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SimulControl.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Tue Dec 21 15:25:17 2021
@author: sanggupark
"""
import traci
import random
import Parser
import Router
from AUV import AUV
from HUV import HUV
delta_T = 0.1
def create_vehicles(numAUV, numHUV, route_file, typelist, routelist, MapGraph, Connection):
""" 0-C. Create vehicles (CAVs) in SUMO and Extract waypoints """
auvs = give_birth_to_veh(numAUV, "auv", typelist, routelist, MapGraph, Connection, route_file)
huvs = give_birth_to_veh(numHUV, "huv", typelist, routelist, MapGraph, Connection, route_file)
return auvs, huvs
def give_birth_to_veh(numVEH, type_str, typelist, routelist, MapGraph, Connection, route_file):
""" 0-C. Create vehicles (CAVs) in SUMO and Extract waypoints """
vehicles = []
vel_init = 0.0
if 'auv' in type_str:
for i in range(numVEH):
vehID, xpos, ypos, src, dst, vel, angle, acc_max, dec_min, dec_max, response, length, width, height = create_vehicle(i, vel_init, typelist,
routelist, route_file,
auv=True)
vel = vel_init
acc_max = float(acc_max) * delta_T
dec_min = float(dec_min) * delta_T
dec_max = float(dec_max) * delta_T
WayPoints, RouteGraph, InterLane = Router.generate_waypoint(src, dst, MapGraph, Connection)
vehicles.append(AUV(vehID, src, dst, xpos, ypos,
vel, angle, acc_max, dec_min, dec_max,
response, length, width, height, MapGraph, RouteGraph, Connection, WayPoints, InterLane))
elif 'huv' in type_str:
vel_init = 12.0
for i in range(numVEH):
vehID, xpos, ypos, src, dst, vel, angle, acc_max, dec_min, dec_max, response, length, width, height = create_vehicle(i, vel_init, typelist,
routelist, route_file,
auv=False)
vehicles.append(HUV(vehID, xpos, ypos, vel, angle, length, width, height))
return vehicles
def create_vehicle(i, vel_init, typelist, routelist, route_file, auv=True):
if auv == True:
vehID = "auv" + str(i+1)
response = 0.1
else:
vehID = "huv" + str(i+1)
response = 0.2
typeID = random.choice(typelist)
routeID = random.choice(routelist)
if auv:
routeID = random.choice([
# 'test',
"route1_5_r", "route5_1_r",
"route3_1_r", "route3_2_r",
"route4_2_r", "route2_4_r",
"route6_0_r", "route0_6_r",
"route2_5_s", "route5_2_s",
"route3_1_s", "route3_2_s",
"route4_1_s", "route1_4_s",
"route6_0_s", "route0_6_s",
"route0_3_l", "route3_0_l",
"route1_2_l", "route2_1_l",
"route0_3_r", "route3_0_r",
"route1_2_r", "route2_1_r",
"route3_6_l", "route6_3_l",
"route4_5_l", "route5_4_l",
"route3_6_r", "route6_3_r",
"route4_5_r", "route5_4_r"
])
if not auv:
routeID = random.choice([
# "test"
"route_h_1_1",
"route_h_1_2",
"route_h_2_1", # do not use this
"route_h_2_2",
"route_h_3_1", # do not use
"route_h_3_2",
"route_h_4_1",
"route_h_4_2"
])
if routeID == 'route1_5_r':
src = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(50, 100, 8)] # 1to3
dst = [random.randrange(50, 100, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
elif routeID == 'route5_1_r':
src = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(300, 350, 8)] # 5to3
dst = [random.randrange(-150, -100, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] # 0to1
elif routeID == 'route3_1_r':
src = [random.randrange(300, 350, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 3to4
dst = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(300, 350, 8)] # 5to3
elif routeID == 'route3_2_r':
src = [random.randrange(-200, -150, 8), random.choice([251.6, 254.8, 258.0, 261.2])] # 3to2
dst = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(50, 100, 8)] # 1to3
elif routeID == 'route4_2_r':
src = [random.choice([251.6, 254.8, 258.0, 261.2]), random.randrange(400, 450, 8)] # 4to6
dst = [random.randrange(-150, -100, 8), random.choice([251.6, 254.8, 258.0, 261.2])] #3to2
elif routeID == 'route2_4_r':
src = [random.choice([-251.6, -254.8, -258.0, -261.2]), random.randrange(50, 100, 8)] # 2to0
dst = [random.randrange(50, 100, 8), random.choice([248.4, 245.2, 242.0, 238.8])] #3to4
elif routeID == 'route6_0_r':
src = [random.randrange(50, 100, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
