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initial commit sumo co-simulation

This commit is contained in:
Joel Moriana 2020-03-04 18:55:33 +01:00 committed by Marc Garcia Puig
parent 12af2b5235
commit e8eb09b062
20 changed files with 11660 additions and 0 deletions
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94
Co-Simulation/Sumo/data/vtypes.json Normal file
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{
"DEFAULT_2_WHEELED_VEHICLE": {
"vClass": "motorcycle"
},
"DEFAULT_WHEELED_VEHICLE": {
"vClass": "passenger"
},
"carla_blueprints": {
"vehicle.audi.a2": {
"vClass": "passenger"
},
"vehicle.audi.tt": {
"vClass": "passenger"
},
"vehicle.bmw.grandtourer": {
"vClass": "passenger"
},
"vehicle.chevrolet.impala": {
"vClass": "passenger"
},
"vehicle.citroen.c3": {
"vClass": "passenger"
},
"vehicle.jeep.wrangler_rubicon": {
"vClass": "passenger"
},
"vehicle.lincoln.mkz2017": {
"vClass": "passenger"
},
"vehicle.mercedes-benz.coupe": {
"vClass": "passenger"
},
"vehicle.mini.cooperst": {
"vClass": "passenger"
},
"vehicle.mustang.mustang": {
"vClass": "passenger"
},
"vehicle.nissan.micra": {
"vClass": "passenger"
},
"vehicle.nissan.patrol": {
"vClass": "passenger"
},
"vehicle.seat.leon": {
"vClass": "passenger"
},
"vehicle.volkswagen.t2": {
"vClass": "passenger",
"guiShape": "passenger/van"
},
"vehicle.dodge_charger.police": {
"vClass": "authority",
"guiShape": "police"
},
"vehicle.bmw.isetta": {
"vClass": "evehicle"
},
"vehicle.toyota.prius": {
"vClass": "evehicle"
},
"vehicle.tesla.cybertruck": {
"vClass": "evehicle"
},
"vehicle.tesla.model3": {
"vClass": "evehicle"
},
"vehicle.audi.etron": {
"vClass": "evehicle"
},
"vehicle.carlamotors.carlacola": {
"vClass": "truck",
"guiShape": "truck"
},
"vehicle.yamaha.yzf": {
"vClass": "motorcycle"
},
"vehicle.harley-davidson.low_rider": {
"vClass": "motorcycle"
},
"vehicle.kawasaki.ninja": {
"vClass": "motorcycle"
},
"vehicle.gazelle.omafiets": {
"vClass": "bicycle"
},
"vehicle.diamondback.century": {
"vClass": "bicycle"
},
"vehicle.bh.crossbike": {
"vClass": "bicycle"
}
}
}

691
Co-Simulation/Sumo/examples/town01/Town01.net.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on Tue Mar 3 12:43:25 2020 by Eclipse SUMO netconvert Version v1_5_0+0340-c5c5ce5a4d
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
<input>
<opendrive-files value="Town01.xodr"/>
</input>
<output>
<output-file value="Town01.net.xml"/>
</output>
<processing>
<geometry.remove value="true"/>
<geometry.min-radius.fix value="true"/>
<geometry.max-grade.fix value="false"/>
</processing>
<tls_building>
<tls.left-green.time value="0"/>
</tls_building>
<junctions>
<rectangular-lane-cut value="true"/>
</junctions>
<report>
<aggregate-warnings value="5"/>
</report>
</configuration>
-->
<net version="1.6" junctionCornerDetail="5" rectangularLaneCut="true" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
<location netOffset="0.06,328.61" convBoundary="0.00,0.00,394.44,328.66" origBoundary="-0.06,-328.61,394.38,0.05" projParameter="!"/>
<type id="bidirectional" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
<type id="border" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
<type id="driving" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
<type id="entry" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
<type id="exit" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
<type id="median" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
<type id="mwyEntry" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
<type id="mwyExit" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
<type id="none" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
<type id="offRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
<type id="onRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
<type id="parking" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="2.50"/>
<type id="rail" priority="3" speed="33.33" allow="rail_urban rail rail_electric rail_fast" width="3.65"/>
<type id="restricted" priority="0" speed="13.89" disallow="all" width="3.65"/>
<type id="roadWorks" priority="0" speed="1.39" allow="authority" width="3.65"/>
<type id="shoulder" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
<type id="special1" priority="1" speed="22.22" allow="custom1" discard="1" width="3.65"/>
<type id="special2" priority="1" speed="22.22" allow="custom2" discard="1" width="3.65"/>
<type id="special3" priority="1" speed="22.22" allow="custom1 custom2" discard="1" width="3.65"/>
<type id="stop" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
<type id="tram" priority="2" speed="13.89" allow="tram" width="3.65"/>
<edge id=":111_0" function="internal">
<lane id=":111_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.22" length="14.76" width="4.00" shape="334.93,282.20 334.35,278.23 332.62,275.40 329.73,273.71 325.69,273.14"/>
</edge>
<edge id=":111_1" function="internal">
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</edge>
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</edge>
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</edge>
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</edge>
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</edge>
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</edge>
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</edge>
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521
Co-Simulation/Sumo/examples/town01/Town01.rou.alt.xml Normal file
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@ -0,0 +1,521 @@
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on Tue Mar 3 12:46:05 2020 by Eclipse SUMO duarouter Version 1.4.0
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<alternatives-output value="Town01.rou.alt.xml"/>
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</configuration>
-->
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<vehicle id="91" type="passenger" depart="91.00">
<routeDistribution last="0">
<route cost="32.71" probability="1.00000000" edges="10.0.00 9.0.00 21.0.00 2.0.00 -25.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="92" type="passenger" depart="92.00">
<routeDistribution last="0">
<route cost="36.87" probability="1.00000000" edges="-19.0.00 6.0.00 24.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="93" type="passenger" depart="93.00">
<routeDistribution last="0">
<route cost="49.39" probability="1.00000000" edges="-22.0.00 -4.0.00 -18.0.00 12.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="94" type="passenger" depart="94.00">
<routeDistribution last="0">
<route cost="42.88" probability="1.00000000" edges="24.0.00 23.0.00 22.0.00 -9.0.00 -10.0.00 -17.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="95" type="passenger" depart="95.00">
<routeDistribution last="0">
<route cost="41.08" probability="1.00000000" edges="25.0.00 1.0.00 -16.0.00 -17.0.00 -18.0.00 -19.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="96" type="passenger" depart="96.00">
<routeDistribution last="0">
<route cost="41.90" probability="1.00000000" edges="-21.0.00 -22.0.00 -23.0.00 -24.0.00 -6.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="97" type="passenger" depart="97.00">
<routeDistribution last="0">
<route cost="54.86" probability="1.00000000" edges="2.0.00 1.0.00 -16.0.00 -17.0.00 -18.0.00 12.0.00 23.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="98" type="passenger" depart="98.00">
<routeDistribution last="0">
<route cost="15.77" probability="1.00000000" edges="-16.0.00 10.0.00"/>
</routeDistribution>
</vehicle>
<vehicle id="99" type="passenger" depart="99.00">
<routeDistribution last="0">
<route cost="23.52" probability="1.00000000" edges="10.0.00 9.0.00 -22.0.00"/>
</routeDistribution>
</vehicle>
</routes>

