312 lines
14 KiB
Python
312 lines
14 KiB
Python
#!/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
|
|
"""
|
|
|
|
# ==================================================================================================
|
|
# -- imports ---------------------------------------------------------------------------------------
|
|
# ==================================================================================================
|
|
|
|
import argparse
|
|
import logging
|
|
import time
|
|
|
|
# ==================================================================================================
|
|
# -- 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:
|
|
sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools'))
|
|
else:
|
|
sys.exit("please declare environment variable 'SUMO_HOME'")
|
|
|
|
# ==================================================================================================
|
|
# -- sumo integration imports ----------------------------------------------------------------------
|
|
# ==================================================================================================
|
|
|
|
from sumo_integration.bridge_helper import BridgeHelper # pylint: disable=wrong-import-position
|
|
from sumo_integration.carla_simulation import CarlaSimulation # pylint: disable=wrong-import-position
|
|
from sumo_integration.constants import INVALID_ACTOR_ID # pylint: disable=wrong-import-position
|
|
from sumo_integration.sumo_simulation import SumoSimulation # pylint: disable=wrong-import-position
|
|
|
|
# ==================================================================================================
|
|
# -- synchronization_loop --------------------------------------------------------------------------
|
|
# ==================================================================================================
|
|
|
|
|
|
class SimulationSynchronization(object):
|
|
"""
|
|
SimulationSynchronization class is responsible for the synchronization of sumo and carla
|
|
simulations.
|
|
"""
|
|
def __init__(self,
|
|
sumo_simulation,
|
|
carla_simulation,
|
|
tls_manager='none',
|
|
sync_vehicle_color=False,
|
|
sync_vehicle_lights=False):
|
|
|
|
self.sumo = sumo_simulation
|
|
self.carla = carla_simulation
|
|
|
|
self.tls_manager = tls_manager
|
|
self.sync_vehicle_color = sync_vehicle_color
|
|
self.sync_vehicle_lights = sync_vehicle_lights
|
|
|
|
if tls_manager == 'carla':
|
|
self.sumo.switch_off_traffic_lights()
|
|
elif tls_manager == 'sumo':
|
|
self.carla.switch_off_traffic_lights()
|
|
|
|
# Mapped actor ids.
|
|
self.sumo2carla_ids = {} # Contains only actors controlled by sumo.
|
|
self.carla2sumo_ids = {} # Contains only actors controlled by carla.
|
|
|
|
BridgeHelper.blueprint_library = self.carla.world.get_blueprint_library()
|
|
BridgeHelper.offset = self.sumo.get_net_offset()
|
|
|
|
# Configuring carla simulation in sync mode.
|
|
settings = self.carla.world.get_settings()
|
|
settings.synchronous_mode = True
|
|
settings.fixed_delta_seconds = self.carla.step_length
|
|
self.carla.world.apply_settings(settings)
|
|
|
|
def tick(self):
|
|
"""
|
|
Tick to simulation synchronization
|
|
"""
|
|
# -----------------
|
|
# sumo-->carla sync
|
|
# -----------------
|
|
self.sumo.tick()
|
|
|
|
# Spawning new sumo actors in carla (i.e, not controlled by carla).
|
|
sumo_spawned_actors = self.sumo.spawned_actors - set(self.carla2sumo_ids.values())
|
|
for sumo_actor_id in sumo_spawned_actors:
|
|
self.sumo.subscribe(sumo_actor_id)
|
|
sumo_actor = self.sumo.get_actor(sumo_actor_id)
|
|
|
|
carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor, self.sync_vehicle_color)
|
|
if carla_blueprint is not None:
|
|
carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
|
|
sumo_actor.extent)
|
|
|
|
carla_actor_id = self.carla.spawn_actor(carla_blueprint, carla_transform)
|
|
if carla_actor_id != INVALID_ACTOR_ID:
|
|
self.sumo2carla_ids[sumo_actor_id] = carla_actor_id
|
|
else:
|
|
self.sumo.unsubscribe(sumo_actor_id)
