sumo net automatically generated
This commit is contained in:
Joel Moriana
bernat
parent
4ec9723df3
commit
02330cd84d
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@ -87,6 +87,12 @@ class SimulationSynchronization(object):
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BridgeHelper.blueprint_library = self.carla.world.get_blueprint_library()
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BridgeHelper.offset = self.sumo.get_net_offset()
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# Configuring carla simulation in sync mode.
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settings = self.carla.world.get_settings()
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settings.synchronous_mode = True
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settings.fixed_delta_seconds = self.carla.step_length
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self.carla.world.apply_settings(settings)
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def tick(self):
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"""
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Tick to simulation synchronization
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@ -225,8 +231,8 @@ def synchronization_loop(args):
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Entry point for sumo-carla co-simulation.
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"""
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try:
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sumo_simulation = SumoSimulation(args.sumo_host, args.sumo_port, args.step_length,
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args.sumo_cfg_file, args.sumo_gui)
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sumo_simulation = SumoSimulation(args.sumo_cfg_file, args.step_length, args.sumo_host,
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args.sumo_port, args.sumo_gui)
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carla_simulation = CarlaSimulation(args.carla_host, args.carla_port, args.step_length)
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synchronization = SimulationSynchronization(sumo_simulation, carla_simulation,
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@ -254,6 +260,7 @@ def synchronization_loop(args):
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if __name__ == '__main__':
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argparser = argparse.ArgumentParser(description=__doc__)
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argparser.add_argument('sumo_cfg_file', type=str, help='sumo configuration file')
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argparser.add_argument('--carla-host',
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metavar='H',
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default='127.0.0.1',
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@ -272,14 +279,7 @@ if __name__ == '__main__':
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default=None,
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type=int,
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help='TCP port to liston to (default: 8813)')
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argparser.add_argument('-c',
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'--sumo-cfg-file',
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default=None,
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type=str,
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help='sumo configuration file')
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argparser.add_argument('--sumo-gui',
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action='store_true',
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help='run the gui version of sumo')
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argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
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argparser.add_argument('--step-length',
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default=0.05,
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type=float,
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@ -12,13 +12,13 @@
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# ==================================================================================================
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import argparse
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import datetime
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import json
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import logging
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import time
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import random
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import re
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import shutil
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import tempfile
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import time
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import lxml.etree as ET # pylint: disable=wrong-import-position
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@ -59,16 +59,17 @@ from sumo_integration.sumo_simulation import SumoSimulation # pylint: disable=w
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from run_synchronization import SimulationSynchronization # pylint: disable=wrong-import-position
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from util.netconvert_carla import netconvert_carla
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# ==================================================================================================
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# -- main ------------------------------------------------------------------------------------------
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# ==================================================================================================
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def write_sumocfg_xml(town_name, tmp_path, net_file, vtypes_file, viewsettings_file):
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def write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file):
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"""
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Writes sumo configuration xml file.
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"""
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root = ET.Element('configuration')
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input_tag = ET.SubElement(root, 'input')
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@ -79,58 +80,51 @@ def write_sumocfg_xml(town_name, tmp_path, net_file, vtypes_file, viewsettings_f
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ET.SubElement(gui_tag, 'gui-settings-file', {'value': viewsettings_file})
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tree = ET.ElementTree(root)
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filename = os.path.join(tmp_path, town_name + '.sumocfg')
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tree.write(filename, pretty_print=True, encoding='UTF-8', xml_declaration=True)
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return filename
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def get_sumo_files(town_name, tmp_path):
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"""
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Returns sumo configuration file and sumo net.
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"""
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base_path = os.path.dirname(os.path.realpath(__file__))
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net_file = os.path.join(base_path, 'examples', 'net', town_name + '.net.xml')
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vtypes_file = os.path.join(base_path, 'examples', 'carlavtypes.rou.xml')
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viewsettings_file = os.path.join(base_path, 'examples', 'viewsettings.xml')
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cfg_file = write_sumocfg_xml(town_name, tmp_path, net_file, vtypes_file, viewsettings_file)
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return cfg_file, net_file
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tree.write(cfg_file, pretty_print=True, encoding='UTF-8', xml_declaration=True)
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def main(args):
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# Creating temporal folder to save configuration file.