318
Co-Simulation/Sumo/examples/town01/Town01.rou.xml Normal file
View File

@ -0,0 +1,318 @@
<?xml version='1.0' encoding='UTF-8'?>
<!-- generated on Tue Mar 3 12:46:05 2020 by Eclipse SUMO duarouter Version 1.4.0
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/duarouterConfiguration.xsd">
<input>
<net-file value="Town01.net.xml"/>
<route-files value="trips.trips.xml"/>
</input>
<output>
<output-file value="Town01.rou.xml"/>
<alternatives-output value="Town01.rou.alt.xml"/>
</output>
</configuration>
-->
<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
<vehicle id="0" type="vehicle.audi.a2" depart="0.00">
<route edges="-21.0.00 -9.0.00 -10.0.00 -17.0.00 4.0.00 22.0.00 21.0.00"/>
</vehicle>
<vehicle id="1" type="vehicle.audi.tt" depart="1.00">
<route edges="24.0.00 -12.0.00 18.0.00 17.0.00"/>
</vehicle>
<vehicle id="2" type="vehicle.bmw.grandtourer" depart="2.00">
<route edges="-17.0.00 4.0.00 22.0.00 21.0.00 2.0.00 1.0.00 -16.0.00"/>
</vehicle>
<vehicle id="3" type="vehicle.bmw.isetta" depart="3.00">
<route edges="-18.0.00 -19.0.00"/>
</vehicle>
<vehicle id="4" type="vehicle.chevrolet.impala" depart="4.00">
<route edges="-24.0.00 5.0.00 2.0.00"/>
</vehicle>
<vehicle id="5" type="vehicle.citroen.c3" depart="5.00">
<route edges="-16.0.00 -17.0.00 -18.0.00 -19.0.00 -7.0.00 -1.0.00"/>
</vehicle>
<vehicle id="6" type="vehicle.jeep.wrangler_rubicon" depart="6.00">
<route edges="18.0.00 17.0.00 10.0.00 9.0.00 -22.0.00"/>
</vehicle>
<vehicle id="7" type="vehicle.lincoln.mkz2017" depart="7.00">
<route edges="22.0.00 21.0.00 2.0.00 1.0.00 -16.0.00"/>
</vehicle>
<vehicle id="8" type="vehicle.mercedes-benz.coupe" depart="8.00">
<route edges="25.0.00 -2.0.00 -21.0.00 -9.0.00"/>
</vehicle>
<vehicle id="9" type="vehicle.mini.cooperst" depart="9.00">
<route edges="-12.0.00 18.0.00 17.0.00 16.0.00 -1.0.00 -25.0.00"/>
</vehicle>
<vehicle id="10" type="vehicle.mustang.mustang" depart="10.00">
<route edges="-16.0.00 10.0.00 25.0.00 -2.0.00 -21.0.00"/>
</vehicle>
<vehicle id="11" type="vehicle.nissan.micra" depart="11.00">
<route edges="12.0.00 23.0.00 22.0.00 -9.0.00 -10.0.00"/>
</vehicle>
<vehicle id="12" type="vehicle.nissan.patrol" depart="12.00">
<route edges="-24.0.00 -6.0.00"/>
</vehicle>
<vehicle id="13" type="vehicle.seat.leon" depart="13.00">
<route edges="-24.0.00 -6.0.00 -7.0.00"/>
</vehicle>
<vehicle id="14" type="vehicle.tesla.cybertruck" depart="14.00">
<route edges="22.0.00 21.0.00 2.0.00 -25.0.00 9.0.00 -22.0.00 -23.0.00 -24.0.00 5.0.00"/>
</vehicle>
<vehicle id="15" type="vehicle.volkswagen.t2" depart="15.00">
<route edges="24.0.00 23.0.00 22.0.00 21.0.00 2.0.00 1.0.00 0.0.00 19.0.00"/>
</vehicle>
<vehicle id="16" type="vehicle.dodge_charger.police" depart="16.00">
<route edges="24.0.00 23.0.00 22.0.00 21.0.00"/>
</vehicle>
<vehicle id="17" type="vehicle.toyota.prius" depart="17.00">
<route edges="0.0.00 6.0.00 24.0.00 -12.0.00 -19.0.00 -7.0.00"/>
</vehicle>
<vehicle id="18" type="vehicle.tesla.model3" depart="18.00">
<route edges="25.0.00 -2.0.00 -21.0.00 -22.0.00 -23.0.00"/>
</vehicle>
<vehicle id="19" type="vehicle.audi.etron" depart="19.00">
<route edges="-25.0.00 9.0.00 -22.0.00 -4.0.00"/>
</vehicle>
<vehicle id="20" type="vehicle.carlamotors.carlacola" depart="20.00">
<route edges="-6.0.00 19.0.00"/>
</vehicle>
<vehicle id="21" type="vehicle.yamaha.yzf" depart="21.00">
<route edges="21.0.00 2.0.00 1.0.00 -16.0.00 -17.0.00 -18.0.00 12.0.00"/>
</vehicle>
<vehicle id="22" type="vehicle.harley-davidson.low_rider" depart="22.00">
<route edges="-2.0.00 -3.0.00 24.0.00 23.0.00 22.0.00 21.0.00"/>
</vehicle>
<vehicle id="23" type="vehicle.kawasaki.ninja" depart="23.00">
<route edges="21.0.00 2.0.00"/>
</vehicle>
<vehicle id="24" type="vehicle.gazelle.omafiets" depart="24.00">
<route edges="18.0.00"/>
</vehicle>
<vehicle id="25" type="vehicle.diamondback.century" depart="25.00">
<route edges="-6.0.00 19.0.00 18.0.00 17.0.00 10.0.00"/>
</vehicle>
<vehicle id="26" type="vehicle.bh.crossbike" depart="26.00">
<route edges="-24.0.00 -6.0.00 19.0.00 18.0.00 17.0.00"/>
</vehicle>
<vehicle id="27" type="vehicle.audi.a2" depart="27.00">
<route edges="17.0.00"/>
</vehicle>
<vehicle id="28" type="vehicle.audi.tt" depart="28.00">
<route edges="4.0.00"/>
</vehicle>
<vehicle id="29" type="vehicle.bmw.grandtourer" depart="29.00">
<route edges="-12.0.00 -19.0.00 6.0.00 24.0.00"/>
</vehicle>
<vehicle id="30" type="vehicle.bmw.isetta" depart="30.00">
<route edges="24.0.00 -12.0.00 18.0.00 17.0.00 10.0.00"/>
</vehicle>
<vehicle id="31" type="vehicle.chevrolet.impala" depart="31.00">
<route edges="24.0.00 23.0.00 -4.0.00 -18.0.00 12.0.00"/>
</vehicle>
<vehicle id="32" type="vehicle.citroen.c3" depart="32.00">
<route edges="-24.0.00 -6.0.00 19.0.00 12.0.00 23.0.00"/>
</vehicle>
<vehicle id="33" type="vehicle.jeep.wrangler_rubicon" depart="33.00">
<route edges="21.0.00 2.0.00 -25.0.00 9.0.00 -22.0.00 -23.0.00"/>
</vehicle>
<vehicle id="34" type="vehicle.lincoln.mkz2017" depart="34.00">
<route edges="16.0.00 0.0.00 19.0.00 18.0.00 17.0.00 10.0.00"/>
</vehicle>
<vehicle id="35" type="vehicle.mercedes-benz.coupe" depart="35.00">
<route edges="-19.0.00 -7.0.00 -1.0.00 -2.0.00 -21.0.00"/>
</vehicle>
<vehicle id="36" type="vehicle.mini.cooperst" depart="36.00">
<route edges="-12.0.00 18.0.00 4.0.00 22.0.00"/>
</vehicle>
<vehicle id="37" type="vehicle.mustang.mustang" depart="37.00">
<route edges="12.0.00 23.0.00 22.0.00 21.0.00 2.0.00 -25.0.00 9.0.00 -22.0.00 -23.0.00"/>
</vehicle>
<vehicle id="38" type="vehicle.nissan.micra" depart="38.00">
<route edges="-17.0.00 4.0.00 22.0.00 21.0.00 2.0.00 1.0.00 -16.0.00"/>
</vehicle>
<vehicle id="39" type="vehicle.nissan.patrol" depart="39.00">
<route edges="-3.0.00 -6.0.00 19.0.00 12.0.00 -24.0.00"/>
</vehicle>
<vehicle id="40" type="vehicle.seat.leon" depart="40.00">
<route edges="18.0.00 4.0.00 -23.0.00"/>
</vehicle>
<vehicle id="41" type="vehicle.tesla.cybertruck" depart="41.00">
<route edges="-12.0.00 18.0.00 17.0.00 10.0.00 25.0.00 1.0.00 -16.0.00"/>
</vehicle>
<vehicle id="42" type="vehicle.volkswagen.t2" depart="42.00">
<route edges="19.0.00 18.0.00 4.0.00 22.0.00 21.0.00 2.0.00"/>
</vehicle>
<vehicle id="43" type="vehicle.dodge_charger.police" depart="43.00">
<route edges="-3.0.00 24.0.00 23.0.00 22.0.00 21.0.00 2.0.00 -25.0.00 9.0.00 -22.0.00"/>
</vehicle>
<vehicle id="44" type="vehicle.toyota.prius" depart="44.00">
<route edges="22.0.00 -9.0.00 -10.0.00 16.0.00"/>
</vehicle>
<vehicle id="45" type="vehicle.tesla.model3" depart="45.00">
<route edges="-10.0.00 16.0.00 0.0.00"/>
</vehicle>
<vehicle id="46" type="vehicle.audi.etron" depart="46.00">
<route edges="21.0.00"/>
</vehicle>
<vehicle id="47" type="vehicle.carlamotors.carlacola" depart="47.00">
<route edges="12.0.00 23.0.00 22.0.00 -9.0.00 25.0.00 -2.0.00 -21.0.00"/>
</vehicle>
<vehicle id="48" type="vehicle.yamaha.yzf" depart="48.00">
<route edges="-1.0.00 -25.0.00 -10.0.00 -17.0.00 -18.0.00 -19.0.00 -7.0.00"/>
</vehicle>
<vehicle id="49" type="vehicle.harley-davidson.low_rider" depart="49.00">
<route edges="-2.0.00 -21.0.00 -9.0.00 -10.0.00 16.0.00"/>
</vehicle>
<vehicle id="50" type="vehicle.kawasaki.ninja" depart="50.00">
<route edges="0.0.00 19.0.00 18.0.00 17.0.00 16.0.00 -1.0.00 -2.0.00 -21.0.00"/>
</vehicle>
<vehicle id="51" type="vehicle.gazelle.omafiets" depart="51.00">
<route edges="12.0.00 23.0.00 22.0.00 21.0.00 -3.0.00"/>
</vehicle>
<vehicle id="52" type="vehicle.diamondback.century" depart="52.00">
<route edges="5.0.00 -21.0.00"/>
</vehicle>
<vehicle id="53" type="vehicle.bh.crossbike" depart="53.00">
<route edges="-1.0.00 -25.0.00 9.0.00"/>
</vehicle>
<vehicle id="54" type="vehicle.audi.a2" depart="54.00">
<route edges="1.0.00 -16.0.00 10.0.00 9.0.00 21.0.00 2.0.00"/>
</vehicle>
<vehicle id="55" type="vehicle.audi.tt" depart="55.00">
<route edges="16.0.00 -1.0.00 -25.0.00 -10.0.00 -17.0.00"/>
</vehicle>
<vehicle id="56" type="vehicle.bmw.grandtourer" depart="56.00">
<route edges="-24.0.00 5.0.00 2.0.00 1.0.00"/>
</vehicle>
<vehicle id="57" type="vehicle.bmw.isetta" depart="57.00">
<route edges="-25.0.00 9.0.00 -22.0.00 -4.0.00 17.0.00"/>
</vehicle>
<vehicle id="58" type="vehicle.chevrolet.impala" depart="58.00">
<route edges="-6.0.00 19.0.00 18.0.00 17.0.00 16.0.00 -1.0.00"/>
</vehicle>
<vehicle id="59" type="vehicle.citroen.c3" depart="59.00">
<route edges="10.0.00 25.0.00 -2.0.00 -21.0.00 -9.0.00"/>
</vehicle>
<vehicle id="60" type="vehicle.jeep.wrangler_rubicon" depart="60.00">
<route edges="-10.0.00 -17.0.00 -18.0.00 -19.0.00 6.0.00"/>
</vehicle>
<vehicle id="61" type="vehicle.lincoln.mkz2017" depart="61.00">
<route edges="-19.0.00 6.0.00"/>
</vehicle>
<vehicle id="62" type="vehicle.mercedes-benz.coupe" depart="62.00">
<route edges="-10.0.00 -17.0.00 4.0.00 22.0.00 21.0.00 2.0.00 1.0.00"/>
</vehicle>
<vehicle id="63" type="vehicle.mini.cooperst" depart="63.00">
<route edges="18.0.00 17.0.00 16.0.00 -1.0.00 -2.0.00 -21.0.00"/>
</vehicle>
<vehicle id="64" type="vehicle.mustang.mustang" depart="64.00">
<route edges="0.0.00 6.0.00 24.0.00 23.0.00 22.0.00 -9.0.00 -10.0.00 -17.0.00"/>
</vehicle>
<vehicle id="65" type="vehicle.nissan.micra" depart="65.00">
<route edges="-12.0.00 -19.0.00 -7.0.00"/>
</vehicle>
<vehicle id="66" type="vehicle.nissan.patrol" depart="66.00">
<route edges="-3.0.00 -6.0.00 19.0.00 18.0.00 17.0.00 16.0.00"/>
</vehicle>
<vehicle id="67" type="vehicle.seat.leon" depart="67.00">
<route edges="9.0.00 -22.0.00 -4.0.00 -18.0.00 12.0.00 23.0.00"/>
</vehicle>
<vehicle id="68" type="vehicle.tesla.cybertruck" depart="68.00">
<route edges="-21.0.00 -22.0.00 -4.0.00 -18.0.00"/>
</vehicle>
<vehicle id="69" type="vehicle.volkswagen.t2" depart="69.00">
<route edges="10.0.00 25.0.00 1.0.00 -16.0.00 -17.0.00 -18.0.00 -19.0.00"/>
</vehicle>
<vehicle id="70" type="vehicle.dodge_charger.police" depart="70.00">
<route edges="12.0.00 -24.0.00 -6.0.00 -7.0.00"/>
</vehicle>
<vehicle id="71" type="vehicle.toyota.prius" depart="71.00">
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<vehicle id="72" type="vehicle.tesla.model3" depart="72.00">
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</vehicle>
<vehicle id="73" type="vehicle.audi.etron" depart="73.00">
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</vehicle>
<vehicle id="74" type="vehicle.carlamotors.carlacola" depart="74.00">
<route edges="5.0.00 -21.0.00 -22.0.00 -23.0.00 -24.0.00 -6.0.00 19.0.00"/>
</vehicle>
<vehicle id="75" type="vehicle.yamaha.yzf" depart="75.00">
<route edges="-4.0.00 17.0.00 16.0.00 0.0.00 19.0.00 18.0.00"/>
</vehicle>
<vehicle id="76" type="vehicle.harley-davidson.low_rider" depart="76.00">
<route edges="2.0.00 -25.0.00 -10.0.00"/>
</vehicle>
<vehicle id="77" type="vehicle.kawasaki.ninja" depart="77.00">
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</vehicle>
<vehicle id="78" type="vehicle.gazelle.omafiets" depart="78.00">
<route edges="19.0.00 18.0.00 17.0.00 16.0.00 -1.0.00 -2.0.00 -21.0.00"/>
</vehicle>
<vehicle id="79" type="vehicle.diamondback.century" depart="79.00">
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</vehicle>
<vehicle id="80" type="vehicle.bh.crossbike" depart="80.00">
<route edges="17.0.00 10.0.00 9.0.00 -22.0.00 -23.0.00 -12.0.00"/>
</vehicle>
<vehicle id="81" type="vehicle.audi.a2" depart="81.00">
<route edges="-18.0.00 12.0.00 23.0.00 22.0.00 21.0.00 -3.0.00"/>
</vehicle>
<vehicle id="82" type="vehicle.audi.tt" depart="82.00">
<route edges="-22.0.00 -23.0.00 -24.0.00 -6.0.00"/>
</vehicle>
<vehicle id="83" type="vehicle.bmw.grandtourer" depart="83.00">
<route edges="17.0.00 16.0.00 -1.0.00 -2.0.00 -21.0.00"/>
</vehicle>
<vehicle id="84" type="vehicle.bmw.isetta" depart="84.00">
<route edges="-6.0.00 19.0.00 18.0.00 17.0.00 16.0.00 -1.0.00 -2.0.00 -3.0.00"/>
</vehicle>
<vehicle id="85" type="vehicle.chevrolet.impala" depart="85.00">
<route edges="10.0.00 9.0.00 21.0.00"/>
</vehicle>
<vehicle id="86" type="vehicle.citroen.c3" depart="86.00">
<route edges="-10.0.00 16.0.00 0.0.00 19.0.00 18.0.00"/>
</vehicle>
<vehicle id="87" type="vehicle.jeep.wrangler_rubicon" depart="87.00">
<route edges="-4.0.00 17.0.00 10.0.00 9.0.00 -22.0.00"/>
</vehicle>
<vehicle id="88" type="vehicle.lincoln.mkz2017" depart="88.00">
<route edges="-18.0.00 12.0.00 23.0.00 22.0.00 -9.0.00 25.0.00"/>
</vehicle>
<vehicle id="89" type="vehicle.mercedes-benz.coupe" depart="89.00">
<route edges="23.0.00 22.0.00 21.0.00 2.0.00 -25.0.00 9.0.00 -22.0.00 -23.0.00 -12.0.00"/>
</vehicle>
<vehicle id="90" type="vehicle.mini.cooperst" depart="90.00">
<route edges="4.0.00 -23.0.00 -24.0.00 5.0.00"/>
</vehicle>
<vehicle id="91" type="vehicle.mustang.mustang" depart="91.00">
<route edges="10.0.00 9.0.00 21.0.00 2.0.00 -25.0.00"/>
</vehicle>
<vehicle id="92" type="vehicle.nissan.micra" depart="92.00">
<route edges="-19.0.00 6.0.00 24.0.00"/>
</vehicle>
<vehicle id="93" type="vehicle.nissan.patrol" depart="93.00">
<route edges="-22.0.00 -4.0.00 -18.0.00 12.0.00"/>
</vehicle>
<vehicle id="94" type="vehicle.seat.leon" depart="94.00">
<route edges="24.0.00 23.0.00 22.0.00 -9.0.00 -10.0.00 -17.0.00"/>
</vehicle>
<vehicle id="95" type="vehicle.tesla.cybertruck" depart="95.00">
<route edges="25.0.00 1.0.00 -16.0.00 -17.0.00 -18.0.00 -19.0.00"/>
</vehicle>
<vehicle id="96" type="vehicle.volkswagen.t2" depart="96.00">
<route edges="-21.0.00 -22.0.00 -23.0.00 -24.0.00 -6.0.00"/>
</vehicle>
<vehicle id="97" type="vehicle.dodge_charger.police" depart="97.00">
<route edges="2.0.00 1.0.00 -16.0.00 -17.0.00 -18.0.00 12.0.00 23.0.00"/>
</vehicle>
<vehicle id="98" type="vehicle.toyota.prius" depart="98.00">
<route edges="-16.0.00 10.0.00"/>
</vehicle>
<vehicle id="99" type="vehicle.tesla.model3" depart="99.00">
<route edges="10.0.00 9.0.00 -22.0.00"/>
</vehicle>
</routes>

