320 lines
14 KiB
Python
320 lines
14 KiB
Python
#!/usr/bin/env python
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# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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"""
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Script to integrate CARLA and SUMO simulations
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"""
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# ==================================================================================================
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# -- imports ---------------------------------------------------------------------------------------
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# ==================================================================================================
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import argparse
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import logging
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import time
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# ==================================================================================================
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# -- find carla module -----------------------------------------------------------------------------
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# ==================================================================================================
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import glob
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import os
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import sys
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try:
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sys.path.append(
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glob.glob('../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' %
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(sys.version_info.major, sys.version_info.minor,
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'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
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except IndexError:
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pass
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# ==================================================================================================
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# -- find traci module -----------------------------------------------------------------------------
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# ==================================================================================================
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if 'SUMO_HOME' in os.environ:
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sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools'))
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else:
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sys.exit("please declare environment variable 'SUMO_HOME'")
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# ==================================================================================================
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# -- sumo integration imports ----------------------------------------------------------------------
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# ==================================================================================================
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from sumo_integration.bridge_helper import BridgeHelper # pylint: disable=wrong-import-position
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from sumo_integration.carla_simulation import CarlaSimulation # pylint: disable=wrong-import-position
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from sumo_integration.constants import INVALID_ACTOR_ID # pylint: disable=wrong-import-position
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from sumo_integration.sumo_simulation import SumoSimulation # pylint: disable=wrong-import-position
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# ==================================================================================================
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# -- synchronization_loop --------------------------------------------------------------------------
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# ==================================================================================================
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class SimulationSynchronization(object):
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"""
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SimulationSynchronization class is responsible for the synchronization of sumo and carla
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simulations.
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"""
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def __init__(self,
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sumo_simulation,
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carla_simulation,
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tls_manager='none',
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sync_vehicle_color=False,
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sync_vehicle_lights=False):
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self.sumo = sumo_simulation
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self.carla = carla_simulation
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self.tls_manager = tls_manager
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self.sync_vehicle_color = sync_vehicle_color
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self.sync_vehicle_lights = sync_vehicle_lights
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if tls_manager == 'carla':
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self.sumo.switch_off_traffic_lights()
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elif tls_manager == 'sumo':
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self.carla.switch_off_traffic_lights()
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# Mapped actor ids.
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self.sumo2carla_ids = {} # Contains only actors controlled by sumo.
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self.carla2sumo_ids = {} # Contains only actors controlled by carla.
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BridgeHelper.blueprint_library = self.carla.world.get_blueprint_library()
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BridgeHelper.offset = self.sumo.get_net_offset()
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# Configuring carla simulation in sync mode.
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settings = self.carla.world.get_settings()
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settings.synchronous_mode = True
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settings.fixed_delta_seconds = self.carla.step_length
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self.carla.world.apply_settings(settings)
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traffic_manager = self.carla.client.get_trafficmanager()
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traffic_manager.set_synchronous_mode(True)
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def tick(self):
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"""
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Tick to simulation synchronization
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"""
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# -----------------
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# sumo-->carla sync
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# -----------------
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self.sumo.tick()
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# Spawning new sumo actors in carla (i.e, not controlled by carla).
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sumo_spawned_actors = self.sumo.spawned_actors - set(self.carla2sumo_ids.values())
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for sumo_actor_id in sumo_spawned_actors:
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self.sumo.subscribe(sumo_actor_id)
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sumo_actor = self.sumo.get_actor(sumo_actor_id)
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carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor, self.sync_vehicle_color)
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if carla_blueprint is not None:
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carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
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sumo_actor.extent)
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carla_actor_id = self.carla.spawn_actor(carla_blueprint, carla_transform)
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if carla_actor_id != INVALID_ACTOR_ID:
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self.sumo2carla_ids[sumo_actor_id] = carla_actor_id
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else:
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self.sumo.unsubscribe(sumo_actor_id)
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# Destroying sumo arrived actors in carla.
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for sumo_actor_id in self.sumo.destroyed_actors:
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if sumo_actor_id in self.sumo2carla_ids:
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self.carla.destroy_actor(self.sumo2carla_ids.pop(sumo_actor_id))
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# Updating sumo actors in carla.
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for sumo_actor_id in self.sumo2carla_ids:
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carla_actor_id = self.sumo2carla_ids[sumo_actor_id]
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sumo_actor = self.sumo.get_actor(sumo_actor_id)
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carla_actor = self.carla.get_actor(carla_actor_id)
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carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
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sumo_actor.extent)
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if self.sync_vehicle_lights:
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carla_lights = BridgeHelper.get_carla_lights_state(carla_actor.get_light_state(),
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sumo_actor.signals)
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else:
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carla_lights = None
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self.carla.synchronize_vehicle(carla_actor_id, carla_transform, carla_lights)
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# Updates traffic lights in carla based on sumo information.
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if self.tls_manager == 'sumo':
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common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids
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for landmark_id in common_landmarks:
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sumo_tl_state = self.sumo.get_traffic_light_state(landmark_id)
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carla_tl_state = BridgeHelper.get_carla_traffic_light_state(sumo_tl_state)
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self.carla.synchronize_traffic_light(landmark_id, carla_tl_state)
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# -----------------
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# carla-->sumo sync
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# -----------------
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self.carla.tick()
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# Spawning new carla actors (not controlled by sumo)
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carla_spawned_actors = self.carla.spawned_actors - set(self.sumo2carla_ids.values())
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for carla_actor_id in carla_spawned_actors:
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carla_actor = self.carla.get_actor(carla_actor_id)
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type_id = BridgeHelper.get_sumo_vtype(carla_actor)
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color = carla_actor.attributes.get('color', None) if self.sync_vehicle_color else None
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if type_id is not None:
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sumo_actor_id = self.sumo.spawn_actor(type_id, color)
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if sumo_actor_id != INVALID_ACTOR_ID:
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self.carla2sumo_ids[carla_actor_id] = sumo_actor_id
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self.sumo.subscribe(sumo_actor_id)
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# Destroying required carla actors in sumo.
