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avoid freeze carla

This commit is contained in:
Joel Moriana 2020-04-15 13:56:45 +02:00 committed by bernat
parent 244a85a9a1
commit d03af8cc9c
3 changed files with 27 additions and 19 deletions
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17
Co-Simulation/PTV-Vissim/run_synchronization.py
View File

@ -53,11 +53,11 @@ class SimulationSynchronization(object):
SimulationSynchronization class is responsible for the synchronization of ptv-vissim and carla
simulations.
"""
def __init__(self, args):
def __init__(self, vissim_simulation, carla_simulation, args):
self.args = args
self.vissim = PTVVissimSimulation(args)
self.carla = CarlaSimulation(args)
self.vissim = vissim_simulation
self.carla = carla_simulation
# Mapped actor ids.
self.vissim2carla_ids = {} # Contains only actors controlled by vissim.
@ -68,6 +68,12 @@ class SimulationSynchronization(object):
with open(os.path.join(dir_path, 'data', 'vtypes.json')) as f:
BridgeHelper.vtypes = json.load(f)
# Configuring carla simulation in sync mode.
settings = self.carla.world.get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = args.step_length
self.carla.world.apply_settings(settings)
def tick(self):
"""
Tick to simulation synchronization
@ -165,8 +171,11 @@ def synchronization_loop(args):
"""
Entry point for vissim-carla co-simulation.
"""
carla_simulation = CarlaSimulation(args)
vissim_simulation = PTVVissimSimulation(args)
try:
synchronization = SimulationSynchronization(args)
synchronization = SimulationSynchronization(vissim_simulation, carla_simulation, args)
while True:
start = time.time()

6
Co-Simulation/PTV-Vissim/vissim_integration/carla_simulation.py
View File

@ -37,12 +37,6 @@ class CarlaSimulation(object):
self.world = self.client.get_world()
self.blueprint_library = self.world.get_blueprint_library()
# Configuring carla simulation in sync mode.
settings = self.world.get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = args.step_length
self.world.apply_settings(settings)
# The following sets contain updated information for the current frame.
self._active_actors = set()
self.spawned_actors = set()

23
Co-Simulation/PTV-Vissim/vissim_integration/vissim_simulation.py
View File

@ -14,6 +14,7 @@
import enum
import logging
import math
import os
import carla # pylint: disable=import-error
from ctypes import *
@ -143,15 +144,19 @@ class PTVVissimSimulation(object):
# Connection to vissim simulator.
logging.info('Establishing a connection with a GUI version of PTV-Vissim')
self.ds_proxy.VISSIM_Connect(args.vissim_version, args.vissim_network,
int(1. / args.step_length),
c_double(constants.VISSIM_VISIBILITY_RADIUS),
c_ushort(constants.VISSIM_MAX_SIMULATOR_VEH),
c_ushort(constants.VISSIM_MAX_SIMULATOR_PED),
c_ushort(constants.VISSIM_MAX_SIMULATOR_DET),
c_ushort(constants.VISSIM_MAX_VISSIM_VEH),
c_ushort(constants.VISSIM_MAX_VISSIM_PED),
c_ushort(constants.VISSIM_MAX_VISSIM_SIGGRP))
result = self.ds_proxy.VISSIM_Connect(args.vissim_version,
os.path.abspath(args.vissim_network),
int(1. / args.step_length),
c_double(constants.VISSIM_VISIBILITY_RADIUS),
c_ushort(constants.VISSIM_MAX_SIMULATOR_VEH),
c_ushort(constants.VISSIM_MAX_SIMULATOR_PED),
c_ushort(constants.VISSIM_MAX_SIMULATOR_DET),
c_ushort(constants.VISSIM_MAX_VISSIM_VEH),
c_ushort(constants.VISSIM_MAX_VISSIM_PED),
c_ushort(constants.VISSIM_MAX_VISSIM_SIGGRP))
if not result:
raise RuntimeError('There was an error when establishing a connection with PTV-Vissim')
# Structures to keep track of the simulation state at each time step.
self._vissim_vehicles = {} # vissim_actor_id: VissimVehicle (only vissim traffic)