17
Co-Simulation/Sumo/examples/town01/Town01.sumocfg Normal file
View File

@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on mar 11 feb 2020 15:18:44 CET by Eclipse SUMO GUI Version 1.4.0
-->
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
<input>
<net-file value="Town01.net.xml"/>
<route-files value="carlavtypes.rou.xml,Town01.rou.xml"/>
</input>
<gui_only>
<gui-settings-file value="viewsettings.xml"/>
</gui_only>
</configuration>

7778
Co-Simulation/Sumo/examples/town01/Town01.xodr Normal file
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File diff suppressed because it is too large Load Diff

31
Co-Simulation/Sumo/examples/town01/carlavtypes.rou.xml Normal file
View File

@ -0,0 +1,31 @@
<?xml version='1.0' encoding='UTF-8'?>
<!--generated on 2020-03-04 18:25:00 by create_sumo_vtypes.py-->
<routes>
<vType id="vehicle.audi.a2" length="3.7186214923858643" width="1.7924479246139526" height="1.5354934930801392" vClass="passenger"/>
<vType id="vehicle.audi.tt" length="4.147226333618164" width="2.0032031536102295" height="1.382421851158142" vClass="passenger"/>
<vType id="vehicle.carlamotors.carlacola" length="5.1992292404174805" width="2.6150190830230713" height="2.4768505096435547" vClass="truck" guiShape="truck"/>
<vType id="vehicle.dodge_charger.police" length="5.010976314544678" width="2.054335832595825" height="1.5807031393051147" vClass="authority" guiShape="police"/>
<vType id="vehicle.jeep.wrangler_rubicon" length="3.8681068420410156" width="1.906570553779602" height="1.8799999952316284" vClass="passenger"/>
<vType id="vehicle.chevrolet.impala" length="5.369193077087402" width="2.052736520767212" height="1.4150995016098022" vClass="passenger"/>
<vType id="vehicle.mini.cooperst" length="3.8021926879882812" width="1.9740344285964966" height="1.4750006198883057" vClass="passenger"/>
<vType id="vehicle.bmw.isetta" length="2.2024967670440674" width="1.4853248596191406" height="1.3464953899383545" vClass="evehicle"/>
<vType id="vehicle.audi.etron" length="4.892005443572998" width="2.08632230758667" height="1.6511509418487549" vClass="evehicle"/>
<vType id="vehicle.mercedes-benz.coupe" length="5.043785095214844" width="2.1629974842071533" height="1.640134572982788" vClass="passenger"/>
<vType id="vehicle.bmw.grandtourer" length="4.639087677001953" width="2.259321928024292" height="1.6781779527664185" vClass="passenger"/>
<vType id="vehicle.toyota.prius" length="4.538333415985107" width="2.0011305809020996" height="1.5373616218566895" vClass="evehicle"/>
<vType id="vehicle.citroen.c3" length="3.9753477573394775" width="1.862074851989746" height="1.6257729530334473" vClass="passenger"/>
<vType id="vehicle.mustang.mustang" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
<vType id="vehicle.tesla.model3" length="4.808821678161621" width="2.1695058345794678" height="1.5231821537017822" vClass="evehicle"/>
<vType id="vehicle.diamondback.century" length="1.6562436819076538" width="0.42141881585121155" height="1.49351167678833" vClass="bicycle"/>
<vType id="vehicle.gazelle.omafiets" length="1.843441367149353" width="0.4674844741821289" height="1.590073823928833" vClass="bicycle"/>
<vType id="vehicle.harley-davidson.low_rider" length="2.350175619125366" width="0.7662330269813538" height="1.4637391567230225" vClass="motorcycle"/>
<vType id="vehicle.bh.crossbike" length="1.5093227624893188" width="0.8659406304359436" height="1.5306309461593628" vClass="bicycle"/>
<vType id="vehicle.tesla.cybertruck" length="6.364232063293457" width="2.3934903144836426" height="2.1439828872680664" vClass="evehicle"/>
<vType id="vehicle.volkswagen.t2" length="4.473711013793945" width="1.8112499713897705" height="2.0543651580810547" vClass="passenger" guiShape="passenger/van"/>
<vType id="vehicle.kawasaki.ninja" length="2.043684244155884" width="0.7969123125076294" height="1.374603033065796" vClass="motorcycle"/>
<vType id="vehicle.lincoln.mkz2017" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
<vType id="vehicle.seat.leon" length="4.207873821258545" width="1.8198652267456055" height="1.4694602489471436" vClass="passenger"/>
<vType id="vehicle.yamaha.yzf" length="2.1907684803009033" width="0.7662330269813538" height="1.6345058679580688" vClass="motorcycle"/>
<vType id="vehicle.nissan.patrol" length="4.519999980926514" width="1.9199999570846558" height="1.8871309757232666" vClass="passenger"/>
<vType id="vehicle.nissan.micra" length="3.6688475608825684" width="1.8561522960662842" height="1.5232137441635132" vClass="passenger"/>
</routes>

21
Co-Simulation/Sumo/examples/town01/netconvert_options.sumo Normal file
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@ -0,0 +1,21 @@
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on Tue Mar 3 12:43:12 2020 by Eclipse SUMO netconvert Version v1_5_0+0340-c5c5ce5a4d
-->
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
<input>
<opendrive-files value="Town01.xodr"/>
</input>
<output>
<output-file value="Town01.net.xml"/>
</output>
<processing>
<geometry.remove value="true"/>
<geometry.min-radius.fix value="true"/>
</processing>
</configuration>

107
Co-Simulation/Sumo/examples/town01/trips.trips.xml Normal file
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@ -0,0 +1,107 @@
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on 2020-03-03 12:44:57.141872 by randomTrips.py v1_5_0+0340-c5c5ce5a4d
options: -n Town01.net.xml -e 100 <doubleminus>vehicle-class passenger
-->
<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
<vType id="passenger" vClass="passenger"/>
<trip id="0" depart="0.00" from="-21.0.00" to="21.0.00" type="passenger"/>
<trip id="1" depart="1.00" from="24.0.00" to="17.0.00" type="passenger"/>
<trip id="2" depart="2.00" from="-17.0.00" to="-16.0.00" type="passenger"/>
<trip id="3" depart="3.00" from="-18.0.00" to="-19.0.00" type="passenger"/>
<trip id="4" depart="4.00" from="-24.0.00" to="2.0.00" type="passenger"/>
<trip id="5" depart="5.00" from="-16.0.00" to="-1.0.00" type="passenger"/>
<trip id="6" depart="6.00" from="18.0.00" to="-22.0.00" type="passenger"/>
<trip id="7" depart="7.00" from="22.0.00" to="-16.0.00" type="passenger"/>
<trip id="8" depart="8.00" from="25.0.00" to="-9.0.00" type="passenger"/>
<trip id="9" depart="9.00" from="-12.0.00" to="-25.0.00" type="passenger"/>
<trip id="10" depart="10.00" from="-16.0.00" to="-21.0.00" type="passenger"/>
<trip id="11" depart="11.00" from="12.0.00" to="-10.0.00" type="passenger"/>
<trip id="12" depart="12.00" from="-24.0.00" to="-6.0.00" type="passenger"/>
<trip id="13" depart="13.00" from="-24.0.00" to="-7.0.00" type="passenger"/>
<trip id="14" depart="14.00" from="22.0.00" to="5.0.00" type="passenger"/>
<trip id="15" depart="15.00" from="24.0.00" to="19.0.00" type="passenger"/>
<trip id="16" depart="16.00" from="24.0.00" to="21.0.00" type="passenger"/>
<trip id="17" depart="17.00" from="0.0.00" to="-7.0.00" type="passenger"/>
<trip id="18" depart="18.00" from="25.0.00" to="-23.0.00" type="passenger"/>
<trip id="19" depart="19.00" from="-25.0.00" to="-4.0.00" type="passenger"/>
<trip id="20" depart="20.00" from="-6.0.00" to="19.0.00" type="passenger"/>
<trip id="21" depart="21.00" from="21.0.00" to="12.0.00" type="passenger"/>
<trip id="22" depart="22.00" from="-2.0.00" to="21.0.00" type="passenger"/>
<trip id="23" depart="23.00" from="21.0.00" to="2.0.00" type="passenger"/>
<trip id="24" depart="24.00" from="18.0.00" to="18.0.00" type="passenger"/>
<trip id="25" depart="25.00" from="-6.0.00" to="10.0.00" type="passenger"/>
<trip id="26" depart="26.00" from="-24.0.00" to="17.0.00" type="passenger"/>
<trip id="27" depart="27.00" from="17.0.00" to="17.0.00" type="passenger"/>
<trip id="28" depart="28.00" from="4.0.00" to="4.0.00" type="passenger"/>
<trip id="29" depart="29.00" from="-12.0.00" to="24.0.00" type="passenger"/>
<trip id="30" depart="30.00" from="24.0.00" to="10.0.00" type="passenger"/>
<trip id="31" depart="31.00" from="24.0.00" to="12.0.00" type="passenger"/>
<trip id="32" depart="32.00" from="-24.0.00" to="23.0.00" type="passenger"/>
<trip id="33" depart="33.00" from="21.0.00" to="-23.0.00" type="passenger"/>
<trip id="34" depart="34.00" from="16.0.00" to="10.0.00" type="passenger"/>
<trip id="35" depart="35.00" from="-19.0.00" to="-21.0.00" type="passenger"/>
<trip id="36" depart="36.00" from="-12.0.00" to="22.0.00" type="passenger"/>
<trip id="37" depart="37.00" from="12.0.00" to="-23.0.00" type="passenger"/>
<trip id="38" depart="38.00" from="-17.0.00" to="-16.0.00" type="passenger"/>
<trip id="39" depart="39.00" from="-3.0.00" to="-24.0.00" type="passenger"/>
<trip id="40" depart="40.00" from="18.0.00" to="-23.0.00" type="passenger"/>
<trip id="41" depart="41.00" from="-12.0.00" to="-16.0.00" type="passenger"/>
<trip id="42" depart="42.00" from="19.0.00" to="2.0.00" type="passenger"/>
<trip id="43" depart="43.00" from="-3.0.00" to="-22.0.00" type="passenger"/>
<trip id="44" depart="44.00" from="22.0.00" to="16.0.00" type="passenger"/>
<trip id="45" depart="45.00" from="-10.0.00" to="0.0.00" type="passenger"/>
<trip id="46" depart="46.00" from="21.0.00" to="21.0.00" type="passenger"/>
<trip id="47" depart="47.00" from="12.0.00" to="-21.0.00" type="passenger"/>
<trip id="48" depart="48.00" from="-1.0.00" to="-7.0.00" type="passenger"/>
<trip id="49" depart="49.00" from="-2.0.00" to="16.0.00" type="passenger"/>
<trip id="50" depart="50.00" from="0.0.00" to="-21.0.00" type="passenger"/>
<trip id="51" depart="51.00" from="12.0.00" to="-3.0.00" type="passenger"/>
<trip id="52" depart="52.00" from="5.0.00" to="-21.0.00" type="passenger"/>
<trip id="53" depart="53.00" from="-1.0.00" to="9.0.00" type="passenger"/>
<trip id="54" depart="54.00" from="1.0.00" to="2.0.00" type="passenger"/>
<trip id="55" depart="55.00" from="16.0.00" to="-17.0.00" type="passenger"/>
<trip id="56" depart="56.00" from="-24.0.00" to="1.0.00" type="passenger"/>
<trip id="57" depart="57.00" from="-25.0.00" to="17.0.00" type="passenger"/>
<trip id="58" depart="58.00" from="-6.0.00" to="-1.0.00" type="passenger"/>
<trip id="59" depart="59.00" from="10.0.00" to="-9.0.00" type="passenger"/>
<trip id="60" depart="60.00" from="-10.0.00" to="6.0.00" type="passenger"/>
<trip id="61" depart="61.00" from="-19.0.00" to="6.0.00" type="passenger"/>
<trip id="62" depart="62.00" from="-10.0.00" to="1.0.00" type="passenger"/>
<trip id="63" depart="63.00" from="18.0.00" to="-21.0.00" type="passenger"/>
<trip id="64" depart="64.00" from="0.0.00" to="-17.0.00" type="passenger"/>
<trip id="65" depart="65.00" from="-12.0.00" to="-7.0.00" type="passenger"/>
<trip id="66" depart="66.00" from="-3.0.00" to="16.0.00" type="passenger"/>
<trip id="67" depart="67.00" from="9.0.00" to="23.0.00" type="passenger"/>
<trip id="68" depart="68.00" from="-21.0.00" to="-18.0.00" type="passenger"/>
<trip id="69" depart="69.00" from="10.0.00" to="-19.0.00" type="passenger"/>
<trip id="70" depart="70.00" from="12.0.00" to="-7.0.00" type="passenger"/>
<trip id="71" depart="71.00" from="-23.0.00" to="25.0.00" type="passenger"/>
<trip id="72" depart="72.00" from="-1.0.00" to="-22.0.00" type="passenger"/>
<trip id="73" depart="73.00" from="-3.0.00" to="-6.0.00" type="passenger"/>
<trip id="74" depart="74.00" from="5.0.00" to="19.0.00" type="passenger"/>
<trip id="75" depart="75.00" from="-4.0.00" to="18.0.00" type="passenger"/>
<trip id="76" depart="76.00" from="2.0.00" to="-10.0.00" type="passenger"/>
<trip id="77" depart="77.00" from="4.0.00" to="6.0.00" type="passenger"/>
<trip id="78" depart="78.00" from="19.0.00" to="-21.0.00" type="passenger"/>
<trip id="79" depart="79.00" from="25.0.00" to="24.0.00" type="passenger"/>
<trip id="80" depart="80.00" from="17.0.00" to="-12.0.00" type="passenger"/>
<trip id="81" depart="81.00" from="-18.0.00" to="-3.0.00" type="passenger"/>
<trip id="82" depart="82.00" from="-22.0.00" to="-6.0.00" type="passenger"/>
<trip id="83" depart="83.00" from="17.0.00" to="-21.0.00" type="passenger"/>
<trip id="84" depart="84.00" from="-6.0.00" to="-3.0.00" type="passenger"/>
<trip id="85" depart="85.00" from="10.0.00" to="21.0.00" type="passenger"/>
<trip id="86" depart="86.00" from="-10.0.00" to="18.0.00" type="passenger"/>
<trip id="87" depart="87.00" from="-4.0.00" to="-22.0.00" type="passenger"/>
<trip id="88" depart="88.00" from="-18.0.00" to="25.0.00" type="passenger"/>
<trip id="89" depart="89.00" from="23.0.00" to="-12.0.00" type="passenger"/>
<trip id="90" depart="90.00" from="4.0.00" to="5.0.00" type="passenger"/>
<trip id="91" depart="91.00" from="10.0.00" to="-25.0.00" type="passenger"/>
<trip id="92" depart="92.00" from="-19.0.00" to="24.0.00" type="passenger"/>
<trip id="93" depart="93.00" from="-22.0.00" to="12.0.00" type="passenger"/>
<trip id="94" depart="94.00" from="24.0.00" to="-17.0.00" type="passenger"/>
<trip id="95" depart="95.00" from="25.0.00" to="-19.0.00" type="passenger"/>
<trip id="96" depart="96.00" from="-21.0.00" to="-6.0.00" type="passenger"/>
<trip id="97" depart="97.00" from="2.0.00" to="23.0.00" type="passenger"/>
<trip id="98" depart="98.00" from="-16.0.00" to="10.0.00" type="passenger"/>
<trip id="99" depart="99.00" from="10.0.00" to="-22.0.00" type="passenger"/>
</routes>