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tmp_path = 'spawn_npc_sumo-{date:%Y-%m-%d_%H-%M-%S-%f}'.format(date=datetime.datetime.now())
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if not os.path.exists(tmp_path):
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os.mkdir(tmp_path)
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# Temporal folder to save intermediate files.
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tmpdir = tempfile.mkdtemp()
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try:
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# ----------------
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# carla simulation
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# ----------------
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carla_simulation = CarlaSimulation(args.host, args.port, args.step_length)
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world = carla_simulation.client.get_world()
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current_map = world.get_map().name
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if current_map not in ('Town01', 'Town04', 'Town05'):
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raise RuntimeError('This script does not support {} yet.'.format(current_map))
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current_map = carla_simulation.client.get_world().get_map()
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xodr_file = os.path.join(tmpdir, current_map.name + '.xodr')
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current_map.save_to_disk(xodr_file)
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# ---------------
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# sumo simulation
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# ---------------
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cfg_file, net_file = get_sumo_files(current_map, tmp_path)
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net_file = os.path.join(tmpdir, current_map.name + '.net.xml')
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netconvert_carla(xodr_file, net_file, guess_tls=True)
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basedir = os.path.dirname(os.path.realpath(__file__))
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cfg_file = os.path.join(tmpdir, current_map.name + '.sumocfg')
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vtypes_file = os.path.join(basedir, 'examples', 'carlavtypes.rou.xml')
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viewsettings_file = os.path.join(basedir, 'examples', 'viewsettings.xml')
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write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file)
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sumo_net = sumolib.net.readNet(net_file)
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sumo_simulation = SumoSimulation(None, None, args.step_length, cfg_file, args.sumo_gui)
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sumo_simulation = SumoSimulation(cfg_file,
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args.step_length,
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host=None,
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port=None,
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sumo_gui=args.sumo_gui)
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# ---------------
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# synchronization
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# ---------------
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synchronization = SimulationSynchronization(sumo_simulation, carla_simulation,
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args.tls_manager, args.sync_vehicle_color,
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args.sync_vehicle_lights)
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synchronization = SimulationSynchronization(sumo_simulation, carla_simulation, args.tls_manager,
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args.sync_vehicle_color, args.sync_vehicle_lights)
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try:
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# ----------
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# Blueprints
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# ----------
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@ -183,7 +177,9 @@ def main(args):
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if index == (len(route) - 1):
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current_edge = sumo_net.getEdge(route[index])
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next_edge = random.choice(list(current_edge.getAllowedOutgoing(vclass).keys()))
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available_edges = list(current_edge.getAllowedOutgoing(vclass).keys())
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if available_edges:
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next_edge = random.choice(available_edges)
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new_route = [current_edge.getID(), next_edge.getID()]
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traci.vehicle.setRoute(vehicle_id, new_route)
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@ -197,10 +193,9 @@ def main(args):
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logging.info('Cancelled by user.')
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finally:
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if os.path.exists(tmp_path):
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shutil.rmtree(tmp_path)
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if os.path.exists(tmpdir):
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shutil.rmtree(tmpdir)
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logging.info('Destroying %d sumo vehicles.', traci.vehicle.getIDCount())
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synchronization.close()
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@ -239,9 +234,7 @@ if __name__ == '__main__':
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metavar='PATTERN',
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default='walker.pedestrian.*',
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help='pedestrians filter (default: "walker.pedestrian.*")')
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argparser.add_argument('--sumo-gui',
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action='store_true',
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help='run the gui version of sumo')
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argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
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argparser.add_argument('--step-length',
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default=0.05,
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type=float,
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@ -32,12 +32,7 @@ class CarlaSimulation(object):
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self.world = self.client.get_world()
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self.blueprint_library = self.world.get_blueprint_library()
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# Configuring carla simulation in sync mode.
