sumo net automatically generated

Co-Simulation/Sumo/run_synchronization.py

@@ -87,6 +87,12 @@ class SimulationSynchronization(object):
         BridgeHelper.blueprint_library = self.carla.world.get_blueprint_library()
         BridgeHelper.offset = self.sumo.get_net_offset()
 
+        # Configuring carla simulation in sync mode.
+        settings = self.carla.world.get_settings()
+        settings.synchronous_mode = True
+        settings.fixed_delta_seconds = self.carla.step_length
+        self.carla.world.apply_settings(settings)
+
     def tick(self):
         """
         Tick to simulation synchronization
@@ -225,8 +231,8 @@ def synchronization_loop(args):
     Entry point for sumo-carla co-simulation.
     """
     try:
-        sumo_simulation = SumoSimulation(args.sumo_host, args.sumo_port, args.step_length,
+        sumo_simulation = SumoSimulation(args.sumo_cfg_file, args.step_length, args.sumo_host,
-                                         args.sumo_cfg_file, args.sumo_gui)
+                                         args.sumo_port, args.sumo_gui)
         carla_simulation = CarlaSimulation(args.carla_host, args.carla_port, args.step_length)
 
         synchronization = SimulationSynchronization(sumo_simulation, carla_simulation,
@@ -254,6 +260,7 @@ def synchronization_loop(args):
 
 if __name__ == '__main__':
     argparser = argparse.ArgumentParser(description=__doc__)
+    argparser.add_argument('sumo_cfg_file', type=str, help='sumo configuration file')
     argparser.add_argument('--carla-host',
                            metavar='H',
                            default='127.0.0.1',
@@ -272,14 +279,7 @@ if __name__ == '__main__':
                            default=None,
                            type=int,
                            help='TCP port to liston to (default: 8813)')
-    argparser.add_argument('-c',
+    argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
-                           '--sumo-cfg-file',
-                           default=None,
-                           type=str,
-                           help='sumo configuration file')
-    argparser.add_argument('--sumo-gui',
-                           action='store_true',
-                           help='run the gui version of sumo')
     argparser.add_argument('--step-length',
                            default=0.05,
                            type=float,

Co-Simulation/Sumo/spawn_npc_sumo.py

@@ -12,13 +12,13 @@
 # ==================================================================================================
 
 import argparse
-import datetime
 import json
 import logging
-import time
 import random
 import re
 import shutil
+import tempfile
+import time
 
 import lxml.etree as ET  # pylint: disable=wrong-import-position
 
@@ -59,16 +59,17 @@ from sumo_integration.sumo_simulation import SumoSimulation  # pylint: disable=w
 
 from run_synchronization import SimulationSynchronization  # pylint: disable=wrong-import-position
 
+from util.netconvert_carla import netconvert_carla
+
 # ==================================================================================================
 # -- main ------------------------------------------------------------------------------------------
 # ==================================================================================================
 
 
-def write_sumocfg_xml(town_name, tmp_path, net_file, vtypes_file, viewsettings_file):
+def write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file):
     """
     Writes sumo configuration xml file.
     """
-
     root = ET.Element('configuration')
 
     input_tag = ET.SubElement(root, 'input')
@@ -79,58 +80,51 @@ def write_sumocfg_xml(town_name, tmp_path, net_file, vtypes_file, viewsettings_f
     ET.SubElement(gui_tag, 'gui-settings-file', {'value': viewsettings_file})
 
     tree = ET.ElementTree(root)
-    filename = os.path.join(tmp_path, town_name + '.sumocfg')
+    tree.write(cfg_file, pretty_print=True, encoding='UTF-8', xml_declaration=True)
-    tree.write(filename, pretty_print=True, encoding='UTF-8', xml_declaration=True)
-
-    return filename
-
-
-def get_sumo_files(town_name, tmp_path):
-    """
-    Returns sumo configuration file and sumo net.
-    """
-    base_path = os.path.dirname(os.path.realpath(__file__))
-    net_file = os.path.join(base_path, 'examples', 'net', town_name + '.net.xml')
-    vtypes_file = os.path.join(base_path, 'examples', 'carlavtypes.rou.xml')
-    viewsettings_file = os.path.join(base_path, 'examples', 'viewsettings.xml')
-
-    cfg_file = write_sumocfg_xml(town_name, tmp_path, net_file, vtypes_file, viewsettings_file)
-    return cfg_file, net_file
 
 
 def main(args):
 