774
Co-Simulation/Sumo/examples/town01/viewsettings.xml Normal file
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@ -0,0 +1,774 @@
<viewsettings>
<scheme name="custom_1">
<opengl dither="0" fps="0" drawBoundaries="0" forceDrawPositionSelection="0" forceDrawRectangleSelection="0"/>
<background backgroundColor="white" showGrid="0" gridXSize="100.00" gridYSize="100.00"/>
<edges laneEdgeMode="0" scaleMode="0" laneShowBorders="1" showBikeMarkings="1" showLinkDecals="1" showLinkRules="1" showRails="1" hideConnectors="0" widthExaggeration="1.00" minSize="0.00" showDirection="0" showSublanes="1" spreadSuperposed="0" edgeParam="EDGE_KEY" laneParam="LANE_KEY" vehicleParam="PARAM_NUMERICAL" vehicleTextParam="PARAM_TEXT" edgeData="speed"
edgeName_show="0" edgeName_size="60.00" edgeName_color="orange" edgeName_bgColor="128,0,0,0" edgeName_constantSize="1"
internalEdgeName_show="0" internalEdgeName_size="45.00" internalEdgeName_color="128,64,0" internalEdgeName_bgColor="128,0,0,0" internalEdgeName_constantSize="1"
cwaEdgeName_show="0" cwaEdgeName_size="60.00" cwaEdgeName_color="magenta" cwaEdgeName_bgColor="128,0,0,0" cwaEdgeName_constantSize="1"
streetName_show="0" streetName_size="60.00" streetName_color="yellow" streetName_bgColor="128,0,0,0" streetName_constantSize="1"
edgeValue_show="0" edgeValue_size="100.00" edgeValue_color="cyan" edgeValue_bgColor="128,0,0,0" edgeValue_constantSize="1">
<colorScheme name="uniform">
<entry color="black" name="road"/>
<entry color="grey" name="sidewalk"/>
<entry color="192,66,44" name="bike lane"/>
<entry color="0,0,0,0" name="green verge"/>
<entry color="150,200,200" name="waterway"/>
<entry color="black" name="railway"/>
<entry color="92,92,92" name="no passenger"/>
<entry color="red" name="closed"/>
<entry color="green" name="connector"/>
<entry color="orange" name="forbidden"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="grey" name="unselected"/>
<entry color="0,80,180" name="selected"/>
</colorScheme>
<colorScheme name="by permission code" interpolated="1">
<entry color="240,240,240" threshold="0.00" name="nobody"/>
<entry color="grey" threshold="32.00" name="pedestrian"/>
<entry color="10,10,10" threshold="64.00" name="passenger"/>
<entry color="166,147,26" threshold="256.00" name="taxi"/>
<entry color="40,100,40" threshold="512.00" name="bus"/>
<entry color="80,80,80" threshold="2080.00" name="pedestrian_delivery"/>
<entry color="192,66,44" threshold="65536.00" name="bicycle"/>
<entry color="150,200,200" threshold="8388608.00" name="waterway"/>
<entry color="255,206,0" threshold="50495455.00" name="motorway"/>
<entry color="black" threshold="50593759.00" name="disallow_pedestrian"/>
<entry color="black" threshold="50593791.00" name="normal_road"/>
<entry color="green" threshold="67108863.00" name="all"/>
</colorScheme>
<colorScheme name="by allowed speed (lanewise)" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by current occupancy (lanewise, brutto)" interpolated="1">
<entry color="235,235,235" threshold="0.00"/>
<entry color="green" threshold="0.25"/>
<entry color="yellow" threshold="0.50"/>
<entry color="orange" threshold="0.75"/>
<entry color="red" threshold="1.00"/>
</colorScheme>
<colorScheme name="by current occupancy (lanewise, netto)" interpolated="1">
<entry color="235,235,235" threshold="0.00"/>
<entry color="green" threshold="0.25"/>
<entry color="yellow" threshold="0.50"/>
<entry color="orange" threshold="0.75"/>
<entry color="red" threshold="1.00"/>
</colorScheme>
<colorScheme name="by first vehicle waiting time (lanewise)" interpolated="1">
<entry color="235,235,235" threshold="0.00"/>
<entry color="cyan" threshold="30.00"/>
<entry color="green" threshold="100.00"/>
<entry color="yellow" threshold="200.00"/>
<entry color="red" threshold="300.00"/>
</colorScheme>
<colorScheme name="by lane number (streetwise)" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="blue" threshold="5.00"/>
</colorScheme>
<colorScheme name="by CO2 emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.27"/>
</colorScheme>
<colorScheme name="by CO emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.00"/>
</colorScheme>
<colorScheme name="by PMx emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.00"/>
</colorScheme>
<colorScheme name="by NOx emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.00"/>
</colorScheme>
<colorScheme name="by HC emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.00"/>
</colorScheme>
<colorScheme name="by fuel consumption" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.07"/>
</colorScheme>
<colorScheme name="by noise emissions (Harmonoise)" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="100.00"/>
</colorScheme>
<colorScheme name="by global travel time" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="100.00"/>
</colorScheme>
<colorScheme name="by global speed percentage" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="50.00"/>
<entry color="green" threshold="100.00"/>
</colorScheme>
<colorScheme name="by given length/geometrical length" interpolated="1">
<entry color="black" threshold="0.00"/>
<entry color="red" threshold="0.25"/>
<entry color="yellow" threshold="0.50"/>
<entry color="179,179,179" threshold="1.00"/>
<entry color="green" threshold="2.00"/>
<entry color="blue" threshold="4.00"/>
</colorScheme>
<colorScheme name="by angle">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="by loaded weight" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="100.00"/>
</colorScheme>
<colorScheme name="by priority" interpolated="1">
<entry color="red" threshold="-20.00"/>
<entry color="yellow" threshold="0.00"/>
<entry color="green" threshold="20.00"/>
</colorScheme>
<colorScheme name="by height at start" interpolated="1">
<entry color="blue" threshold="-10.00"/>
<entry color="grey" threshold="0.00"/>
<entry color="red" threshold="10.00"/>
<entry color="yellow" threshold="50.00"/>
<entry color="green" threshold="100.00"/>
<entry color="magenta" threshold="200.00"/>
</colorScheme>
<colorScheme name="by height at geometry-segment start" interpolated="1">
<entry color="blue" threshold="-10.00"/>
<entry color="grey" threshold="0.00"/>
<entry color="red" threshold="10.00"/>
<entry color="yellow" threshold="50.00"/>
<entry color="green" threshold="100.00"/>
<entry color="magenta" threshold="200.00"/>
</colorScheme>
<colorScheme name="by inclination" interpolated="1">
<entry color="blue" threshold="-0.30"/>
<entry color="green" threshold="-0.10"/>
<entry color="grey" threshold="0.00"/>
<entry color="yellow" threshold="0.10"/>
<entry color="red" threshold="0.30"/>
</colorScheme>
<colorScheme name="by geometry-segment inclination" interpolated="1">
<entry color="blue" threshold="-0.30"/>
<entry color="green" threshold="-0.10"/>
<entry color="grey" threshold="0.00"/>
<entry color="yellow" threshold="0.10"/>
<entry color="red" threshold="0.30"/>
</colorScheme>
<colorScheme name="by average speed" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by average relative speed " interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="0.25"/>
<entry color="green" threshold="0.50"/>
<entry color="cyan" threshold="0.75"/>
<entry color="blue" threshold="1.00"/>
<entry color="magenta" threshold="1.25"/>
</colorScheme>
<colorScheme name="by routing device assumed speed " interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by electricity consumption" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.03"/>
</colorScheme>
<colorScheme name="by insertion-backlog (streetwise)" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
<entry color="green" threshold="1.00"/>
<entry color="yellow" threshold="10.00"/>
<entry color="red" threshold="100.00"/>
</colorScheme>
<colorScheme name="by TAZ (streetwise)">
<entry color="204,204,204" name="no TAZ"/>
</colorScheme>
<colorScheme name="by param (numerical, streetwise)" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
</colorScheme>
<colorScheme name="by param (numerical, lanewise)" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
</colorScheme>
<colorScheme name="by edgeData (numerical, streetwise)" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
</colorScheme>
<colorScheme name="by distance (kilometrage)" interpolated="1">
<entry color="blue" threshold="-10000.00"/>
<entry color="204,204,255" threshold="-1.00"/>
<entry color="204,204,204" threshold="0.00"/>
<entry color="255,204,204" threshold="1.00"/>
<entry color="red" threshold="10000.00"/>
</colorScheme>
<colorScheme name="by abs distance (kilometrage)" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
<entry color="red" threshold="1.00"/>
</colorScheme>
<colorScheme name="by reachability (traveltime)" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
<entry color="red" threshold="1.00"/>
</colorScheme>
<colorScheme name="by thread index" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
<entry color="red" threshold="1.00"/>
</colorScheme>
<scalingScheme name="default">
<entry color="1.00" name="uniform"/>
</scalingScheme>
<scalingScheme name="by selection">
<entry color="0.50" name="unselected"/>
<entry color="5.00" name="selected"/>
</scalingScheme>
<scalingScheme name="by allowed speed (lanewise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="41.67"/>
</scalingScheme>
<scalingScheme name="by current occupancy (lanewise, brutto)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.95"/>
</scalingScheme>
<scalingScheme name="by current occupancy (lanewise, netto)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.95"/>
</scalingScheme>
<scalingScheme name="by first vehicle waiting time (lanewise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="300.00"/>
</scalingScheme>
<scalingScheme name="by lane number (streetwise)" interpolated="1">
<entry color="1.00" threshold="0.00"/>
<entry color="10.00" threshold="5.00"/>
</scalingScheme>
<scalingScheme name="by CO2 emissions" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.27"/>
</scalingScheme>
<scalingScheme name="by CO emissions" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.00"/>
</scalingScheme>
<scalingScheme name="by PMx emissions" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.00"/>
</scalingScheme>
<scalingScheme name="by NOx emissions" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.00"/>
</scalingScheme>
<scalingScheme name="by HC emissions" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.00"/>
</scalingScheme>
<scalingScheme name="by fuel consumption" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.07"/>
</scalingScheme>
<scalingScheme name="by noise emissions (Harmonoise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="100.00"/>
</scalingScheme>
<scalingScheme name="by global travel time" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="100.00"/>
</scalingScheme>
<scalingScheme name="by global speed percentage" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="100.00"/>
</scalingScheme>
<scalingScheme name="by given length/geometrical length" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="10.00"/>
</scalingScheme>
<scalingScheme name="by loaded weight" interpolated="1">
<entry color="-1000.00" threshold="-1000.00"/>
<entry color="0.00" threshold="0.00"/>
<entry color="1000.00" threshold="1000.00"/>
</scalingScheme>
<scalingScheme name="by priority" interpolated="1">
<entry color="0.50" threshold="-20.00"/>
<entry color="1.00" threshold="0.00"/>
<entry color="5.00" threshold="20.00"/>
</scalingScheme>
<scalingScheme name="by average speed" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="41.67"/>
</scalingScheme>
<scalingScheme name="by average relative speed" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="0.50" threshold="0.50"/>
<entry color="2.00" threshold="1.00"/>
<entry color="10.00" threshold="2.00"/>
</scalingScheme>
<scalingScheme name="by electricity consumption" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.03"/>
</scalingScheme>
<scalingScheme name="by insertion-backlog (streetwise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="1.00" threshold="1.00"/>
<entry color="10.00" threshold="10.00"/>
<entry color="50.00" threshold="100.00"/>
</scalingScheme>
<colorScheme name="uniform">
<entry color="0,0,0,0"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="grey" name="unselected"/>
<entry color="0,80,180" name="selected"/>
</colorScheme>
<colorScheme name="by purpose (streetwise)">
<entry color="0,0,0,0" name="normal"/>
<entry color="128,0,128" name="connector"/>
<entry color="blue" name="internal"/>
</colorScheme>
<colorScheme name="by allowed speed (streetwise)" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by current occupancy (streetwise, brutto)" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="red" threshold="0.95"/>
</colorScheme>
<colorScheme name="by current speed (streetwise)" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by current flow (streetwise)" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="red" threshold="5000.00"/>
</colorScheme>
<colorScheme name="by relative speed (streetwise)" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="0.25"/>
<entry color="green" threshold="0.50"/>
<entry color="cyan" threshold="0.75"/>
<entry color="blue" threshold="1.00"/>
<entry color="magenta" threshold="1.25"/>
</colorScheme>
<colorScheme name="by routing device assumed speed" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by angle">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="by segments (alternating)">
<entry color="blue" name="odd"/>
<entry color="red" name="even"/>
</colorScheme>
<colorScheme name="by jammed state (segmentwise)">
<entry color="green" name="free"/>
<entry color="red" name="jammed"/>
</colorScheme>
<colorScheme name="by current occupancy (segmentwise, brutto)" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="red" threshold="0.95"/>
</colorScheme>
<colorScheme name="by current speed (segmentwise)" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by current flow (segmentwise)" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="red" threshold="5000.00"/>
</colorScheme>
<colorScheme name="by relative speed (segmentwise)" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="0.25"/>
<entry color="green" threshold="0.50"/>
<entry color="cyan" threshold="0.75"/>
<entry color="blue" threshold="1.00"/>
<entry color="magenta" threshold="1.25"/>
</colorScheme>
<colorScheme name="by insertion-backlog (streetwise)" interpolated="1">
<entry color="grey" threshold="0.00"/>
<entry color="green" threshold="1.00"/>
<entry color="yellow" threshold="10.00"/>
<entry color="red" threshold="100.00"/>
</colorScheme>
