sumocr.interface package

Submodules

sumocr.interface.ego_vehicle module

class sumocr.interface.ego_vehicle.EgoVehicle(id, initial_state, delta_steps, width=2.0, length=5.0, planning_problem=None)

Bases: object

Interface object for ego vehicle. How to use: After each simulation step, get current state with EgoVehicle.current_state() and set planned trajectory with EgoVehicle.set_planned_trajectory(planned_trajectory).

add_state(state)

Adds a state to the current state dictionary.

Parameters:

state (State) – the state to be added

Return type:

None

property current_state: State

Returns the current state.

property current_time_step: int

Returns current time step.

property driven_trajectory: TrajectoryPrediction

Returns trajectory prediction object for driven trajectory (mainly for plotting)

get_dynamic_obstacle(time_step=None)

If time step is None, adds complete driven trajectory and returns the dynamic obstacles. If time step is int: starts from given step and adds planned trajectory and returns the dynamic obstacles.

Parameters:

time_step (Optional[int]) – initial time step of vehicle

Return type:

DynamicObstacle

Returns:

DynamicObstacle object of the ego vehicle.

get_planned_state(delta_step=0)

Returns the planned state.

Parameters:

delta_step (int) – get planned state after delta steps

property get_planned_trajectory: List[State]

Gets planned trajectory according to the current time step

get_state_at_timestep(time_step)

Returns the state according to the given time step.

Parameters:

time_step (int) – the state is returned according to this time step.

Return type:

State

property goal: GoalRegion

Returns the goal of the planning problem.

property initial_state: State

Returns the initial state of the ego vehicle.

property length: float

Returns the length of the ego vehicle.

property pp_id: int | None

Returns:

associated planning problem id

set_planned_trajectory(planned_state_list)

Sets planned trajectory beginning with current time step.

Parameters:

planned_state_list (List[State]) – the planned trajectory

Return type:

None

property width: float

Returns the width of the ego vehicle.

sumocr.interface.id_mapper module

class sumocr.interface.id_mapper.IdDomain(value)

Bases: Enum

Different seperate domains under which IDs can be registered, such that, duplicate SUMO IDs are possible, as long as they reside in different domains.

EGO_VEHICLE = 'egoVehicle'

OBSTACLE_VEHICLE = 'obstacleVehicle'

PEDESTRIAN = 'pedestrian'

TRAFFIC_LIGHT = 'trafficLight'

VEHICLE = 'vehicle'

construct_sumo_id(base_id)

Construct a SumoId from the base_id, such that it can be associated with the IdDomain (usualy through contains_sumo_id)

Return type:

str

contains_sumo_id(id_)

Check whether the domain, contains the given SumoId

cr_prefix()

Return type:

int

sumo_prefix()

Return type:

str

class sumocr.interface.id_mapper.IdMapper

Bases: object

IdMapper bi-directionally maps Ids between CommonRoad and

cr2sumo(cr_id, domain)

Retrive the SumoId that is associated with the given cr_id from the given domain.

Return type:

Optional[str]

Returns:

The associated SumoId, or None if no SumoId could be found

has_cr2sumo(cr_id, domain)

Check whether the given cr_id has a sumo_id associated in the given domain

Return type:

bool

has_sumo2cr(sumo_id, domain)

Check whether the given sumo_id is already mapped to a CommonRoadId in the given domain.

Return type:

bool

insert_mapping(sumo_id, cr_id, domain)

Map the provided sumo_id and cr_id together for the given domain. No checks are performed, to verify the validatity of the mapping.

Return type:

None

new_cr_id_from_sumo_id(sumo_id, domain)

Create a new CommonRoadId for the sumo_id in the given domain and add it to the internal mapping. If the given sumo_id, already has a CommonRoadId allocated, this Id will be returned instead, and no new one will be generated.

Return type:

int

new_sumo_id_from_cr_id(cr_id, domain)

Return type:

str

sumo2cr(sumo_id, domain)

Retrive the CommonRoadId that is associated with the given sumo_id from the given domain.