dst = [random.choice([-251.6, -254.8, -258.0, -261.2]), random.randrange(50, 100, 8)] # 2to0
elif routeID == 'route0_6_r':
src = [random.randrange(-200, -150, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] # 0to1
dst = [random.choice([251.6, 254.8, 258.0, 261.2]), random.randrange(400, 450, 8)] # 4to6
elif routeID == 'route2_5_s':
src = [random.randrange(-200, -150, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 2to3
dst = [random.randrange(50, 100, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
elif routeID == 'route5_2_s':
src = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(400, 450, 8)] # 5to3
dst = [random.choice([-248.4, -245.2, -242.0, -238.8]), random.randrange(50, 100, 8)] #0to2
elif routeID == 'route3_1_s':
src = [random.randrange(300, 350, 8), random.choice([248.4, 245.2, 242.0, 238.8])] #3to4
dst = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(400, 450, 8)] # 5to3
elif routeID == 'route3_2_s':
src = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(50, 100, 8)] # 3to1
dst = [random.randrange(-150, -100, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 2to3
elif routeID == 'route4_1_s':
src = [random.choice([251.6, 254.8, 258.0, 261.2]), random.randrange(400, 450, 8)] # 4to6
dst = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(50, 100, 8)] # 3to1
elif routeID == 'route1_4_s':
src = [random.randrange(-200, -150, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] #1to0
dst = [random.randrange(300, 350, 8), random.choice([248.4, 245.2, 242.0, 238.8])] #3to4
elif routeID == 'route6_0_s':
src = [random.randrange(50, 100, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
dst = [random.randrange(-150, -100, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] #1to0
elif routeID == 'route0_6_s':
src = [random.choice([-248.4, -245.2, -242.0, -238.8]), random.randrange(50, 100, 8)] #0to2
dst = [random.choice([251.6, 254.8, 258.0, 261.2]), random.randrange(300, 350, 8)] # 4to6
elif routeID == 'route0_3_l':
src = [random.randrange(-200, -150, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] # 0to1
dst = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(50, 100, 8)] # 1to3
elif routeID == 'route3_0_l':
src = [random.randrange(-200, -150, 8), random.choice([251.6, 254.8, 258.0, 261.2])] #3to2
dst = [random.choice([-251.6, -254.8, -258.0, -261.2]), random.randrange(50, 100, 8)] # 2to0
elif routeID == 'route1_2_l':
src = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(50, 100, 8)] # 1to3
dst = [random.randrange(-150, -100, 8), random.choice([251.6, 254.8, 258.0, 261.2])] #3to2
elif routeID == 'route2_1_l':
src = [random.choice([-251.6, -254.8, -258.0, -261.2]), random.randrange(50, 100, 8)] # 2to0
dst = [random.randrange(-150, -100, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] # 0to1
elif routeID == 'route0_3_r':
src = [random.choice([-248.4, -245.2, -242.0]), random.randrange(50, 100, 8)] # 0to2
dst = [random.randrange(-150, -100, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 2to3
elif routeID == 'route3_0_r':
src = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(50, 100, 8)] # 3to1
dst = [random.randrange(-150, -100, 8), random.choice([1.6, 4.8, 8.0, 11.2])] # 1to0
elif routeID == 'route1_2_r':
src = [random.randrange(-200, -150, 8), random.choice([1.6, 4.8, 8.0, 11.2])] # 1to0
dst = [random.choice([-248.4, -245.2, -242.0]), random.randrange(50, 100, 8)] # 0to2
elif routeID == 'route2_1_r':
src = [random.randrange(-200, -150, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 2to3
dst = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(50, 100, 8)] # 3to1
elif routeID == 'route3_6_l':
src = [random.randrange(400, 450, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 3to4
dst = [random.choice([251.6, 254.8, 258.0, 261.2]), random.randrange(400, 450, 8)] # 4to6
elif routeID == 'route6_3_l':
src = [random.randrange(50, 100, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
dst = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(400, 450, 8)] # 5to3