<colorScheme name="by TAZ (streetwise)">
<entry color="204,204,204" name="no TAZ"/>
</colorScheme>
<scalingScheme name="uniform">
<entry color="1.00"/>
</scalingScheme>
<scalingScheme name="by selection">
<entry color="0.50" name="unselected"/>
<entry color="5.00" name="selected"/>
</scalingScheme>
<scalingScheme name="by allowed speed (streetwise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="41.67"/>
</scalingScheme>
<scalingScheme name="by current occupancy (streetwise, brutto)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="0.95"/>
</scalingScheme>
<scalingScheme name="by current speed (streetwise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="10.00" threshold="41.67"/>
</scalingScheme>
<scalingScheme name="by current flow (streetwise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="20.00" threshold="5000.00"/>
</scalingScheme>
<scalingScheme name="by relative speed (streetwise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="20.00" threshold="1.00"/>
</scalingScheme>
<scalingScheme name="by insertion-backlog (streetwise)" interpolated="1">
<entry color="0.00" threshold="0.00"/>
<entry color="1.00" threshold="1.00"/>
<entry color="10.00" threshold="10.00"/>
<entry color="50.00" threshold="100.00"/>
</scalingScheme>
</edges>
<vehicles vehicleMode="0" vehicleQuality="3" vehicle_minSize="1.00" vehicle_exaggeration="1.00" vehicle_constantSize="0" vehicle_constantSizeSelected="0" showBlinker="1" drawMinGap="0" drawBrakeGap="0" showBTRange="0" showRouteIndex="0"
vehicleName_show="0" vehicleName_size="60.00" vehicleName_color="204,153,0" vehicleName_bgColor="128,0,0,0" vehicleName_constantSize="1"
vehicleValue_show="0" vehicleValue_size="80.00" vehicleValue_color="cyan" vehicleValue_bgColor="128,0,0,0" vehicleValue_constantSize="1"
vehicleText_show="0" vehicleText_size="80.00" vehicleText_color="red" vehicleText_bgColor="128,0,0,0" vehicleText_constantSize="1">
<colorScheme name="given vehicle/type/route color">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="uniform">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="given/assigned vehicle color">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="given/assigned type color">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="given/assigned route color">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="depart position as HSV">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="arrival position as HSV">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="direction/distance as HSV">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="by speed" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by action step">
<entry color="grey" name="no action"/>
<entry color="green" name="action in next step"/>
<entry color="80,160,80" name="had action step"/>
</colorScheme>
<colorScheme name="by waiting time" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="cyan" threshold="30.00"/>
<entry color="green" threshold="100.00"/>
<entry color="yellow" threshold="200.00"/>
<entry color="red" threshold="300.00"/>
</colorScheme>
<colorScheme name="by accumulated waiting time" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="cyan" threshold="25.00"/>
<entry color="green" threshold="50.00"/>
<entry color="yellow" threshold="75.00"/>
<entry color="red" threshold="100.00"/>
</colorScheme>
<colorScheme name="by time since lane change" interpolated="1">
<entry color="189,189,179" threshold="-180.00"/>
<entry color="yellow" threshold="-20.00"/>
<entry color="red" threshold="-0.00"/>
<entry color="179,179,179" threshold="0.00" name="0"/>
<entry color="blue" threshold="0.00"/>
<entry color="cyan" threshold="20.00"/>
<entry color="179,189,189" threshold="180.00"/>
</colorScheme>
<colorScheme name="by max speed" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="8.33"/>
<entry color="green" threshold="15.28"/>
<entry color="cyan" threshold="22.22"/>
<entry color="blue" threshold="33.33"/>
<entry color="magenta" threshold="41.67"/>
</colorScheme>
<colorScheme name="by CO2 emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="5.00"/>
</colorScheme>
<colorScheme name="by CO emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.05"/>
</colorScheme>
<colorScheme name="by PMx emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.01"/>
</colorScheme>
<colorScheme name="by NOx emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.12"/>
</colorScheme>
<colorScheme name="by HC emissions" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.02"/>
</colorScheme>
<colorScheme name="by fuel consumption" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="0.01"/>
</colorScheme>
<colorScheme name="by noise emissions (Harmonoise)" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="100.00"/>
</colorScheme>
<colorScheme name="by reroute number" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="1.00"/>
<entry color="white" threshold="10.00"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="179,179,179" name="unselected"/>
<entry color="0,102,204" name="selected"/>
</colorScheme>
<colorScheme name="by offset from best lane" interpolated="1">
<entry color="magenta" threshold="-100.00" name="opposite lane"/>
<entry color="red" threshold="-3.00" name="-3"/>
<entry color="yellow" threshold="-1.00" name="-1"/>
<entry color="179,179,179" threshold="0.00" name="0"/>
<entry color="cyan" threshold="1.00" name="1"/>
<entry color="blue" threshold="3.00" name="3"/>
</colorScheme>
<colorScheme name="by acceleration" interpolated="1">
<entry color="64,0,0" threshold="-9.00"/>
<entry color="red" threshold="-4.50"/>
<entry color="yellow" threshold="-0.10"/>
<entry color="179,179,179" threshold="0.00" name="0"/>
<entry color="cyan" threshold="0.10"/>
<entry color="blue" threshold="2.60"/>
<entry color="magenta" threshold="5.20"/>
</colorScheme>
<colorScheme name="by time gap on lane" interpolated="1">
<entry color="179,179,179" threshold="-1.00"/>
<entry color="yellow" threshold="0.00" name="0"/>
<entry color="cyan" threshold="1.00"/>
<entry color="blue" threshold="2.00"/>
</colorScheme>
<colorScheme name="by depart delay" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="cyan" threshold="30.00"/>
<entry color="green" threshold="100.00"/>
<entry color="yellow" threshold="200.00"/>
<entry color="red" threshold="300.00"/>
</colorScheme>
<colorScheme name="by electricity consumption" interpolated="1">
<entry color="green" threshold="0.00"/>
<entry color="red" threshold="5.00"/>
</colorScheme>
<colorScheme name="by time loss" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="cyan" threshold="10.00"/>
<entry color="green" threshold="60.00"/>
<entry color="yellow" threshold="180.00"/>
<entry color="red" threshold="900.00"/>
</colorScheme>
<colorScheme name="by lateral speed" interpolated="1">
<entry color="red" threshold="-3.00" name="-1.5"/>
<entry color="yellow" threshold="-1.00" name="-0.5"/>
<entry color="179,179,179" threshold="0.00" name="0"/>
<entry color="cyan" threshold="1.00" name="0.5"/>
<entry color="blue" threshold="3.00" name="1.5"/>
</colorScheme>
<colorScheme name="random">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="by param (numerical)" interpolated="1">
<entry color="204,204,204" threshold="0.00"/>
</colorScheme>
</vehicles>
<persons personMode="0" personQuality="3" person_minSize="1.00" person_exaggeration="1.00" person_constantSize="0" person_constantSizeSelected="0"
personName_show="0" personName_size="60.00" personName_color="0,153,204" personName_bgColor="128,0,0,0" personName_constantSize="1"
personValue_show="0" personValue_size="80.00" personValue_color="cyan" personValue_bgColor="128,0,0,0" personValue_constantSize="1">
<colorScheme name="given person/type color">
<entry color="blue"/>
</colorScheme>
<colorScheme name="uniform">
<entry color="blue"/>
</colorScheme>
<colorScheme name="given/assigned person color">
<entry color="blue"/>
</colorScheme>
<colorScheme name="given/assigned type color">
<entry color="blue"/>
</colorScheme>
<colorScheme name="by speed" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="0.69"/>
<entry color="green" threshold="1.39"/>
<entry color="blue" threshold="2.78"/>
</colorScheme>
<colorScheme name="by mode">
<entry color="grey" name="waiting for insertion"/>
<entry color="red" name="stopped"/>
<entry color="green" name="walking"/>
<entry color="blue" name="riding"/>
<entry color="cyan" name="accessing trainStop"/>
<entry color="yellow" name="waiting for ride"/>
</colorScheme>
<colorScheme name="by waiting time" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="cyan" threshold="30.00"/>
<entry color="green" threshold="100.00"/>
<entry color="yellow" threshold="200.00"/>
<entry color="red" threshold="300.00"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="179,179,179" name="unselected"/>
<entry color="0,102,204" name="selected"/>
</colorScheme>
<colorScheme name="by angle">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="random">
<entry color="yellow"/>
</colorScheme>
</persons>
<containers containerMode="0" containerQuality="0" container_minSize="1.00" container_exaggeration="1.00" container_constantSize="0" container_constantSizeSelected="0"
containerName_show="0" containerName_size="60.00" containerName_color="0,153,204" containerName_bgColor="128,0,0,0" containerName_constantSize="1">
<colorScheme name="given container/type color">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="uniform">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="given/assigned container color">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="given/assigned type color">
<entry color="yellow"/>
</colorScheme>
<colorScheme name="by speed" interpolated="1">
<entry color="red" threshold="0.00"/>
<entry color="yellow" threshold="0.69"/>
<entry color="green" threshold="1.39"/>
<entry color="blue" threshold="2.78"/>
</colorScheme>
<colorScheme name="by mode">
<entry color="grey" name="waiting for insertion"/>
<entry color="red" name="stopped"/>
<entry color="green" name="tranship"/>
<entry color="blue" name="transport"/>
<entry color="cyan" name="accessing trainStop"/>
<entry color="yellow" name="waiting for transport"/>
</colorScheme>
<colorScheme name="by waiting time" interpolated="1">
<entry color="blue" threshold="0.00"/>
<entry color="cyan" threshold="30.00"/>
<entry color="green" threshold="100.00"/>
<entry color="yellow" threshold="200.00"/>
<entry color="red" threshold="300.00"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="179,179,179" name="unselected"/>
<entry color="0,102,204" name="selected"/>
</colorScheme>
<colorScheme name="by angle">
<entry color="yellow"/>
</colorScheme>
</containers>
<junctions junctionMode="0"
drawLinkTLIndex_show="0" drawLinkTLIndex_size="50.00" drawLinkTLIndex_color="128,128,255" drawLinkTLIndex_bgColor="128,0,0,0" drawLinkTLIndex_constantSize="1"
drawLinkJunctionIndex_show="0" drawLinkJunctionIndex_size="50.00" drawLinkJunctionIndex_color="128,128,255" drawLinkJunctionIndex_bgColor="128,0,0,0" drawLinkJunctionIndex_constantSize="1"
junctionName_show="0" junctionName_size="60.00" junctionName_color="0,255,128" junctionName_bgColor="128,0,0,0" junctionName_constantSize="1"
internalJunctionName_show="0" internalJunctionName_size="50.00" internalJunctionName_color="0,204,128" internalJunctionName_bgColor="128,0,0,0" internalJunctionName_constantSize="1"
tlsPhaseIndex_show="0" tlsPhaseIndex_size="150.00" tlsPhaseIndex_color="yellow" tlsPhaseIndex_bgColor="128,0,0,0" tlsPhaseIndex_constantSize="1"
showLane2Lane="0" drawShape="1" drawCrossingsAndWalkingareas="1" junction_minSize="1.00" junction_exaggeration="1.00" junction_constantSize="0" junction_constantSizeSelected="0">
<colorScheme name="uniform">
<entry color="black"/>
<entry color="150,200,200" name="waterway"/>
<entry color="0,0,0,0" name="railway"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="grey" name="unselected"/>
<entry color="0,80,180" name="selected"/>
</colorScheme>
<colorScheme name="by type">
<entry color="green" name="traffic_light"/>
<entry color="0,128,0" name="traffic_light_unregulated"/>
<entry color="yellow" name="priority"/>
<entry color="red" name="priority_stop"/>
<entry color="blue" name="right_before_left"/>
<entry color="cyan" name="allway_stop"/>
<entry color="grey" name="district"/>
<entry color="magenta" name="unregulated"/>
<entry color="black" name="dead_end"/>
<entry color="orange" name="rail_signal"/>
<entry color="172,108,44" name="zipper"/>
<entry color="192,255,192" name="traffic_light_right_on_red"/>
<entry color="128,0,128" name="rail_crossing"/>
</colorScheme>
<colorScheme name="by height" interpolated="1">
<entry color="blue" threshold="-10.00"/>
<entry color="grey" threshold="0.00"/>
<entry color="red" threshold="10.00"/>
<entry color="yellow" threshold="50.00"/>
<entry color="green" threshold="100.00"/>
<entry color="magenta" threshold="200.00"/>
</colorScheme>
</junctions>
<additionals addMode="0" add_minSize="1.00" add_exaggeration="1.00" add_constantSize="0" add_constantSizeSelected="0" addName_show="0" addName_size="60.00" addName_color="255,0,128" addName_bgColor="128,0,0,0" addName_constantSize="1" addFullName_show="0" addFullName_size="60.00" addFullName_color="255,0,128" addFullName_bgColor="128,0,0,0" addFullName_constantSize="1"/>
<pois poi_minSize="0.00" poi_exaggeration="1.00" poi_constantSize="0" poi_constantSizeSelected="0" poiName_show="0" poiName_size="50.00" poiName_color="255,0,128" poiName_bgColor="128,0,0,0" poiName_constantSize="1" poiType_show="0" poiType_size="60.00" poiType_color="255,0,128" poiType_bgColor="128,0,0,0" poiType_constantSize="1">
<colorScheme name="given POI color">
<entry color="red"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="179,179,179" name="unselected"/>
<entry color="0,102,204" name="selected"/>
</colorScheme>
<colorScheme name="uniform">
<entry color="red"/>
</colorScheme>
</pois>
<polys poly_minSize="0.00" poly_exaggeration="1.00" poly_constantSize="0" poly_constantSizeSelected="0" polyName_show="0" polyName_size="50.00" polyName_color="255,0,128" polyName_bgColor="128,0,0,0" polyName_constantSize="1" polyType_show="0" polyType_size="60.00" polyType_color="255,0,128" polyType_bgColor="128,0,0,0" polyType_constantSize="1">
<colorScheme name="given polygon color">
<entry color="orange"/>
</colorScheme>
<colorScheme name="by selection">
<entry color="179,179,179" name="unselected"/>
<entry color="0,102,204" name="selected"/>
</colorScheme>
<colorScheme name="uniform">
<entry color="orange"/>
</colorScheme>
</polys>
<legend showSizeLegend="1" showColorLegend="0"/>
</scheme>
</viewsettings>

