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Creating a sumo route per vehicle class

This commit is contained in:
Joel Moriana 2021-03-19 17:17:33 +01:00 committed by bernat
parent cd8e06ca42
commit f18590a167
2 changed files with 24 additions and 6 deletions
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11
Co-Simulation/Sumo/spawn_npc_sumo.py
View File

@ -165,10 +165,15 @@ def main(args):
vclass = vtypes[type_id]['vClass']
allowed_edges = [e for e in sumo_edges if e.allows(vclass)]
edge = random.choice(allowed_edges)
if allowed_edges:
edge = random.choice(allowed_edges)
traci.route.add('route_{}'.format(i), [edge.getID()])
traci.vehicle.add('sumo_{}'.format(i), 'route_{}'.format(i), typeID=type_id)
traci.route.add('route_{}'.format(i), [edge.getID()])
traci.vehicle.add('sumo_{}'.format(i), 'route_{}'.format(i), typeID=type_id)
else:
logging.error(
'Could not found a route for %s. No vehicle will be spawned in sumo',
type_id)
while True:
start = time.time()

19
Co-Simulation/Sumo/sumo_integration/sumo_simulation.py
View File

@ -335,8 +335,8 @@ class SumoSimulation(object):
# Retrieving net from configuration file.
self.net = _get_sumo_net(cfg_file)
# Creating a random route to be able to spawn carla actors.
traci.route.add("carla_route", [traci.edge.getIDList()[0]])
# To keep track of the vehicle classes for which a route has been generated in sumo.
self._routes = set()
# Variable to asign an id to new added actors.
self._sequential_id = 0
@ -424,7 +424,20 @@ class SumoSimulation(object):
"""
actor_id = 'carla' + str(self._sequential_id)
try:
traci.vehicle.add(actor_id, 'carla_route', typeID=type_id)
vclass = traci.vehicletype.getVehicleClass(type_id)
if vclass not in self._routes:
logging.debug('Creating route for %s vehicle class', vclass)
allowed_edges = [e for e in self.net.getEdges() if e.allows(vclass)]
if allowed_edges:
traci.route.add("carla_route_{}".format(vclass), [allowed_edges[0].getID()])
self._routes.add(vclass)
else:
logging.error(
'Could not found a route for %s. No vehicle will be spawned in sumo',
type_id)
return INVALID_ACTOR_ID
traci.vehicle.add(actor_id, 'carla_route_{}'.format(vclass), typeID=type_id)
except traci.exceptions.TraCIException as error:
logging.error('Spawn sumo actor failed: %s', error)
return INVALID_ACTOR_ID