-    # Creating temporal folder to save configuration file.
+    # Temporal folder to save intermediate files.
-    tmp_path = 'spawn_npc_sumo-{date:%Y-%m-%d_%H-%M-%S-%f}'.format(date=datetime.datetime.now())
+    tmpdir = tempfile.mkdtemp()
-    if not os.path.exists(tmp_path):
+
-        os.mkdir(tmp_path)
+    # ----------------
+    # carla simulation
+    # ----------------
+    carla_simulation = CarlaSimulation(args.host, args.port, args.step_length)
+
+    world = carla_simulation.client.get_world()
+    current_map = carla_simulation.client.get_world().get_map()
+
+    xodr_file = os.path.join(tmpdir, current_map.name + '.xodr')
+    current_map.save_to_disk(xodr_file)
+
+    # ---------------
+    # sumo simulation
+    # ---------------
+    net_file = os.path.join(tmpdir, current_map.name + '.net.xml')
+    netconvert_carla(xodr_file, net_file, guess_tls=True)
+
+    basedir = os.path.dirname(os.path.realpath(__file__))
+    cfg_file = os.path.join(tmpdir, current_map.name + '.sumocfg')
+    vtypes_file = os.path.join(basedir, 'examples', 'carlavtypes.rou.xml')
+    viewsettings_file = os.path.join(basedir, 'examples', 'viewsettings.xml')
+    write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file)
+
+    sumo_net = sumolib.net.readNet(net_file)
+    sumo_simulation = SumoSimulation(cfg_file,
+                                     args.step_length,
+                                     host=None,
+                                     port=None,
+                                     sumo_gui=args.sumo_gui)
+
+    # ---------------
+    # synchronization
+    # ---------------
+    synchronization = SimulationSynchronization(sumo_simulation, carla_simulation, args.tls_manager,
+                                                args.sync_vehicle_color, args.sync_vehicle_lights)
 
     try:
-        # ----------------
-        # carla simulation
-        # ----------------
-        carla_simulation = CarlaSimulation(args.host, args.port, args.step_length)
-
-        world = carla_simulation.client.get_world()
-        current_map = world.get_map().name
-        if current_map not in ('Town01', 'Town04', 'Town05'):
-            raise RuntimeError('This script does not support {} yet.'.format(current_map))
-
-        # ---------------
-        # sumo simulation
-        # ---------------
-        cfg_file, net_file = get_sumo_files(current_map, tmp_path)
-
-        sumo_net = sumolib.net.readNet(net_file)
-        sumo_simulation = SumoSimulation(None, None, args.step_length, cfg_file, args.sumo_gui)
-
-        # ---------------
-        # synchronization
-        # ---------------
-        synchronization = SimulationSynchronization(sumo_simulation, carla_simulation,
-                                                    args.tls_manager, args.sync_vehicle_color,
-                                                    args.sync_vehicle_lights)
-
         # ----------
         # Blueprints
         # ----------
@@ -183,10 +177,12 @@ def main(args):
 
                 if index == (len(route) - 1):
                     current_edge = sumo_net.getEdge(route[index])
-                    next_edge = random.choice(list(current_edge.getAllowedOutgoing(vclass).keys()))
+                    available_edges = list(current_edge.getAllowedOutgoing(vclass).keys())
+                    if available_edges:
+                        next_edge = random.choice(available_edges)
 
-                    new_route = [current_edge.getID(), next_edge.getID()]
+                        new_route = [current_edge.getID(), next_edge.getID()]
-                    traci.vehicle.setRoute(vehicle_id, new_route)
+                        traci.vehicle.setRoute(vehicle_id, new_route)
 
             end = time.time()
             elapsed = end - start
@@ -197,10 +193,9 @@ def main(args):
         logging.info('Cancelled by user.')
 
     finally:
-        if os.path.exists(tmp_path):
+        if os.path.exists(tmpdir):
-            shutil.rmtree(tmp_path)
+            shutil.rmtree(tmpdir)
 
-        logging.info('Destroying %d sumo vehicles.', traci.vehicle.getIDCount())
         synchronization.close()
 
 
@@ -239,9 +234,7 @@ if __name__ == '__main__':
                            metavar='PATTERN',
                            default='walker.pedestrian.*',
                            help='pedestrians filter (default: "walker.pedestrian.*")')
-    argparser.add_argument('--sumo-gui',
+    argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
-                           action='store_true',
-                           help='run the gui version of sumo')
     argparser.add_argument('--step-length',
                            default=0.05,
                            type=float,
@@ -272,4 +265,4 @@ if __name__ == '__main__':
     else:
         logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
 