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lxml==4.5.0

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Co-Simulation/Sumo/run_synchronization.py Normal file
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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
"""
Script to integrate CARLA and SUMO simulations
"""
# ==============================================================================
# -- find carla module ---------------------------------------------------------
# ==============================================================================
import glob
import os
import sys
try:
sys.path.append(glob.glob('../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' % (
sys.version_info.major,
sys.version_info.minor,
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
pass
# ==============================================================================
# -- find traci module ---------------------------------------------------------
# ==============================================================================
if 'SUMO_HOME' in os.environ:
tools = os.path.join(os.environ['SUMO_HOME'], 'tools')
sys.path.append(tools)
else:
sys.exit("please declare environment variable 'SUMO_HOME'")
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import argparse
import logging
import time
from sumo_integration.bridge_helper import BridgeHelper
from sumo_integration.carla_simulation import CarlaSimulation
from sumo_integration.constants import *
from sumo_integration.sumo_simulation import SumoSimulation
# ==============================================================================
# -- simulation synchro --------------------------------------------------------
# ==============================================================================
def main(args):
sumo = SumoSimulation(args)
carla = CarlaSimulation(args)
# Mapped actor ids.
sumo2carla_ids = {} # Contains only actors controlled by sumo.
carla2sumo_ids = {} # Contains only actors controlled by carla.
BridgeHelper._blueprint_library = carla.world.get_blueprint_library()
BridgeHelper._offset = sumo.get_net_offset()
try:
while True:
start = time.time()
# -----------------
# sumo-->carla sync
# -----------------
sumo.tick()
# Spawning new sumo actors in carla (i.e, not controlled by carla).
sumo_spawned_actors = sumo.spawned_actors - set(carla2sumo_ids.values())
for sumo_actor_id in sumo_spawned_actors:
SumoSimulation.subscribe(sumo_actor_id)
sumo_actor = sumo.get_actor(sumo_actor_id)
carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor)
if carla_blueprint is not None:
carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform, sumo_actor.extent)
carla_actor_id = carla.spawn_actor(carla_blueprint, carla_transform)
if carla_actor_id != INVALID_ACTOR_ID:
sumo2carla_ids[sumo_actor_id] = carla_actor_id
else:
SumoSimulation.unsubscribe(sumo_actor_id)
# Destroying sumo arrived actors in carla.
for sumo_actor_id in sumo.destroyed_actors:
if sumo_actor_id in sumo2carla_ids:
carla.destroy_actor(sumo2carla_ids.pop(sumo_actor_id))
# Updating sumo actors in carla.
for sumo_actor_id in sumo2carla_ids:
carla_actor_id = sumo2carla_ids[sumo_actor_id]
sumo_actor = sumo.get_actor(sumo_actor_id)
carla_actor = carla.get_actor(carla_actor_id)
carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform, sumo_actor.extent)
if args.sync_vehicle_lights:
carla_lights = BridgeHelper.get_carla_lights_state(carla_actor.get_light_state(), sumo_actor.signals)
else:
carla_lights = None
carla.synchronize_vehicle(carla_actor_id, carla_transform, carla_lights)
# -----------------
# carla-->sumo sync
# -----------------
carla.tick()
# Spawning new carla actors (not controlled by sumo)
carla_spawned_actors = carla.spawned_actors - set(sumo2carla_ids.values())
for carla_actor_id in carla_spawned_actors:
carla_actor = carla.get_actor(carla_actor_id)
type_id = BridgeHelper.get_sumo_vtype(carla_actor)
if type_id is not None:
sumo_actor_id = sumo.spawn_actor(type_id, carla_actor.attributes)
if sumo_actor_id != INVALID_ACTOR_ID:
carla2sumo_ids[carla_actor_id] = sumo_actor_id
sumo.subscribe(sumo_actor_id)
# Destroying required carla actors in sumo.
for carla_actor_id in carla.destroyed_actors:
if carla_actor_id in carla2sumo_ids:
sumo.destroy_actor(carla2sumo_ids.pop(carla_actor_id))
# Updating carla actors in sumo.
for carla_actor_id in carla2sumo_ids:
sumo_actor_id = carla2sumo_ids[carla_actor_id]
carla_actor = carla.get_actor(carla_actor_id)
sumo_actor = sumo.get_actor(sumo_actor_id)
sumo_transform = BridgeHelper.get_sumo_transform(carla_actor.get_transform(), carla_actor.bounding_box.extent)
if args.sync_vehicle_lights:
carla_lights = carla_actor.get_light_state()
sumo_lights = BridgeHelper.get_sumo_lights_state(sumo_actor.signals, carla_lights)
else:
sumo_lights = None
sumo.synchronize_vehicle(sumo_actor_id, sumo_transform, sumo_lights)
end = time.time()
elapsed = end - start
if elapsed < args.step_length:
time.sleep(args.step_length - elapsed)
except KeyboardInterrupt:
logging.info('Cancelled by user.')
except Exception as error:
logging.error('Synchronization failed. {}'.format(error))
finally:
logging.info('Cleaning up synchronization')
# Configuring carla simulation in async mode.
settings = carla.world.get_settings()
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
carla.world.apply_settings(settings)
# Destroying synchronized actors.
for carla_actor_id in sumo2carla_ids.values():
carla.destroy_actor(carla_actor_id)
for sumo_actor_id in carla2sumo_ids.values():
sumo.destroy_actor(sumo_actor_id)
# Closing sumo client.
sumo.close()
if __name__ == '__main__':
argparser = argparse.ArgumentParser(
description=__doc__
)
argparser.add_argument(
'--carla-host',
metavar='H',
default='127.0.0.1',
help='IP of the carla host server (default: 127.0.0.1)'
)
argparser.add_argument(
'--carla-port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)'
)
argparser.add_argument(
'--sumo-host',
metavar='H',
default=None,
help='IP of the sumo host server (default: 127.0.0.1)'
)
argparser.add_argument(
'--sumo-port',
metavar='P',
default=None,
type=int,
help='TCP port to liston to (default: 8813)'
)
argparser.add_argument(
'-c', '--sumo-cfg-file',
default=None,
type=str,
help='sumo configuration file'
)
argparser.add_argument(
'--sumo-gui',
default=True,
help='run the gui version of sumo (default: True)'
)
argparser.add_argument(
'--step-length',
default=0.05,
type=float,
help='set fixed delta seconds (default: 0.05s)'
)
argparser.add_argument(
'--sync-vehicle-lights',
action='store_true',
help='synchronize vehicle lights state between simulations (default: False)'
)
argparser.add_argument(
'--debug',
action='store_true',
help='enable debug messages'
)
args = argparser.parse_args()
if args.debug:
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.DEBUG)
else:
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
main(args)