Return type:

Optional[int]

Returns:

The associated CommonRoadId, or None if no CommonRoadId could be found

sumocr.interface.params module

sumocr.interface.sumo_simulation module

class sumocr.interface.sumo_simulation.SumoSimulation(simulation_backend=None)

Bases: object

Class for interfacing between the SUMO simulation and CommonRoad.

check_ego_collisions(raise_error=True)

Checks if the ego vehicle is colliding in the current time step of the simulation. :type raise_error: :param raise_error: raise EgoCollisionError, other return False :return: False if collision occurs, True otherwise

check_lanelets_future_change(current_state, planned_traj)

Checks the lanelet changes of the ego vehicle in the future time_window.

Parameters:

• lanelet_network – object of the lanelet network

• time_window – the time of the window to check the lanelet change

• traj_index – index of the planner output corresponding to the current time step

Return type:

Tuple[str, int]

Returns:

lc_status, lc_duration: lc_status is the status of the lanelet change in the next time_window; lc_duration is the unit of time steps (using sumo dt)

commonroad_scenario_at_time_step(time_step, add_ego=False, start_0=True)

Creates and returns a commonroad scenario at the given time_step. Initial time_step=0 for all obstacles.

Parameters:

• time_step (int) – the scenario will be created according this time step.

• add_ego – whether to add ego vehicles to the scenario.

• start_0 – if set to true, initial time step of vehicles is 0, otherwise, the current time step

Return type:

Scenario

commonroad_scenarios_all_time_steps()

Creates and returns a commonroad scenario with all the dynamic obstacles. :param lanelet_network: :rtype: Scenario :return: list of cr scenarios, list of cr scenarios with ego, list of planning problem sets)

property current_time_step: int

Returns:

current time step of interface

property ego_vehicles: Dict[int, EgoVehicle]

Returns the ego vehicles of the current simulation.

get_ego_obstacles(time_step=None)

Get list of ego vehicles converted to Dynamic obstacles :type time_step: Optional[int] :param time_step: initial time step, if None, get complete driven trajectory :rtype: List[DynamicObstacle] :return:

init_ego_vehicles_from_planning_problem(planning_problem_set)

Initializes the ego vehicles according to planning problem set.

Parameters:

planning_problem_set (PlanningProblemSet) – The planning problem set which defines the ego vehicles.

Return type:

None

initialize(conf, scenario_wrapper, planning_problem_set=None)

Reads scenario files, starts traci simulation, initializes vehicles, conducts pre-simulation.

Parameters:

• conf (DefaultConfig) – configuration object. If None, use default configuration.

• scenario_wrapper (ScenarioWrapper) – handles all files required for simulation. If None it is initialized with files

• planning_problem_set (Optional[PlanningProblemSet]) – initialize initial state of ego vehicles

Return type:

None folder conf.scenarios_path + conf.scenario_name

(if None, use planning_problem_set from self.scenario)

is_in_field_of_view(position, veh_id)

Returns True if the position is in the FOV of any ego vehicle. :type position: ndarray :param position: position of other vehicle :return:

property scenarios: ScenarioWrapper

simulate_step()

Executes next simulation step (consisting of delta_steps sub-steps with dt_sumo=dt/delta_steps) in SUMO

Return type:

None

static sort_ego_first(vehicle_ids)

stop()

Exits SUMO Simulation

sync_obstacle_to_sumo_simulation(obstacle)

sync_traffic_light_to_sumo_simulation(traffic_light)

sumocr.interface.sumo_simulation_backend module

class sumocr.interface.sumo_simulation_backend.GuiSumoSimulationBackend(config, sumo_config_file, sumo_binary_path=None)

Bases: TraciApiSumoSimulationBackend

Provides an interface to perform sumo simulation with a GUI by utilizing traci.

class sumocr.interface.sumo_simulation_backend.HeadlessSumoSimulationBackend(config, sumo_config_file, sumo_binary_path=None)

Bases: TraciApiSumoSimulationBackend

Provides an interface to perform sumo simulation without a GUI by utilizing libsumo.

class sumocr.interface.sumo_simulation_backend.SumoSimulationBackend(config, sumo_config_file)

Bases: ABC

SumoSimulationBackend provides an interface for interacting with a more concrete sumo simulator (e.g. based on libsumo).