|
|
|
|
# Destroying sumo arrived actors in carla.
|
|
for sumo_actor_id in self.sumo.destroyed_actors:
|
|
if sumo_actor_id in self.sumo2carla_ids:
|
|
self.carla.destroy_actor(self.sumo2carla_ids.pop(sumo_actor_id))
|
|
|
|
# Updating sumo actors in carla.
|
|
for sumo_actor_id in self.sumo2carla_ids:
|
|
carla_actor_id = self.sumo2carla_ids[sumo_actor_id]
|
|
|
|
sumo_actor = self.sumo.get_actor(sumo_actor_id)
|
|
carla_actor = self.carla.get_actor(carla_actor_id)
|
|
|
|
carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
|
|
sumo_actor.extent)
|
|
if self.sync_vehicle_lights:
|
|
carla_lights = BridgeHelper.get_carla_lights_state(carla_actor.get_light_state(),
|
|
sumo_actor.signals)
|
|
else:
|
|
carla_lights = None
|
|
|
|
self.carla.synchronize_vehicle(carla_actor_id, carla_transform, carla_lights)
|
|
|
|
# Updates traffic lights in carla based on sumo information.
|
|
if self.tls_manager == 'sumo':
|
|
common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids
|
|
for landmark_id in common_landmarks:
|
|
sumo_tl_state = self.sumo.get_traffic_light_state(landmark_id)
|
|
carla_tl_state = BridgeHelper.get_carla_traffic_light_state(sumo_tl_state)
|
|
|
|
self.carla.synchronize_traffic_light(landmark_id, carla_tl_state)
|
|
|
|
# -----------------
|
|
# carla-->sumo sync
|
|
# -----------------
|
|
self.carla.tick()
|
|
|
|
# Spawning new carla actors (not controlled by sumo)
|
|
carla_spawned_actors = self.carla.spawned_actors - set(self.sumo2carla_ids.values())
|
|
for carla_actor_id in carla_spawned_actors:
|
|
carla_actor = self.carla.get_actor(carla_actor_id)
|
|
|
|
type_id = BridgeHelper.get_sumo_vtype(carla_actor)
|
|
color = carla_actor.attributes.get('color', None) if self.sync_vehicle_color else None
|
|
if type_id is not None:
|
|
sumo_actor_id = self.sumo.spawn_actor(type_id, color)
|
|
if sumo_actor_id != INVALID_ACTOR_ID:
|
|
self.carla2sumo_ids[carla_actor_id] = sumo_actor_id
|
|
self.sumo.subscribe(sumo_actor_id)
|
|
|
|
# Destroying required carla actors in sumo.
|
|
for carla_actor_id in self.carla.destroyed_actors:
|
|
if carla_actor_id in self.carla2sumo_ids:
|
|
self.sumo.destroy_actor(self.carla2sumo_ids.pop(carla_actor_id))
|
|
|
|
# Updating carla actors in sumo.
|
|
for carla_actor_id in self.carla2sumo_ids:
|
|
sumo_actor_id = self.carla2sumo_ids[carla_actor_id]
|
|
|
|
carla_actor = self.carla.get_actor(carla_actor_id)
|
|
sumo_actor = self.sumo.get_actor(sumo_actor_id)
|
|
|
|
sumo_transform = BridgeHelper.get_sumo_transform(carla_actor.get_transform(),
|
|
carla_actor.bounding_box.extent)
|
|
if self.sync_vehicle_lights:
|
|
carla_lights = self.carla.get_actor_light_state(carla_actor_id)
|
|
if carla_lights is not None:
|
|
sumo_lights = BridgeHelper.get_sumo_lights_state(sumo_actor.signals,
|
|
carla_lights)
|
|
else:
|
|
sumo_lights = None
|
|
else:
|
|
sumo_lights = None
|
|
|
|
self.sumo.synchronize_vehicle(sumo_actor_id, sumo_transform, sumo_lights)