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Co-Simulation/Sumo/sumo_integration/__init__.py Normal file
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Co-Simulation/Sumo/sumo_integration/bridge_helper.py Normal file
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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import json
import logging
import math
import random
import carla
import traci
from .sumo_simulation import SumoVehSignal
# ==============================================================================
# -- Bridge helper (SUMO <=> CARLA) --------------------------------------------
# ==============================================================================
class BridgeHelper(object):
_blueprint_library = None
_offset = (0, 0)
with open('data/vtypes.json') as f:
_VTYPES = json.load(f)['carla_blueprints']
@staticmethod
def get_carla_transform(in_sumo_transform, extent):
"""Returns carla transform based on sumo transform.
"""
offset = BridgeHelper._offset
in_location = in_sumo_transform.location
in_rotation = in_sumo_transform.rotation
# From front-center-bumper to center (sumo reference system).
# (http://sumo.sourceforge.net/userdoc/Purgatory/Vehicle_Values.html#angle)
yaw = -1 * in_rotation.yaw + 90
length = 2.0 * extent.x
out_location = (in_location.x - math.cos(math.radians(yaw)) *
(length / 2.0), in_location.y -
math.sin(math.radians(yaw)) * (length / 2.0),
in_location.z)
out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
# Applying offset sumo-carla net.
out_location = (out_location[0] - offset[0],
out_location[1] - offset[1], out_location[2])
out_rotation = out_rotation
# Transform to carla reference system (left-handed system).
return carla.Transform(
carla.Location(out_location[0], -out_location[1], out_location[2]),
carla.Rotation(out_rotation[0], out_rotation[1] - 90,
out_rotation[2]))
@staticmethod
def get_sumo_transform(in_carla_transform, extent):
"""Returns sumo transform based on carla transform.
"""
offset = BridgeHelper._offset
in_location = in_carla_transform.location
in_rotation = in_carla_transform.rotation
# From center to front-center-bumper (carla reference system).
yaw = -1 * in_rotation.yaw
length = 2.0 * extent.x
out_location = (in_location.x + math.cos(math.radians(yaw)) *
(length / 2.0), in_location.y -
math.sin(math.radians(yaw)) * (length / 2.0),
in_location.z)
out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
# Applying offset carla-sumo net
out_location = (out_location[0] + offset[0],
out_location[1] - offset[1], out_location[2])
out_rotation = out_rotation
# Transform to sumo reference system.
return carla.Transform(
carla.Location(out_location[0], -out_location[1], out_location[2]),
carla.Rotation(out_rotation[0], out_rotation[1] + 90,
out_rotation[2]))
@staticmethod
def _get_recommended_carla_blueprint(sumo_actor):
"""Returns an appropriate blueprint based on the given sumo actor.
"""
vclass = sumo_actor.vclass.value
blueprints = []
for blueprint in BridgeHelper._blueprint_library:
if blueprint.id in BridgeHelper._VTYPES and \
BridgeHelper._VTYPES[blueprint.id]['vClass'] == vclass:
blueprints.append(blueprint)
if len(blueprints) == 0:
return None
return random.choice(blueprints)
@staticmethod
def get_carla_blueprint(sumo_actor):
"""Returns an appropriate blueprint based on the received sumo actor.
"""
blueprint_library = BridgeHelper._blueprint_library
type_id = sumo_actor.type_id
if type_id in [bp.id for bp in blueprint_library]:
blueprint = blueprint_library.filter(type_id)[0]
logging.debug('[BridgeHelper] sumo vtype {} found in carla blueprints'.format(type_id))
else:
blueprint = BridgeHelper._get_recommended_carla_blueprint(sumo_actor)
if blueprint is not None:
logging.warning(
'sumo vtype {} not found in carla blueprints. The following blueprint will be used: {}'.format(type_id, blueprint.id))
else:
logging.error('sumo vtype {} not supported. No vehicle will be spawned in carla'.format(type_id))
return None
if blueprint.has_attribute('color'):
color = "{},{},{}".format(sumo_actor.color[0], sumo_actor.color[1], sumo_actor.color[2])
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'sumo_driver')
logging.debug('''[BridgeHelper] sumo vtype {vtype} will be spawned in carla with the following attributes:
\tblueprint: {bp_id:}
\tcolor: {color:}'''.format(
vtype=type_id,
bp_id=blueprint.id,
color=sumo_actor.color if blueprint.has_attribute('color') else (-1, -1, -1)
)
)
return blueprint
@staticmethod
def _create_sumo_vtype(carla_actor):
"""Creates an appropriate vtype based on the given carla_actor.
"""
type_id = carla_actor.type_id
attrs = carla_actor.attributes
extent = carla_actor.bounding_box.extent
if int(attrs['number_of_wheels']) == 2:
traci.vehicletype.copy('DEFAULT_BIKETYPE', type_id)
else:
traci.vehicletype.copy('DEFAULT_VEHTYPE', type_id)
if type_id in BridgeHelper._VTYPES:
if 'vClass' in BridgeHelper._VTYPES[type_id]:
_class = BridgeHelper._VTYPES[type_id]['vClass']
traci.vehicletype.setVehicleClass(type_id, _class)
if 'guiShape' in BridgeHelper._VTYPES[type_id]:
shape = BridgeHelper._VTYPES[type_id]['guiShape']
traci.vehicletype.setShapeClass(type_id, shape)
if 'color' in attrs:
color = attrs['color'].split(',')
traci.vehicletype.setColor(type_id, color)
traci.vehicletype.setLength(type_id, 2.0 * extent.x)
traci.vehicletype.setWidth(type_id, 2.0 * extent.y)
traci.vehicletype.setHeight(type_id, 2.0 * extent.z)
logging.debug('''[BridgeHelper] blueprint{bp_id} not found in sumo vtypes
\tdefault vtype: {dvtype:}
\tvtype: {vtype:}
\tclass: {_class:}
\tshape: {shape:}
\tcolor: {color:}
\tlenght: {lenght:}
\twidth: {width:}
\theight: {height:}'''.format(
bp_id=type_id,
dvtype='DEFAULT_BIKETYPE' if int(attrs['number_of_wheels']) == 2 else 'DEFAULT_VEHTYPE',
vtype=type_id,
_class=traci.vehicletype.getVehicleClass(type_id),
shape=traci.vehicletype.getShapeClass(type_id),
color=traci.vehicletype.getColor(type_id),
lenght=traci.vehicletype.getLength(type_id),
width=traci.vehicletype.getWidth(type_id),
height=traci.vehicletype.getHeight(type_id)
)
)
return type_id
@staticmethod
def get_sumo_vtype(carla_actor):
"""Returns an appropriate vtype based on the type id and attributes.
"""
type_id = carla_actor.type_id
if not type_id.startswith('vehicle'):
logging.error('[BridgeHelper] Blueprint {} not supported. No vehicle will be spawned in sumo'.format(type_id))
return None
if type_id in traci.vehicletype.getIDList():
logging.debug('[BridgeHelper] blueprint {} found in sumo vtypes'.format(type_id))
return type_id
return BridgeHelper._create_sumo_vtype(carla_actor)
@staticmethod
def get_carla_lights_state(current_carla_lights, sumo_lights):
"""Returns carla vehicle light state based on sumo signals.
"""
current_lights = current_carla_lights
# Blinker right / emergency.
if (any([
bool(sumo_lights & SumoVehSignal.BLINKER_RIGHT),
bool(sumo_lights & SumoVehSignal.BLINKER_EMERGENCY)
]) != bool(current_lights & carla.VehicleLightState.RightBlinker)):
current_lights ^= carla.VehicleLightState.RightBlinker
# Blinker left / emergency.
if (any([
bool(sumo_lights & SumoVehSignal.BLINKER_LEFT),
bool(sumo_lights & SumoVehSignal.BLINKER_EMERGENCY)
]) != bool(current_lights & carla.VehicleLightState.LeftBlinker)):
current_lights ^= carla.VehicleLightState.LeftBlinker
# Break.
if (bool(sumo_lights & SumoVehSignal.BRAKELIGHT) !=
bool(current_lights & carla.VehicleLightState.Brake)):
current_lights ^= carla.VehicleLightState.Brake
# Front (low beam).
if (bool(sumo_lights & SumoVehSignal.FRONTLIGHT) !=
bool(current_lights & carla.VehicleLightState.LowBeam)):
current_lights ^= carla.VehicleLightState.LowBeam
# Fog.
if (bool(sumo_lights & SumoVehSignal.FOGLIGHT) !=
bool(current_lights & carla.VehicleLightState.Fog)):
current_lights ^= carla.VehicleLightState.Fog
# High beam.
if (bool(sumo_lights & SumoVehSignal.HIGHBEAM) !=
bool(current_lights & carla.VehicleLightState.HighBeam)):
current_lights ^= carla.VehicleLightState.HighBeam
# Backdrive (reverse).
if (bool(sumo_lights & SumoVehSignal.BACKDRIVE) !=
bool(current_lights & carla.VehicleLightState.Reverse)):
current_lights ^= carla.VehicleLightState.Reverse
# Door open left/right.
if (any([
bool(sumo_lights & SumoVehSignal.DOOR_OPEN_LEFT),
bool(sumo_lights & SumoVehSignal.DOOR_OPEN_RIGHT)
]) != bool(current_lights & carla.VehicleLightState.Position)):
current_lights ^= carla.VehicleLightState.Position
return current_lights
@staticmethod
def get_sumo_lights_state(current_sumo_lights, carla_lights):
"""Returns sumo signals based on carla vehicle light state.
"""
current_lights = current_sumo_lights
# Blinker right.
if (bool(carla_lights & carla.VehicleLightState.RightBlinker) !=
bool(current_lights & SumoVehSignal.BLINKER_RIGHT)):
current_lights ^= SumoVehSignal.BLINKER_RIGHT
# Blinker left.
if (bool(carla_lights & carla.VehicleLightState.LeftBlinker) !=
bool(current_lights & SumoVehSignal.BLINKER_LEFT)):
current_lights ^= SumoVehSignal.BLINKER_LEFT
# Emergency.
if (all([
bool(carla_lights & carla.VehicleLightState.RightBlinker),
bool(carla_lights & carla.VehicleLightState.LeftBlinker)
]) != (current_lights & SumoVehSignal.BLINKER_EMERGENCY)):
current_lights ^= SumoVehSignal.BLINKER_EMERGENCY
# Break.
if (bool(carla_lights & carla.VehicleLightState.Brake) !=
bool(current_lights & SumoVehSignal.BRAKELIGHT)):
current_lights ^= SumoVehSignal.BRAKELIGHT
# Front (low beam)
if (bool(carla_lights & carla.VehicleLightState.LowBeam) !=
bool(current_lights & SumoVehSignal.FRONTLIGHT)):
current_lights ^= SumoVehSignal.FRONTLIGHT
# Fog light.
if (bool(carla_lights & carla.VehicleLightState.Fog) !=
bool(current_lights & SumoVehSignal.FOGLIGHT)):
current_lights ^= SumoVehSignal.FOGLIGHT
# High beam ligth.
if (bool(carla_lights & carla.VehicleLightState.HighBeam) !=
bool(current_lights & SumoVehSignal.HIGHBEAM)):
current_lights ^= SumoVehSignal.HIGHBEAM
# Backdrive (reverse)
if (bool(carla_lights & carla.VehicleLightState.Reverse) !=
bool(current_lights & SumoVehSignal.BACKDRIVE)):
current_lights ^= SumoVehSignal.BACKDRIVE
return current_lights

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Co-Simulation/Sumo/sumo_integration/carla_simulation.py Normal file
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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import logging
import carla
SpawnActor = carla.command.SpawnActor
FutureActor = carla.command.FutureActor
SetSimulatePhysics = carla.command.SetSimulatePhysics
from .constants import *
# ==============================================================================
# -- carla simulation ----------------------------------------------------------
# ==============================================================================
class CarlaSimulation(object):
def __init__(self, args):
self.args = args
self.host = args.carla_host
self.port = args.carla_port
self.step_length = args.step_length
self.client = carla.Client(self.host, self.port)
self.client.set_timeout(2.0)
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 = self.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()
self.destroyed_actors = set()
def get_actor(self, actor_id):
return self.world.get_actor(actor_id)
def spawn_actor(self, blueprint, transform):
"""Spawns a new actor.
"""
transform = carla.Transform(
transform.location + carla.Location(0, 0, SPAWN_OFFSET_Z),
transform.rotation)
batch = [
SpawnActor(blueprint,transform)
.then(SetSimulatePhysics(FutureActor, False))
]
response = self.client.apply_batch_sync(batch, True)[0]
if response.error:
logging.error('Spawn carla actor failed. {}'.format(response.error))
return INVALID_ACTOR_ID
else:
return response.actor_id
def destroy_actor(self, actor_id):
actor = self.world.get_actor(actor_id)
if actor is not None:
return actor.destroy()
return False
def synchronize_vehicle(self, vehicle_id, transform, lights=None):
vehicle = self.world.get_actor(vehicle_id)
if vehicle is None:
return False
vehicle.set_transform(transform)
if lights is not None or self.args.sync_vehicle_lights:
vehicle.set_light_state(carla.VehicleLightState(lights))
def synchronize_walker(self, walker_id, transform):
pass
def tick(self):
self.world.tick()
# Update data structures for the current frame.
current_actors = set([
vehicle.id for vehicle in self.world.get_actors().filter('vehicle.*')
])
self.spawned_actors = current_actors.difference(self._active_actors)
self.destroyed_actors = self._active_actors.difference(current_actors)
self._active_actors = current_actors

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Co-Simulation/Sumo/sumo_integration/constants.py Normal file
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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
# ==============================================================================
# -- constants -----------------------------------------------------------------
# ==============================================================================
INVALID_ACTOR_ID = -1
SPAWN_OFFSET_Z = 5.0 # meters