-    main(args)
+    main(args)

Co-Simulation/Sumo/sumo_integration/carla_simulation.py

@@ -32,12 +32,7 @@ class CarlaSimulation(object):
 
         self.world = self.client.get_world()
         self.blueprint_library = self.world.get_blueprint_library()
-
+        self.step_length = step_length
-        # Configuring carla simulation in sync mode.
-        settings = self.world.get_settings()
-        settings.synchronous_mode = True
-        settings.fixed_delta_seconds = step_length
-        self.world.apply_settings(settings)
 
         # The following sets contain updated information for the current frame.
         self._active_actors = set()

Co-Simulation/Sumo/sumo_integration/sumo_simulation.py

@@ -14,6 +14,7 @@
 import collections
 import enum
 import logging
+import os
 
 import carla  # pylint: disable=import-error
 import sumolib  # pylint: disable=import-error
@@ -21,6 +22,8 @@ import traci  # pylint: disable=import-error
 
 from .constants import INVALID_ACTOR_ID
 
+import lxml.etree as ET  # pylint: disable=import-error
+
 # ==================================================================================================
 # -- sumo definitions ------------------------------------------------------------------------------
 # ==================================================================================================
@@ -99,7 +102,7 @@ class SumoActorClass(enum.Enum):
 SumoActor = collections.namedtuple('SumoActor', 'type_id vclass transform signals extent color')
 
 # ==================================================================================================
-# -- sumo simulation -------------------------------------------------------------------------------
+# -- sumo traffic lights ---------------------------------------------------------------------------
 # ==================================================================================================
 
 
@@ -277,11 +280,35 @@ class SumoTLManager(object):
                     self._current_phase[tl_id] = current_phase
 
 
+# ==================================================================================================
+# -- sumo simulation -------------------------------------------------------------------------------
+# ==================================================================================================
+
+def _get_sumo_net(cfg_file):
+    """
+    Returns sumo net.
+
+    This method reads the sumo configuration file and retrieve the sumo net filename to create the
+    net.
+    """
+    cfg_file = os.path.join(os.getcwd(), cfg_file)
+
+    tree = ET.parse(cfg_file)
+    tag = tree.find('//net-file')
+    if tag is None:
+        return None
+
+    net_file = os.path.join(os.path.dirname(cfg_file), tag.get('value'))
+    logging.debug('Reading net file: %s', net_file)
+
+    sumo_net = traci.sumolib.net.readNet(net_file)
+    return sumo_net
+
 class SumoSimulation(object):
     """
     SumoSimulation is responsible for the management of the sumo simulation.
     """
-    def __init__(self, host, port, step_length, cfg_file, sumo_gui=False):
+    def __init__(self, cfg_file, step_length, host=None, port=None, sumo_gui=False):
         if sumo_gui is True:
             sumo_binary = sumolib.checkBinary('sumo-gui')
         else:
@@ -303,6 +330,9 @@ class SumoSimulation(object):
             logging.info('Connection to sumo server. Host: %s Port: %s', host, port)
             traci.init(host=host, port=port)
 
+        # Retrieving net from configuration file.
+        self.net = _get_sumo_net(cfg_file)
+
         # Creating a random route to be able to spawn carla actors.
         traci.route.add("carla_route", [traci.edge.getIDList()[0]])
 
@@ -349,20 +379,11 @@ class SumoSimulation(object):
         """
         traci.vehicle.unsubscribe(actor_id)
 
-    @staticmethod
+    def get_net_offset(self):
-    def get_net_offset():
         """
         Accessor for sumo net offset.
         """
-        offset = traci.simulation.convertGeo(0, 0)
+        return self.net.getLocationOffset()
-        return (-offset[0], -offset[1])
-
-    @staticmethod
-    def get_step_length():
-        """
-        Accessor for sumo simulation step length.
-        """
-        return traci.simulation.getDeltaT()
 
     @staticmethod
     def get_actor(actor_id):

Co-Simulation/Sumo/util/netconvert_carla.py

@@ -17,10 +17,10 @@ the net and inserts, manually, the traffic light landmarks retrieved from the op
 import argparse
 import bisect
 import collections
-import datetime
 import logging
 import shutil
 import subprocess
+import tempfile
 
 import lxml.etree as ET  # pylint: disable=import-error
 
@@ -362,29 +362,30 @@ class SumoTrafficLight(object):
 # ==================================================================================================
 