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settings = self.world.get_settings()
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settings.synchronous_mode = True
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settings.fixed_delta_seconds = step_length
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self.world.apply_settings(settings)
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self.step_length = step_length
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# The following sets contain updated information for the current frame.
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self._active_actors = set()
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@ -14,6 +14,7 @@
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import collections
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import enum
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import logging
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import os
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import carla # pylint: disable=import-error
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import sumolib # pylint: disable=import-error
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@ -21,6 +22,8 @@ import traci # pylint: disable=import-error
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from .constants import INVALID_ACTOR_ID
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import lxml.etree as ET # pylint: disable=import-error
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# ==================================================================================================
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# -- sumo definitions ------------------------------------------------------------------------------
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# ==================================================================================================
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@ -99,7 +102,7 @@ class SumoActorClass(enum.Enum):
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SumoActor = collections.namedtuple('SumoActor', 'type_id vclass transform signals extent color')
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# ==================================================================================================
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# -- sumo simulation -------------------------------------------------------------------------------
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# -- sumo traffic lights ---------------------------------------------------------------------------
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# ==================================================================================================
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@ -277,11 +280,35 @@ class SumoTLManager(object):
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self._current_phase[tl_id] = current_phase
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# ==================================================================================================
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# -- sumo simulation -------------------------------------------------------------------------------
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# ==================================================================================================
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def _get_sumo_net(cfg_file):
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"""
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Returns sumo net.
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This method reads the sumo configuration file and retrieve the sumo net filename to create the
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net.
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"""
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cfg_file = os.path.join(os.getcwd(), cfg_file)
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tree = ET.parse(cfg_file)
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tag = tree.find('//net-file')
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if tag is None:
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return None
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net_file = os.path.join(os.path.dirname(cfg_file), tag.get('value'))
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logging.debug('Reading net file: %s', net_file)
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sumo_net = traci.sumolib.net.readNet(net_file)
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return sumo_net
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class SumoSimulation(object):
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"""
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SumoSimulation is responsible for the management of the sumo simulation.
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"""
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def __init__(self, host, port, step_length, cfg_file, sumo_gui=False):
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def __init__(self, cfg_file, step_length, host=None, port=None, sumo_gui=False):
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if sumo_gui is True:
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sumo_binary = sumolib.checkBinary('sumo-gui')
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else:
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@ -303,6 +330,9 @@ class SumoSimulation(object):
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logging.info('Connection to sumo server. Host: %s Port: %s', host, port)
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traci.init(host=host, port=port)
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# Retrieving net from configuration file.
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self.net = _get_sumo_net(cfg_file)
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# Creating a random route to be able to spawn carla actors.
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traci.route.add("carla_route", [traci.edge.getIDList()[0]])
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@ -349,20 +379,11 @@ class SumoSimulation(object):
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"""
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traci.vehicle.unsubscribe(actor_id)
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@staticmethod
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def get_net_offset():
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def get_net_offset(self):
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"""
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Accessor for sumo net offset.
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"""
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offset = traci.simulation.convertGeo(0, 0)
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return (-offset[0], -offset[1])
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@staticmethod
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def get_step_length():
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"""
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Accessor for sumo simulation step length.
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"""
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return traci.simulation.getDeltaT()
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return self.net.getLocationOffset()
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@staticmethod
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def get_actor(actor_id):
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@ -17,10 +17,10 @@ the net and inserts, manually, the traffic light landmarks retrieved from the op
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import argparse
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import bisect
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import collections
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import datetime
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import logging
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import shutil
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import subprocess
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import tempfile
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import lxml.etree as ET # pylint: disable=import-error
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@ -362,29 +362,30 @@ class SumoTrafficLight(object):
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# ==================================================================================================
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def netconvert_carla(args, tmp_path):
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def _netconvert_carla_impl(xodr_file, output, tmpdir, guess_tls=False):
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"""
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Generates sumo net.
