269 lines
11 KiB
Python
269 lines
11 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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"""Spawn Sumo NPCs vehicles into the simulation"""
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# ==================================================================================================
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# -- imports ---------------------------------------------------------------------------------------
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# ==================================================================================================
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import argparse
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import json
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import logging
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import random
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import re
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import shutil
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import tempfile
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import time
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import lxml.etree as ET # pylint: disable=wrong-import-position
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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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# -- imports ---------------------------------------------------------------------------------------
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# ==================================================================================================
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import sumolib # pylint: disable=wrong-import-position
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import traci # 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.sumo_simulation import SumoSimulation # pylint: disable=wrong-import-position
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from run_synchronization import SimulationSynchronization # pylint: disable=wrong-import-position
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from util.netconvert_carla import netconvert_carla
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# ==================================================================================================
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# -- main ------------------------------------------------------------------------------------------
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# ==================================================================================================
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def write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file):
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"""
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Writes sumo configuration xml file.
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"""
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root = ET.Element('configuration')
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input_tag = ET.SubElement(root, 'input')
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ET.SubElement(input_tag, 'net-file', {'value': net_file})
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ET.SubElement(input_tag, 'route-files', {'value': vtypes_file})
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gui_tag = ET.SubElement(root, 'gui_only')
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ET.SubElement(gui_tag, 'gui-settings-file', {'value': viewsettings_file})
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tree = ET.ElementTree(root)
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tree.write(cfg_file, pretty_print=True, encoding='UTF-8', xml_declaration=True)
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def main(args):
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# Temporal folder to save intermediate files.
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tmpdir = tempfile.mkdtemp()
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# ----------------
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# carla simulation
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# ----------------
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carla_simulation = CarlaSimulation(args.host, args.port, args.step_length)
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world = carla_simulation.client.get_world()
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current_map = world.get_map()
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xodr_file = os.path.join(tmpdir, current_map.name + '.xodr')
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current_map.save_to_disk(xodr_file)
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# ---------------
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# sumo simulation
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# ---------------
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net_file = os.path.join(tmpdir, current_map.name + '.net.xml')
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netconvert_carla(xodr_file, net_file, guess_tls=True)
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basedir = os.path.dirname(os.path.realpath(__file__))
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cfg_file = os.path.join(tmpdir, current_map.name + '.sumocfg')
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vtypes_file = os.path.join(basedir, 'examples', 'carlavtypes.rou.xml')
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viewsettings_file = os.path.join(basedir, 'examples', 'viewsettings.xml')
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write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file)
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sumo_net = sumolib.net.readNet(net_file)
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sumo_simulation = SumoSimulation(cfg_file,
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args.step_length,
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host=None,
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port=None,
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sumo_gui=args.sumo_gui)
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# ---------------
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# synchronization
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# ---------------
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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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# ----------
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# Blueprints
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# ----------
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with open('data/vtypes.json') as f:
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vtypes = json.load(f)['carla_blueprints']
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blueprints = vtypes.keys()
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filterv = re.compile(args.filterv)
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blueprints = list(filter(filterv.search, blueprints))
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if args.safe:
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blueprints = [
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x for x in blueprints if vtypes[x]['vClass'] not in ('motorcycle', 'bicycle')
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]
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blueprints = [x for x in blueprints if not x.endswith('isetta')]
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blueprints = [x for x in blueprints if not x.endswith('carlacola')]
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blueprints = [x for x in blueprints if not x.endswith('cybertruck')]
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blueprints = [x for x in blueprints if not x.endswith('t2')]
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if not blueprints:
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raise RuntimeError('No blueprints available due to user restrictions.')
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if args.number_of_walkers > 0:
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logging.warning('Pedestrians are not supported yet. No walkers will be spawned.')
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# --------------
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# Spawn vehicles
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# --------------
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# Spawns sumo NPC vehicles.
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sumo_edges = sumo_net.getEdges()
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for i in range(args.number_of_vehicles):
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edge = random.choice(sumo_edges)
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type_id = random.choice(blueprints)
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traci.route.add('route_{}'.format(i), [edge.getID()])
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traci.vehicle.add('sumo_{}'.format(i), 'route_{}'.format(i), typeID=type_id)
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while True:
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start = time.time()
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synchronization.tick()
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# Updates vehicle routes
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for vehicle_id in traci.vehicle.getIDList():
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route = traci.vehicle.getRoute(vehicle_id)
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index = traci.vehicle.getRouteIndex(vehicle_id)
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vclass = traci.vehicle.getVehicleClass(vehicle_id)
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if index == (len(route) - 1):
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current_edge = sumo_net.getEdge(route[index])
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available_edges = list(current_edge.getAllowedOutgoing(vclass).keys())
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if available_edges:
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next_edge = random.choice(available_edges)
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new_route = [current_edge.getID(), next_edge.getID()]
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traci.vehicle.setRoute(vehicle_id, new_route)
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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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synchronization.close()
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if os.path.exists(tmpdir):
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shutil.rmtree(tmpdir)
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if __name__ == '__main__':
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argparser = argparse.ArgumentParser(description=__doc__)
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argparser.add_argument('--host',
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metavar='H',
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default='127.0.0.1',
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help='IP of the host server (default: 127.0.0.1)')
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argparser.add_argument('-p',
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'--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('-n',
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'--number-of-vehicles',
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metavar='N',
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default=10,
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type=int,
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help='number of vehicles (default: 10)')
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argparser.add_argument('-w',
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'--number-of-walkers',
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metavar='W',
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default=0,
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type=int,
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help='number of walkers (default: 0)')
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argparser.add_argument('--safe',
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action='store_true',
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help='avoid spawning vehicles prone to accidents')
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argparser.add_argument('--filterv',
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metavar='PATTERN',
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default='vehicle.*',
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help='vehicles filter (default: "vehicle.*")')
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argparser.add_argument('--filterw',
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metavar='PATTERN',
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default='walker.pedestrian.*',
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help='pedestrians filter (default: "walker.pedestrian.*")')
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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('--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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args = argparser.parse_args()
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if args.sync_vehicle_all is True:
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args.sync_vehicle_lights = True
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args.sync_vehicle_color = True
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if args.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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main(args) |