add_person(person_id, edgeId)

add_vehicle(vehicle_id, vehicle_class)

abstract property edge_domain: EdgeDomain | edge

abstract initialize()

abstract property lane_domain: LaneDomain | lane

move_person(person_id, x, y, angle)

move_vehicle(vehicle_id, x, y, angle)

abstract property person_domain: PersonDomain | person

remove_person(person_id)

remove_vehicle(vehicle_id)

abstract property route_domain: RouteDomain | route

set_vehicle_shape(vehicle_id, length, width)

abstract property simulation_domain: SimulationDomain | simulation

abstract simulation_step()

abstract start()

abstract stop()

abstract property traffic_light_domain: TrafficLightDomain | trafficlight

abstract property vehicle_domain: VehicleDomain | vehicle

abstract property vehicle_type_domain: VehicleTypeDomain | vehicletype

class sumocr.interface.sumo_simulation_backend.SumoSimulationBackendConfiguration(dt, delta_steps, lateral_resolution, random_seed=None)

Bases: object

delta_steps: int

dt: int

lateral_resolution: float

random_seed: Optional[float] = None

class sumocr.interface.sumo_simulation_backend.TraciApiSumoSimulationBackend(config, sumo_config_file, sumo_interface, sumo_binary_path)

Bases: SumoSimulationBackend

This is an abstract interface for libraries that support the traci API (libsumo and traci).

property edge_domain

initialize()

property lane_domain

property person_domain

property route_domain

property simulation_domain

simulation_step()

Perform a simulation step

start()

Configure and start the underlying sumo interface to begin the simulation

stop()

Stop the running simulation and close the connection to sumo

property traffic_light_domain

property vehicle_domain

property vehicle_type_domain

sumocr.interface.sumo_simulation_interface module

class sumocr.interface.sumo_simulation_interface.SumoSimulationInterface(simulation_backend, id_mapper, scenario)

Bases: object

Provides an interface to the SUMO simulation, by exposing several subinterfaces.

property pedestrians

simulate_step()

property traffic_lights

property vehicles

sumocr.interface.util module

exception sumocr.interface.util.EgoCollisionError(time_step=None)

Bases: Exception

Exception raised if the ego vehicle collides with another vehicle

exception sumocr.interface.util.NetError(len)

Bases: Exception

Exception raised if there is no net-file or multiple net-files.

exception sumocr.interface.util.RouteError

Bases: Exception

Exception raised if there is no route-file.

class sumocr.interface.util.SumoSignalIndices(value)

Bases: IntEnum

All interpretations with their respective bit indices ref.: https://sumo.dlr.de/docs/TraCI/Vehicle_Signalling.html

VEH_SIGNAL_BACKDRIVE = 7

VEH_SIGNAL_BLINKER_EMERGENCY = 2

VEH_SIGNAL_BLINKER_LEFT = 1

VEH_SIGNAL_BLINKER_RIGHT = 0

VEH_SIGNAL_BRAKELIGHT = 3

VEH_SIGNAL_DOOR_OPEN_LEFT = 9

VEH_SIGNAL_DOOR_OPEN_RIGHT = 10

VEH_SIGNAL_EMERGENCY_BLUE = 11

VEH_SIGNAL_EMERGENCY_RED = 12

VEH_SIGNAL_EMERGENCY_YELLOW = 13

VEH_SIGNAL_FOGLIGHT = 5

VEH_SIGNAL_FRONTLIGHT = 4

VEH_SIGNAL_HIGHBEAM = 6

VEH_SIGNAL_WIPER = 8

sumocr.interface.util.cr_obstacle_type_to_sumo_vehicle_class(obstacle_type)

Return type:

str

sumocr.interface.util.get_route_files(config_file)

Returns net-file and route-files specified in the config file.

Parameters:

config_file – SUMO config file (.sumocfg)

Return type:

List[str]

sumocr.interface.util.get_signal_state(state, time_step)

Computes the CR Signal state from the sumo signals

Return type:

SignalState

sumocr.interface.util.sumo_vehicle_class_to_cr_obstacle_type(vehicle_class)

Return type:

ObstacleType

Module contents