elif routeID == 'route4_5_l':
src = [random.choice([251.6, 254.8, 258.0, 261.2]), random.randrange(400, 450, 8)] # 4to6
dst = [random.randrange(50, 100, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
elif routeID == 'route5_4_l':
src = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(400, 450, 8)] # 5to3
dst = [random.randrange(300, 350, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 3to4
elif routeID == 'route3_6_r':
src = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(400, 450, 8)] # 3to5
dst = [random.randrange(50, 100, 8), random.choice([498.4, 495.2, 492.0, 488.8])] # 5to6
elif routeID == 'route6_3_r':
src = [random.choice([248.4, 245.2, 242.0, 238.8]), random.randrange(400, 450, 8)] # 6to4
dst = [random.randrange(50, 100, 8), random.choice([251.6, 254.8, 258.0, 261.2])] # 4to3
elif routeID == 'route4_5_r':
src = [random.randrange(50, 100, 8), random.choice([251.6, 254.8, 258.0, 261.2])] # 4to3
dst = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(400, 450, 8)] # 3to5
elif routeID == 'route5_4_r':
src = [random.randrange(50, 100, 8), random.choice([498.4, 495.2, 492.0, 488.8])] # 5to6
dst = [random.choice([248.4, 245.2, 242.0, 238.8]), random.randrange(400, 450, 8)] # 6to4
elif routeID == 'route_h_1_1':
src = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(50, 100, 8)] # 1to3
dst = [random.randrange(150, 200, 8), random.choice([498.4, 495.2, 492.0, 488.8])] # 5to6
elif routeID == 'route_h_1_2':
src = [random.choice([1.6, 4.8, 8.0, 11.2]), random.randrange(50, 100, 8)] # 1to3
dst = [random.randrange(150, 200, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
elif routeID == 'route_h_2_1':
src = [random.randrange(-220, -180, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 2to3
dst = [random.randrange(50, 100, 8), random.choice([498.4, 495.2, 492.0, 488.8])] # 5to6
elif routeID == 'route_h_2_2':
src = [random.randrange(-200, -150, 8), random.choice([248.4, 245.2, 242.0, 238.8])] # 2to3
dst = [random.randrange(50, 100, 8), random.choice([501.6, 504.8, 508.0, 511.2])] # 6to5
elif routeID == 'route_h_3_1':
src = [random.randrange(150, 200, 8), random.choice([251.6, 254.8, 258.0, 261.2])] # 4to3
dst = [random.randrange(-150, -100, 8), random.choice([1.6, 4.8, 8.0, 11.2])] # 1to0
elif routeID == 'route_h_3_2':
src = [random.randrange(150, 200, 8), random.choice([251.6, 254.8, 258.0, 261.2])] # 4to3
dst = [random.randrange(-150, -100, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] # 0to1
elif routeID == 'route_h_4_1':
src = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(400, 450, 8)] # 5to3
dst = [random.randrange(-150, -100, 8), random.choice([1.6, 4.8, 8.0, 11.2])] # 1to0
elif routeID == 'route_h_4_2':
src = [random.choice([-1.6, -4.8, -8.0, -11.2]), random.randrange(400, 450, 8)] # 5to3
dst = [random.randrange(-150, -100, 8), random.choice([-1.6, -4.8, -8.0, -11.2])] # 0to1
elif routeID == 'test':
if auv:
src = [-200.0, 245.2]
dst = [-30.0, 242.0]
elif not auv:
src = [random.randrange(-165, -155, 16), random.choice([242.0, 248.4])]
dst = [random.randrange(-50, -30, 8), random.choice([245.2])]
depart = 0
vel_init = vel_init * delta_T
if 'huv' in vehID:
depart = 2.5
vel_init = 12.0
_, departPos, departLane = traci.simulation.convertRoad(src[0], src[1])
_, arrivalPos, arrivalLane = traci.simulation.convertRoad(dst[0], dst[1])
traci.vehicle.add(vehID=vehID,
typeID=typeID,
routeID=routeID,
depart=depart,
departPos=departPos,
departLane=departLane,
arrivalPos =arrivalPos,
arrivalLane = arrivalLane,
departSpeed=str(vel_init),
arrivalSpeed='0')
if auv == True:
if vehID == 'auv1':
traci.vehicle.setColor(vehID, (80,188,223))
else:
traci.vehicle.setColor(vehID, (255,255,255))
else:
traci.vehicle.setColor(vehID, (128,128,128))
""" 0-D. Create global vehicle information in python """
xpos, ypos, vel, angle, acc_max, dec_max, dec_min, length, width, height = Parser.vehicle_info(route_file, vehID)
return vehID, xpos, ypos, src, dst, vel, angle, acc_max, dec_min, dec_max, response, length, width, height