 
-def netconvert_carla(args, tmp_path):
+def _netconvert_carla_impl(xodr_file, output, tmpdir, guess_tls=False):
     """
-    Generates sumo net.
+    Implements netconvert carla.
     """
     # ----------
     # netconvert
     # ----------
-    tmp_file = os.path.splitext(os.path.basename(args.xodr_file))[0]
+    basename = os.path.splitext(os.path.basename(xodr_file))[0]
-    tmp_sumo_net = os.path.join(tmp_path, tmp_file + '.net.xml')
+    tmp_sumo_net = os.path.join(tmpdir, basename + '.net.xml')
 
     try:
+        basedir = os.path.dirname(os.path.realpath(__file__))
         result = subprocess.call(['netconvert',
-            '--opendrive', args.xodr_file,
+            '--opendrive', xodr_file,
             '--output-file', tmp_sumo_net,
             '--geometry.min-radius.fix',
             '--geometry.remove',
             '--opendrive.curve-resolution', '1',
             '--opendrive.import-all-lanes',
-            '--type-files', 'data/opendrive_netconvert.typ.xml',
+            '--type-files', os.path.join(basedir, 'data/opendrive_netconvert.typ.xml'),
             # Necessary to link odr and sumo ids.
             '--output.original-names',
             # Discard loading traffic lights as them will be inserted manually afterwards.
-            '--tls.discard-loaded', 'true'
+            '--tls.discard-loaded', 'true',
         ])
     except subprocess.CalledProcessError:
         raise RuntimeError('There was an error when executing netconvert.')
@@ -401,7 +402,7 @@ def netconvert_carla(args, tmp_path):
     # ---------
     # Carla map
     # ---------
-    with open(args.xodr_file, 'r') as f:
+    with open(xodr_file, 'r') as f:
         carla_map = carla.Map('netconvert', str(f.read()))
 
     # ---------
@@ -437,7 +438,7 @@ def netconvert_carla(args, tmp_path):
                         tls[tlid] = SumoTrafficLight(tlid)
                     tl = tls[tlid]
 
-                    if args.guess_tls:
+                    if guess_tls:
                         for from_edge, from_lane in sumo_topology.get_incoming(road_id, lane_id):
                             successors = sumo_topology.get_successors(from_edge, from_lane)
                             for to_edge, to_lane in successors:
@@ -503,25 +504,33 @@ def netconvert_carla(args, tmp_path):
                     connection.from_road, connection.to_road, connection.from_lane,
                     connection.to_lane))
 
-    tree.write(args.output, pretty_print=True, encoding='UTF-8', xml_declaration=True)
+    tree.write(output, pretty_print=True, encoding='UTF-8', xml_declaration=True)
+
+def netconvert_carla(xodr_file, output, guess_tls=False):
+    """
+    Generates sumo net.
+
+        :param xodr_file: opendrive file (*.xodr)
+        :param output: output file (*.net.xml)
+        :param guess_tls: guess traffic lights at intersections.
+        :returns: path to the generated sumo net.
+    """
+    try:
+        tmpdir = tempfile.mkdtemp()
+        _netconvert_carla_impl(xodr_file, output, tmpdir, guess_tls)
+
+    finally:
+        if os.path.exists(tmpdir):
+            shutil.rmtree(tmpdir)
 
 
 if __name__ == '__main__':
     argparser = argparse.ArgumentParser(description=__doc__)
-    argparser.add_argument('xodr_file', help='open drive file (*.xodr')
+    argparser.add_argument('xodr_file', help='opendrive file (*.xodr')
     argparser.add_argument('--output', '-o', type=str, help='output file (*.net.xml)')
     argparser.add_argument('--guess-tls',
                            action='store_true',
                            help='guess traffic lights at intersections (default: False)')
     args = argparser.parse_args()
 
-    try:
+    netconvert_carla(args.xodr_file, args.output, args.guess_tls)
-        tmp_path = 'tmp-{date:%Y-%m-%d_%H-%M-%S-%f}'.format(date=datetime.datetime.now())
-        if not os.path.exists(tmp_path):
-            os.mkdir(tmp_path)
-
-        netconvert_carla(args, tmp_path)
-
-    finally:
-        if os.path.exists(tmp_path):
-            shutil.rmtree(tmp_path)