append(
generate_stopwatcher(
stopwatcher_behavior=stopwatcher_info["behavior"],
stopwatcher_route=stopwatcher_info["direction"],
start_lane_id=0,
end_lane_id=0,
))
scenario += f"-stopwatcher-{stopwatcher_info['behavior']}"
copy_map_files(scenario, map_dir, speed)
if stopwatcher_behavior or "ego_hijacking_params" not in route_distributions:
gen_missions(scenario, [Mission(ego_route)])
else:
speed_m_per_s = float("".join(filter(str.isdigit, speed))) * 5.0 / 18.0
hijacking_params = route_distributions["ego_hijacking_params"]
zone_range = hijacking_params["zone_range"]
waiting_time = hijacking_params["wait_to_hijack_limit_s"]
start_time = hijacking_params["start_time"]
if start_time == "default":
start_time = random.randint((LANE_LENGTH // speed_m_per_s), 60)
gen_missions(
scenario,
[
Mission(
ego_route,
# optional: control hijacking time, place, and emission.
start_time=
start_time, # when to start hijacking (might start later)
entry_tactic=TrapEntryTactic(
wait_to_hijack_limit_s=
waiting_time, # when to give up on hijacking and start emitting a social vehicle instead
zone=MapZone(
start=(
f'edge-{mission["start"]}',
0,
ego_start_pos + zone_range[0],
),
length=zone_range[1],
n_lanes=route_lanes[mission["start"]],
), # area to hijack
exclusion_prefixes=tuple(
), # vehicles to be excluded (check vehicle ids)
),
),
],
)
traffic = Traffic(flows=all_flows)
gen_traffic(scenario, traffic, name=f"all", seed=sumo_seed)
# patch: remove route files from traffic folder to make intersection empty
if traffic_density == "no-traffic":
os.remove(f"{scenario}/traffic/all.rou.xml")
if stopwatcher_behavior:
metadata["stopwatcher"] = {
"direction": stopwatcher_info["direction"],
"behavior": stopwatcher_info["behavior"],
}
metadata["intersection"] = {
"type": intersection_name[-1],
"name": intersection_name,
}
metadata["total_vehicles"] = len(all_flows)
metadata["seed"] = seed
metadata["flow_id"] = f"flow_{seed}"
with open(f"{scenario}/metadata.json", "w") as log:
json.dump(metadata, log)
Mission,
TrapEntryTactic,
MapZone,
)
scenario = os.path.dirname(os.path.realpath(__file__))
gen_missions(
scenario,
[
Mission(
Route(begin=("edge-west-WE", 0, 10), end=("edge-south-NS", 0, 40)),
entry_tactic=TrapEntryTactic(
wait_to_hijack_limit_s=3,
zone=MapZone(
start=("edge-west-WE", 0, 5),
length=30,
n_lanes=1,
),
),
),
Mission(
Route(begin=("edge-west-WE", 0, 10), end=("edge-west-WE", 0, 25)),
entry_tactic=TrapEntryTactic(
wait_to_hijack_limit_s=3,
zone=MapZone(
start=("edge-west-WE", 0, 5),
length=30,
n_lanes=1,
),
),
),
def generate_left_turn_missions(
missions,
shuffle_missions,
route_distributions,
route_lanes,
speed,
map_dir,
level_name,
save_dir,
stopwatcher_behavior,
stopwatcher_route,
seed,
stops,
bubbles,
intersection_name,
traffic_density,
):
# dont worry about these seeds, theyre used by sumo
sumo_seed = random.choice([0, 1, 2, 3, 4])
stopwatcher_info = None
stopwatcher_added = False
if stopwatcher_behavior:
stopwatcher_info = {
"behavior": stopwatcher_behavior,
"direction": get_direction(stopwatcher_route),
}
random.seed(seed)
np.random.seed(seed)
all_flows = []
metadata = {"routes": {}, "total_vehicles": 0, "stopwatcher": None}
scenario = save_dir + f"-flow-{seed}"
# Remove old traffic route if it exists(otherwise, won't update to new flows)
if os.path.exists(f"{scenario}/traffic/all.rou.xml"):
shutil.rmtree(scenario)
for route_key, route_info in route_distributions["routes"].items():
# to skip None
if route_info:
ego_routes = [
ego_mission_config_to_route(
ego_mission_config=ego_mission_config,
route_lanes=route_lanes,
stopwatcher_behavior=stopwatcher_behavior,
)
for ego_mission_config in missions
]
# Not all routes need to have a custom start/end offset
if "pos_offsets" in route_info:
pos_offsets = route_info["pos_offsets"]
else:
pos_offsets = None
flows, vehicles_log_info = generate_social_vehicles(
route_distribution=route_info["distribution"],
begin_time_init=route_info["begin_time_init"],
num_vehicles=route_info["vehicles"],
route_direction=get_direction(route_key),
route_lanes=route_lanes,
route_has_turn=route_info["has_turn"],
start_end_on_different_lanes_probability=route_info[
"start_end_on_different_lanes_probability"
],
stops=stops,
deadlock_optimization=route_info["deadlock_optimization"],
pos_offsets=pos_offsets,
stopwatcher_info=stopwatcher_info,
traffic_params={"speed": speed, "traffic_density": traffic_density},
)
if (
stopwatcher_behavior
and len(flows) > 0
and get_direction(route_key) == stopwatcher_info["direction"]
):
stopwatcher_added = True
print(
f'stop watcher added to {get_direction(route_key)} flows among {route_info["vehicles"]} vehicles!'