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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import collections
import enum
import logging
import carla
import sumolib
import traci
from .constants import *
# ==============================================================================
# -- sumo definitions ----------------------------------------------------------
# ==============================================================================
# Sumo vehicle signals.
# https://sumo.dlr.de/docs/TraCI/Vehicle_Signalling.html
class SumoVehSignal(object):
BLINKER_RIGHT = 1 << 0
BLINKER_LEFT = 1 << 1
BLINKER_EMERGENCY = 1 << 2
BRAKELIGHT = 1 << 3
FRONTLIGHT = 1 << 4
FOGLIGHT = 1 << 5
HIGHBEAM = 1 << 6
BACKDRIVE = 1 << 7
WIPER = 1 << 8
DOOR_OPEN_LEFT = 1 << 9
DOOR_OPEN_RIGHT = 1 << 10
EMERGENCY_BLUE = 1 << 11
EMERGENCY_RED = 1 << 12
EMERGENCY_YELLOW = 1 << 13
# https://sumo.dlr.de/docs/Definition_of_Vehicles,_Vehicle_Types,_and_Routes.html#abstract_vehicle_class
class SumoActorClass(enum.Enum):
IGNORING = "ignoring"
PRIVATE = "private"
EMERGENCY = "emergency"
AUTHORITY = "authority"
ARMY = "army"
VIP = "vip"
PEDESTRIAN = "pedestrian"
PASSENGER = "passenger"
HOV = "hov"
TAXI = "taxi"
BUS = "bus"
COACH = "coach"
DELIVERY = "delivery"
TRUCK = "truck"
TRAILER = "trailer"
MOTORCYCLE = "motorcycle"
MOPED = "moped"
BICYCLE = "bicycle"
EVEHICLE = "evehicle"
TRAM = "tram"
RAIL_URBAN = "rail_urban"
RAIL = "rail"
RAIL_ELECTRIC = "rail_electric"
RAIL_FAST = "rail_fast"
SHIP = "ship"
CUSTOM1 = "custom1"
CUSTOM2 = "custom2"
SumoActor = collections.namedtuple(
'SumoActor', 'type_id vclass transform signals extent color')
# ==============================================================================
# -- sumo simulation -----------------------------------------------------------
# ==============================================================================
class SumoSimulation(object):
def __init__(self, args):
self.args = args
self.host = args.sumo_host
self.port = args.sumo_port
self.sumo_gui = args.sumo_gui
if self.sumo_gui is True:
sumo_binary = sumolib.checkBinary('sumo-gui')
else:
sumo_binary = sumolib.checkBinary('sumo')
if args.sumo_host is None or args.sumo_port is None:
logging.info('Starting new sumo server...')
if self.sumo_gui:
logging.info('Remember to press the play button in sumo-gui to start the simulation')
traci.start([
sumo_binary,
"-c", args.sumo_cfg_file,
'--step-length', str(args.step_length),
'--lateral-resolution', '0.25'
])
else:
logging.info('Connection to sumo server. Host: {} Port: {}'.format(self.host, self.port))
traci.init(host=self.host, port=self.port)
# Structures to keep track of the spawned and destroyed vehicles at each time step.
self.spawned_actors = set()
self.destroyed_actors = set()
# Creating a random route to be able to spawn carla actors.
traci.route.add("carla_route", [traci.edge.getIDList()[0]])
# Variable to asign an id to new added actors.
self._sequential_id = 0
@staticmethod
def subscribe(actor_id):
# TODO(joel): Add velocity, acceleration?
traci.vehicle.subscribe(actor_id, [
traci.constants.VAR_TYPE, traci.constants.VAR_VEHICLECLASS,
traci.constants.VAR_COLOR, traci.constants.VAR_LENGTH,
traci.constants.VAR_WIDTH, traci.constants.VAR_HEIGHT,
traci.constants.VAR_POSITION3D, traci.constants.VAR_ANGLE,
traci.constants.VAR_SLOPE, traci.constants.VAR_SPEED,
traci.constants.VAR_SPEED_LAT, traci.constants.VAR_SIGNALS
])
@staticmethod
def unsubscribe(actor_id):
traci.vehicle.unsubscribe(actor_id)
# TODO(joel): Review this is correct.
def get_net_offset(self):
offset = traci.simulation.convertGeo(0, 0)
return (-offset[0], -offset[1])
def get_step_length(self):
return traci.simulation.getDeltaT()
def get_actor(self, actor_id):
results = traci.vehicle.getSubscriptionResults(actor_id)
type_id = results[traci.constants.VAR_TYPE]
vclass = SumoActorClass(results[traci.constants.VAR_VEHICLECLASS])
color = results[traci.constants.VAR_COLOR]
length = results[traci.constants.VAR_LENGTH]
width = results[traci.constants.VAR_WIDTH]
height = results[traci.constants.VAR_HEIGHT]
location = list(results[traci.constants.VAR_POSITION3D])
rotation = [
results[traci.constants.VAR_SLOPE],
results[traci.constants.VAR_ANGLE], 0.0
]
transform = carla.Transform(
carla.Location(location[0], location[1], location[2]),
carla.Rotation(rotation[0], rotation[1], rotation[2]))
signals = results[traci.constants.VAR_SIGNALS]
extent = carla.Vector3D(length / 2.0, width / 2.0, height / 2.0)
return SumoActor(type_id, vclass, transform, signals, extent, color)
def spawn_actor(self, type_id, attrs={}):
"""Spawns a new actor based on given type.
"""
actor_id = 'carla' + str(self._sequential_id)
try:
traci.vehicle.add(actor_id, 'carla_route', typeID=type_id)
except Exception as error:
logging.error('Spawn sumo actor failed: {}'.format(error))
return INVALID_ACTOR_ID
if 'color' in attrs:
color = attrs['color'].split(',')
traci.vehicle.setColor(actor_id, color)
self._sequential_id += 1
return actor_id
def destroy_actor(self, actor_id):
traci.vehicle.remove(actor_id)
def synchronize_vehicle(self, vehicle_id, transform, signals=None):
x, y = transform.location.x, transform.location.y
yaw = transform.rotation.yaw
traci.vehicle.moveToXY(vehicle_id, "", 0, x, y, angle=yaw, keepRoute=2)
if signals is not None or self.args.sync_vehicle_lights:
traci.vehicle.setSignals(vehicle_id, signals)
def synchronize_walker(self, walker_id, transform):
pass
def tick(self):
traci.simulationStep()
# Update data structures for the current frame.
self.spawned_actors = set(traci.simulation.getDepartedIDList())
self.destroyed_actors = set(traci.simulation.getArrivedIDList())
def close(self):
traci.close()

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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
"""
Script to create sumo vtypes based on carla blueprints.
"""
# ==============================================================================
# -- find carla module ---------------------------------------------------------
# ==============================================================================
import glob
import os
import sys
try:
sys.path.append(glob.glob('../../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' % (
sys.version_info.major,
sys.version_info.minor,
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
pass
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import carla
import argparse
import datetime
import json
import logging
import lxml.etree as ET
# ==============================================================================
# -- load specs definition -----------------------------------------------------
# ==============================================================================
with open('../data/vtypes.json') as f:
SPECS = json.load(f)
DEFAULT_2_WHEELED_VEHICLE = SPECS['DEFAULT_2_WHEELED_VEHICLE']
DEFAULT_WHEELED_VEHICLE = SPECS['DEFAULT_WHEELED_VEHICLE']
CARLA_BLUEPRINTS_SPECS = SPECS['carla_blueprints']
# ==============================================================================
# -- main ----------------------------------------------------------------------
# ==============================================================================
def write_vtype_xml(filename, vtypes):
root = ET.Element('routes')
root.addprevious(ET.Comment(
'generated on {date:%Y-%m-%d %H:%M:%S} by {script:}'.format(
date=datetime.datetime.now(),
script=os.path.basename(__file__))
)
)
for vtype in vtypes:
ET.SubElement(root, 'vType', vtype)
tree = ET.ElementTree(root)
tree.write(filename, pretty_print=True, encoding='UTF-8', xml_declaration=True)
def generate_vtype(vehicle):
"""Generates sumo vtype specification for a given carla vehicle.
:param vehicle: carla actor (carla.Actor)
:return: sumo vtype specifications
"""
type_id = vehicle.type_id
if type_id not in CARLA_BLUEPRINTS_SPECS:
number_of_wheels = int(vehicle.attributes['number_of_wheels'])
if number_of_wheels == 2:
logging.warning('type id {id:} not mapped to any sumo vtype. Using default specification for two-wheeled vehicles: {specs:}'.format(
id=type_id,
specs=DEFAULT_2_WHEELED_VEHICLE)
)
user_specs = DEFAULT_2_WHEELED_VEHICLE
else:
logging.warning('type id {id:} not mapped to any sumo vtype. Using default specification for wheeled vehicles: {specs:}'.format(
id=type_id,
specs=DEFAULT_WHEELED_VEHICLE)
)
user_specs = DEFAULT_WHEELED_VEHICLE
else:
logging.info('type id {id:} mapped to the following specifications: {specs:}'.format(
id=type_id,
specs=CARLA_BLUEPRINTS_SPECS[type_id])
)
user_specs = CARLA_BLUEPRINTS_SPECS[type_id]
specs = {
'id': vehicle.type_id,
'length': str(2.0 * vehicle.bounding_box.extent.x),
'width': str(2.0 * vehicle.bounding_box.extent.y),
'height': str(2.0 * vehicle.bounding_box.extent.z)
}
specs.update(user_specs)
return specs
def main(args):
client = carla.Client(args.carla_host, args.carla_port)
client.set_timeout(2.0)
try:
world = client.get_world()
vehicle_blueprints = world.get_blueprint_library().filter('vehicle.*')
#walker_blueprints = world.get_blueprint_library().filter('walker.pedestrian.*')
transform = world.get_map().get_spawn_points()[0]
vtypes = []
for blueprint in vehicle_blueprints:
logging.info('processing vtype for {}'.format(blueprint.id))
vehicle = world.spawn_actor(blueprint, transform)
vtype = generate_vtype(vehicle)
if vtype:
vtypes.append(vtype)
else:
logging.error('type id {id:} could no be mapped to any vtype'.format(id=vehicle.type_id))
vehicle.destroy()
write_vtype_xml(args.output_file, vtypes)
finally:
logging.info('done')
if __name__ == '__main__':
# Define arguments that will be received and parsed.
argparser = argparse.ArgumentParser(
description=__doc__)
argparser.add_argument(
'--carla-host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'--carla-port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'--output-file', '-o',
metavar='FILE',
default='carlavtypes.rou.xml',
type=str,
help='the generated vtypes will be written to FILE (default: carlavtypes.rou.xml)')
argparser.add_argument(
'--verbose', '-v',
action='store_true',
help='increase output verbosity'
)
args = argparser.parse_args()
if args.verbose:
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
else:
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.WARNING)
main(args)

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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
"""
Script to modify automatically vtypes to carla type ids in sumo route files.
"""
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import argparse
import fnmatch
import json
import logging
import lxml.etree as ET
import random
# ==============================================================================
# -- load vtypes ---------------------------------------------------------------
# ==============================================================================
with open('../data/vtypes.json') as f:
VTYPES = json.load(f)['carla_blueprints'].keys()
# ==============================================================================
# -- main ----------------------------------------------------------------------
# ==============================================================================
def main(route_files, vtypes, _random=False):
for filename in route_files:
tree = ET.parse(filename)
root = tree.getroot()
if not _random:
index = 0
counter = 0
for vtype in root.iter('vehicle'):
if _random:
new_type = random.choice(vtypes)
else:
new_type = vtypes[index]
index = (index + 1) if index < (len(vtypes) - 1) else 0
vtype.set('type', new_type)
counter += 1
tree = ET.ElementTree(root)
tree.write(filename, pretty_print=True, encoding='UTF-8', xml_declaration=True)
logging.info('modified {counter:} vtype(s) in {file:}'.format(
counter=counter,
file=filename
))
if __name__ == '__main__':
# Define arguments that will be received and parsed.
argparser = argparse.ArgumentParser(
description=__doc__
)
argparser.add_argument(
'--route-files', '-r',
metavar='FILES',
nargs='+',
default=[],
help='sumo route files'
)
argparser.add_argument(
'--random',
action='store_true',
help='apply vtypes randomly or sequentially'
)
argparser.add_argument(
'--filterv',
metavar='PATTERN',
default='vehicle.*',
help='vehicles filter (default: "vehicle.*")'
)
argparser.add_argument(
'--verbose', '-v',
action='store_true',
help='increase output verbosity'
)
args = argparser.parse_args()
if args.verbose:
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
else:
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.WARNING)
vtypes = [vtype for vtype in VTYPES if fnmatch.fnmatch(vtype, args.filterv)]
main(args.route_files, vtypes, args.random)

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#!/usr/bin/env python
# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
"""
Script to randomly spawn vehicles in sumo.
"""
# ==============================================================================
# -- find traci module ---------------------------------------------------------
# ==============================================================================
import glob
import os
import sys
if 'SUMO_HOME' in os.environ:
tools = os.path.join(os.environ['SUMO_HOME'], 'tools')
sys.path.append(tools)
else:
sys.exit("please declare environment variable 'SUMO_HOME'")
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import argparse
import logging
import random
import sumolib
import traci
# ==============================================================================
# -- main ----------------------------------------------------------------------
# ==============================================================================
def get_random_color():
r = random.randrange(256)
g = random.randrange(256)
b = random.randrange(256)
a = 255
return (r, g, b, a)
def main(args):
try:
if args.sumo_gui is True:
sumo_binary = sumolib.checkBinary('sumo-gui')
else:
sumo_binary = sumolib.checkBinary('sumo')
if args.sumo_host is None or args.sumo_port is None:
logging.info('Starting new sumo server...')
if args.sumo_gui:
logging.info('Remember to press the play button in sumo-gui to start the simulation')
traci.start([
sumo_binary,
"-c", args.sumo_cfg_file,
'--step-length', str(args.step_length),
])
else:
logging.info('Connection to sumo server. Host: {} Port: {}'.format(args.sumo_host, args.sumo_port))
traci.init(host=args.sumo_host, port=args.sumo_port)
traci.setOrder(1)
# Creating a random route to be able to spawn vehicles.
traci.route.add("spawn_route", [traci.edge.getIDList()[0]])
sequential_id = 0
while True:
input('Press a key to spawn a new actor')
# Remove previously spawned vehicle.
if sequential_id > 0:
traci.vehicle.remove('spawn_' + str(sequential_id - 1))
type_id = random.choice(traci.vehicletype.getIDList())
actor_id = 'spawn_' + str(sequential_id)
traci.vehicle.add(actor_id, 'spawn_route', typeID=type_id)
traci.vehicle.setColor(actor_id, get_random_color()) # Randomly select color.
traci.simulationStep()
traci.simulationStep()
sequential_id += 1
logging.info('''Spawned new sumo vehicle:
\tvtype: {vtype:}
\tcolor: {color:}'''.format(
vtype=type_id,
color=traci.vehicle.getColor(actor_id)
)
)
except KeyboardInterrupt:
logging.info('Cancelled by user.')
finally:
traci.close()
if __name__ == '__main__':
argparser = argparse.ArgumentParser(
description=__doc__
)
argparser.add_argument(
'--sumo-host',
metavar='H',
default=None,
help='IP of the sumo host server (default: 127.0.0.1)'
)
argparser.add_argument(
'--sumo-port',
metavar='P',
default=None,
type=int,
help='TCP port to liston to (default: 8813)'
)
argparser.add_argument(
'-c', '--sumo-cfg-file',
default=None,
type=str,
help='sumo configuration file'
)
argparser.add_argument(
'--sumo-gui',
default=True,
help='run the gui version of sumo (default: True)'
)
argparser.add_argument(
'--step-length',
default=0.05,
type=float,
help='set fixed delta seconds (default: 0.05s)'
)
args = argparser.parse_args()
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
main(args)