add support for additional TraCI clients (#2885)

CHANGELOG.md

@@ -10,12 +10,12 @@
   * Added PythonAPI `carla.world.get_vehicles_light_states` to get all the car light states at once
   * OpenDRIVE ingestion bugfixes
   * Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
+  * Added support for additional TraCI clients in Sumo co-simulation
   * Added API functions `get_right_vector` and `get_up_vector`
   * Added parameter to enable/disable pedestrian navigation in standalone mode
   * Improved mesh split in standalone mode
   * Fixed large RAM usage when loading polinomial geometry from OpenDRIVE
 
-
 ## CARLA 0.9.9
 
   * Introduced hybrid mode for Traffic Manager

Co-Simulation/Sumo/run_synchronization.py

@@ -231,7 +231,7 @@ def synchronization_loop(args):
     Entry point for sumo-carla co-simulation.
     """
     sumo_simulation = SumoSimulation(args.sumo_cfg_file, args.step_length, args.sumo_host,
-                                     args.sumo_port, args.sumo_gui)
+                                     args.sumo_port, args.sumo_gui, args.client_order)
     carla_simulation = CarlaSimulation(args.carla_host, args.carla_port, args.step_length)
 
     synchronization = SimulationSynchronization(sumo_simulation, carla_simulation, args.tls_manager,
@@ -282,6 +282,11 @@ if __name__ == '__main__':
                            default=0.05,
                            type=float,
                            help='set fixed delta seconds (default: 0.05s)')
+    argparser.add_argument('--client-order',
+                           metavar='TRACI_CLIENT_ORDER',
+                           default=1,
+                           type=int,
+                           help='client order number for the co-simulation TraCI connection (default: 1)')
     argparser.add_argument('--sync-vehicle-lights',
                            action='store_true',
                            help='synchronize vehicle lights state (default: False)')

Co-Simulation/Sumo/spawn_npc_sumo.py

@@ -66,7 +66,7 @@ from util.netconvert_carla import netconvert_carla
 # ==================================================================================================
 
 
-def write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file):
+def write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file, additional_traci_clients=0):
     """
     Writes sumo configuration xml file.
     """
@@ -79,6 +79,8 @@ def write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file):
     gui_tag = ET.SubElement(root, 'gui_only')
     ET.SubElement(gui_tag, 'gui-settings-file', {'value': viewsettings_file})
 
+    ET.SubElement(root, 'num-clients', {'value': str(additional_traci_clients+1)})
+
     tree = ET.ElementTree(root)
     tree.write(cfg_file, pretty_print=True, encoding='UTF-8', xml_declaration=True)
 
@@ -109,14 +111,15 @@ def main(args):
     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)
+    write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file, args.additional_traci_clients)
 
     sumo_net = sumolib.net.readNet(net_file)
     sumo_simulation = SumoSimulation(cfg_file,
                                      args.step_length,
                                      host=None,
                                      port=None,
-                                     sumo_gui=args.sumo_gui)
+                                     sumo_gui=args.sumo_gui,
+                                     client_order=args.client_order)
 
     # ---------------
     # synchronization
@@ -240,6 +243,16 @@ if __name__ == '__main__':
                            default=0.05,
                            type=float,
                            help='set fixed delta seconds (default: 0.05s)')
+    argparser.add_argument('--additional-traci-clients',
+                           metavar='TRACI_CLIENTS',
+                           default=0,
+                           type=int,
+                           help='number of additional TraCI clients to wait for (default: 0)')
+    argparser.add_argument('--client-order',
+                           metavar='TRACI_CLIENT_ORDER',
+                           default=1,
+                           type=int,
+                           help='client order number for the co-simulation TraCI connection (default: 1)')
     argparser.add_argument('--sync-vehicle-lights',
                            action='store_true',
                            help='synchronize vehicle lights state (default: False)')
@@ -266,4 +279,4 @@ if __name__ == '__main__':
     else:
         logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
 
-    main(args)
+    main(args)

Co-Simulation/Sumo/sumo_integration/sumo_simulation.py

@@ -308,7 +308,7 @@ class SumoSimulation(object):
     """
     SumoSimulation is responsible for the management of the sumo simulation.
     """
-    def __init__(self, cfg_file, step_length, host=None, port=None, sumo_gui=False):
+    def __init__(self, cfg_file, step_length, host=None, port=None, sumo_gui=False, client_order=1):
         if sumo_gui is True:
             sumo_binary = sumolib.checkBinary('sumo-gui')
         else:
@@ -330,6 +330,8 @@ class SumoSimulation(object):
             logging.info('Connection to sumo server. Host: %s Port: %s', host, port)
             traci.init(host=host, port=port)
 
+        traci.setOrder(client_order)
+
         # Retrieving net from configuration file.
         self.net = _get_sumo_net(cfg_file)