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for carla_actor_id in self.carla.destroyed_actors:
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if carla_actor_id in self.carla2sumo_ids:
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self.sumo.destroy_actor(self.carla2sumo_ids.pop(carla_actor_id))
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# Updating carla actors in sumo.
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for carla_actor_id in self.carla2sumo_ids:
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sumo_actor_id = self.carla2sumo_ids[carla_actor_id]
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carla_actor = self.carla.get_actor(carla_actor_id)
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sumo_actor = self.sumo.get_actor(sumo_actor_id)
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sumo_transform = BridgeHelper.get_sumo_transform(carla_actor.get_transform(),
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carla_actor.bounding_box.extent)
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if self.sync_vehicle_lights:
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carla_lights = self.carla.get_actor_light_state(carla_actor_id)
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if carla_lights is not None:
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sumo_lights = BridgeHelper.get_sumo_lights_state(sumo_actor.signals,
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carla_lights)
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else:
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sumo_lights = None
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else:
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sumo_lights = None
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self.sumo.synchronize_vehicle(sumo_actor_id, sumo_transform, sumo_lights)
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# Updates traffic lights in sumo based on carla information.
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if self.tls_manager == 'carla':
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common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids
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for landmark_id in common_landmarks:
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carla_tl_state = self.carla.get_traffic_light_state(landmark_id)
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sumo_tl_state = BridgeHelper.get_sumo_traffic_light_state(carla_tl_state)
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# Updates all the sumo links related to this landmark.
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self.sumo.synchronize_traffic_light(landmark_id, sumo_tl_state)
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def close(self):
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"""
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Cleans synchronization.
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"""
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# Configuring carla simulation in async mode.
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settings = self.carla.world.get_settings()
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settings.synchronous_mode = False
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settings.fixed_delta_seconds = None
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self.carla.world.apply_settings(settings)
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# Destroying synchronized actors.
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for carla_actor_id in self.sumo2carla_ids.values():
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self.carla.destroy_actor(carla_actor_id)
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for sumo_actor_id in self.carla2sumo_ids.values():
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self.sumo.destroy_actor(sumo_actor_id)
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# Closing sumo and carla client.
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self.carla.close()
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self.sumo.close()
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def synchronization_loop(args):
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"""
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Entry point for sumo-carla co-simulation.
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"""
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sumo_simulation = SumoSimulation(args.sumo_cfg_file, args.step_length, args.sumo_host,
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args.sumo_port, args.sumo_gui, args.client_order)
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carla_simulation = CarlaSimulation(args.carla_host, args.carla_port, args.step_length)
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synchronization = SimulationSynchronization(sumo_simulation, carla_simulation, args.tls_manager,
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args.sync_vehicle_color, args.sync_vehicle_lights)
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try:
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while True:
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start = time.time()
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synchronization.tick()
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end = time.time()
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elapsed = end - start
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if elapsed < args.step_length:
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time.sleep(args.step_length - elapsed)
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except KeyboardInterrupt:
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logging.info('Cancelled by user.')
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finally:
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logging.info('Cleaning synchronization')
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synchronization.close()
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if __name__ == '__main__':
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argparser = argparse.ArgumentParser(description=__doc__)
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argparser.add_argument('sumo_cfg_file', type=str, help='sumo configuration file')
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argparser.add_argument('--carla-host',
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metavar='H',
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default='127.0.0.1',
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help='IP of the carla host server (default: 127.0.0.1)')
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argparser.add_argument('--carla-port',
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metavar='P',
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default=2000,
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type=int,
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help='TCP port to listen to (default: 2000)')
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argparser.add_argument('--sumo-host',
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metavar='H',
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default=None,
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help='IP of the sumo host server (default: 127.0.0.1)')
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argparser.add_argument('--sumo-port',
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metavar='P',
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default=None,
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type=int,
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help='TCP port to listen to (default: 8813)')
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argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
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argparser.add_argument('--step-length',
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default=0.05,
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type=float,
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help='set fixed delta seconds (default: 0.05s)')
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argparser.add_argument('--client-order',
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metavar='TRACI_CLIENT_ORDER',
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default=1,
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type=int,
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help='client order number for the co-simulation TraCI connection (default: 1)')
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argparser.add_argument('--sync-vehicle-lights',
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action='store_true',
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help='synchronize vehicle lights state (default: False)')
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argparser.add_argument('--sync-vehicle-color',
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action='store_true',
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help='synchronize vehicle color (default: False)')
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argparser.add_argument('--sync-vehicle-all',
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action='store_true',
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help='synchronize all vehicle properties (default: False)')
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argparser.add_argument('--tls-manager',
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type=str,
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choices=['none', 'sumo', 'carla'],
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help="select traffic light manager (default: none)",
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default='none')
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argparser.add_argument('--debug', action='store_true', help='enable debug messages')
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arguments = argparser.parse_args()
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if arguments.sync_vehicle_all is True:
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arguments.sync_vehicle_lights = True
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arguments.sync_vehicle_color = True
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if arguments.debug:
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logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.DEBUG)
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else:
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logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
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synchronization_loop(arguments)
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