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Implements netconvert carla.
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"""
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# ----------
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# netconvert
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# ----------
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tmp_file = os.path.splitext(os.path.basename(args.xodr_file))[0]
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tmp_sumo_net = os.path.join(tmp_path, tmp_file + '.net.xml')
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basename = os.path.splitext(os.path.basename(xodr_file))[0]
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tmp_sumo_net = os.path.join(tmpdir, basename + '.net.xml')
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try:
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basedir = os.path.dirname(os.path.realpath(__file__))
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result = subprocess.call(['netconvert',
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'--opendrive', args.xodr_file,
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'--opendrive', xodr_file,
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'--output-file', tmp_sumo_net,
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'--geometry.min-radius.fix',
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'--geometry.remove',
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'--opendrive.curve-resolution', '1',
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'--opendrive.import-all-lanes',
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'--type-files', 'data/opendrive_netconvert.typ.xml',
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'--type-files', os.path.join(basedir, 'data/opendrive_netconvert.typ.xml'),
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# Necessary to link odr and sumo ids.
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'--output.original-names',
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# Discard loading traffic lights as them will be inserted manually afterwards.
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'--tls.discard-loaded', 'true'
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'--tls.discard-loaded', 'true',
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])
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except subprocess.CalledProcessError:
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raise RuntimeError('There was an error when executing netconvert.')
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@ -401,7 +402,7 @@ def netconvert_carla(args, tmp_path):
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# ---------
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# Carla map
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# ---------
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with open(args.xodr_file, 'r') as f:
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with open(xodr_file, 'r') as f:
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carla_map = carla.Map('netconvert', str(f.read()))
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# ---------
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@ -437,7 +438,7 @@ def netconvert_carla(args, tmp_path):
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tls[tlid] = SumoTrafficLight(tlid)
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tl = tls[tlid]
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if args.guess_tls:
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if guess_tls:
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for from_edge, from_lane in sumo_topology.get_incoming(road_id, lane_id):
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successors = sumo_topology.get_successors(from_edge, from_lane)
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for to_edge, to_lane in successors:
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@ -503,25 +504,33 @@ def netconvert_carla(args, tmp_path):
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connection.from_road, connection.to_road, connection.from_lane,
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connection.to_lane))
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tree.write(args.output, pretty_print=True, encoding='UTF-8', xml_declaration=True)
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tree.write(output, pretty_print=True, encoding='UTF-8', xml_declaration=True)
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def netconvert_carla(xodr_file, output, guess_tls=False):
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"""
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Generates sumo net.
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:param xodr_file: opendrive file (*.xodr)
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:param output: output file (*.net.xml)
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:param guess_tls: guess traffic lights at intersections.
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:returns: path to the generated sumo net.
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"""
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try:
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tmpdir = tempfile.mkdtemp()
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_netconvert_carla_impl(xodr_file, output, tmpdir, guess_tls)
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finally:
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if os.path.exists(tmpdir):
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shutil.rmtree(tmpdir)
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if __name__ == '__main__':
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argparser = argparse.ArgumentParser(description=__doc__)
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argparser.add_argument('xodr_file', help='open drive file (*.xodr')
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argparser.add_argument('xodr_file', help='opendrive file (*.xodr')
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argparser.add_argument('--output', '-o', type=str, help='output file (*.net.xml)')
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argparser.add_argument('--guess-tls',
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action='store_true',
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help='guess traffic lights at intersections (default: False)')
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args = argparser.parse_args()
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try:
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tmp_path = 'tmp-{date:%Y-%m-%d_%H-%M-%S-%f}'.format(date=datetime.datetime.now())
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if not os.path.exists(tmp_path):
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os.mkdir(tmp_path)
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netconvert_carla(args, tmp_path)
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finally:
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if os.path.exists(tmp_path):
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shutil.rmtree(tmp_path)
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netconvert_carla(args.xodr_file, args.output, args.guess_tls)
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