)
all_flows.extend(flows)
metadata["routes"][route_key] = vehicles_log_info
scenario = save_dir + f"-flow-{seed}"
if stopwatcher_behavior:
if not stopwatcher_added and level_name != "no-traffic":
print(
f'There was no matching flows for stopwatcher, adding it to {stopwatcher_info["direction"]}.'
)
# vehicles_log_info[f'stopwatcher_{stopwatcher_info["behavior"]}']["count"] += 1
all_flows.append(
generate_stopwatcher(
stopwatcher_behavior=stopwatcher_info["behavior"],
stopwatcher_route=stopwatcher_info["direction"],
start_lane_id=0,
end_lane_id=0,
)
)
scenario += f"-stopwatcher-{stopwatcher_info['behavior']}"
copy_map_files(scenario, map_dir, speed)
vehicles_to_not_hijack = []
traffic = Traffic(flows=all_flows)
try:
gen_traffic(scenario, traffic, name=f"all", seed=sumo_seed)
if stops:
add_stops_to_traffic(scenario, stops, vehicles_to_not_hijack)
except Exception as exception:
print(exception)
# Patch: Remove route files from traffic folder to make intersection empty.
if traffic_density == "no-traffic":
os.remove(f"{scenario}/traffic/all.rou.xml")
if stopwatcher_behavior or "ego_hijacking_params" not in route_distributions:
mission_objects = [Mission(ego_route) for ego_route in ego_routes]
else:
speed_m_per_s = float("".join(filter(str.isdigit, speed))) * 5.0 / 18.0
hijacking_params = route_distributions["ego_hijacking_params"]
zone_range = hijacking_params["zone_range"]
waiting_time = hijacking_params["wait_to_hijack_limit_s"]
start_time = (
hijacking_params["start_time"]
if hijacking_params["start_time"] != "default"
else random.randint((LANE_LENGTH // speed_m_per_s), 60)
)
mission_objects = [
Mission(
ego_route,
# Optional: control hijacking time, place, and emission.
start_time=start_time, # When to start hijacking (might start later).
entry_tactic=TrapEntryTactic(
wait_to_hijack_limit_s=waiting_time, # When to give up hijacking.
zone=MapZone(
start=(
ego_route.begin[0],
0,
ego_route.begin[2] + zone_range[0],
),
length=zone_range[1],
n_lanes=(ego_route.begin[1] + 1),
), # Area to hijack.
exclusion_prefixes=vehicles_to_not_hijack, # Don't hijack these.
),
)
for ego_route in ego_routes
]
# Shuffle the missions so agents don't do the same route all the time.
if shuffle_missions:
random.shuffle(mission_objects)
gen_missions(scenario, mission_objects)
if bubbles:
bubble_objects = [
bubble_config_to_bubble_object(
scenario, bubble_config, vehicles_to_not_hijack
)
for bubble_config in bubbles
]
gen_bubbles(scenario, bubble_objects)
if stopwatcher_behavior:
metadata["stopwatcher"] = {
"direction": stopwatcher_info["direction"],
"behavior": stopwatcher_info["behavior"],
}
metadata["intersection"] = {
"type": intersection_name[-1],
"name": intersection_name,
}
metadata["total_vehicles"] = len(all_flows)
metadata["seed"] = seed
metadata["flow_id"] = f"flow_{seed}"
with open(f"{scenario}/metadata.json", "w") as log:
json.dump(metadata, log)