|
|
|
|
# Updates traffic lights in sumo based on carla information.
|
|
if self.tls_manager == 'carla':
|
|
common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids
|
|
for landmark_id in common_landmarks:
|
|
carla_tl_state = self.carla.get_traffic_light_state(landmark_id)
|
|
sumo_tl_state = BridgeHelper.get_sumo_traffic_light_state(carla_tl_state)
|
|
|
|
# Updates all the sumo links related to this landmark.
|
|
self.sumo.synchronize_traffic_light(landmark_id, sumo_tl_state)
|
|
|
|
def close(self):
|
|
"""
|
|
Cleans synchronization.
|
|
"""
|
|
# Configuring carla simulation in async mode.
|
|
settings = self.carla.world.get_settings()
|
|
settings.synchronous_mode = False
|
|
settings.fixed_delta_seconds = None
|
|
self.carla.world.apply_settings(settings)
|
|
|
|
# Destroying synchronized actors.
|
|
for carla_actor_id in self.sumo2carla_ids.values():
|
|
self.carla.destroy_actor(carla_actor_id)
|
|
|
|
for sumo_actor_id in self.carla2sumo_ids.values():
|
|
self.sumo.destroy_actor(sumo_actor_id)
|
|
|
|
# Closing sumo and carla client.
|
|
self.carla.close()
|
|
self.sumo.close()
|
|
|
|
|
|
def synchronization_loop(args):
|
|
"""
|
|
Entry point for sumo-carla co-simulation.
|
|
"""
|
|
sumo_simulation = SumoSimulation(args.sumo_cfg_file, args.step_length, args.sumo_host,
|
|
args.sumo_port, args.sumo_gui)
|
|
carla_simulation = CarlaSimulation(args.carla_host, args.carla_port, args.step_length)
|
|
|
|
synchronization = SimulationSynchronization(sumo_simulation, carla_simulation, args.tls_manager,
|
|
args.sync_vehicle_color, args.sync_vehicle_lights)
|
|
try:
|
|
while True:
|
|
start = time.time()
|
|
|
|
synchronization.tick()
|
|
|
|
end = time.time()
|
|
elapsed = end - start
|
|
if elapsed < args.step_length:
|
|
time.sleep(args.step_length - elapsed)
|
|
|
|
except KeyboardInterrupt:
|
|
logging.info('Cancelled by user.')
|
|
|
|
finally:
|
|
logging.info('Cleaning synchronization')
|
|
|
|
synchronization.close()
|
|
|
|
|
|
if __name__ == '__main__':
|
|
argparser = argparse.ArgumentParser(description=__doc__)
|
|
argparser.add_argument('sumo_cfg_file', type=str, help='sumo configuration file')
|
|
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('--sumo-gui', action='store_true', help='run the gui version of sumo')
|
|
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 (default: False)')
|
|
argparser.add_argument('--sync-vehicle-color',
|
|
action='store_true',
|
|
help='synchronize vehicle color (default: False)')
|
|
argparser.add_argument('--sync-vehicle-all',
|
|
action='store_true',
|
|
help='synchronize all vehicle properties (default: False)')
|
|
argparser.add_argument('--tls-manager',
|
|
type=str,
|
|
choices=['none', 'sumo', 'carla'],
|
|
help="select traffic light manager (default: none)",
|
|
default='none')
|
|
argparser.add_argument('--debug', action='store_true', help='enable debug messages')
|
|
arguments = argparser.parse_args()
|
|
|
|
if arguments.sync_vehicle_all is True:
|
|
arguments.sync_vehicle_lights = True
|
|
arguments.sync_vehicle_color = True
|
|
|
|
if arguments.debug:
|
|
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.DEBUG)
|
|
else:
|
|
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
|
|
|
|
synchronization_loop(arguments)
|