diff --git a/.gitignore b/.gitignore index 1e17640c..a2d4fa74 100644 --- a/.gitignore +++ b/.gitignore @@ -5,6 +5,7 @@ run_private*.py data/README* data/demand/* !data/demand/example_demand +!data/demand/sumo_example !data/demand/example_parcel_demand data/fleetctrl/initial_vehicle_distribution/* data/fleetctrl/elastic_pricing/* @@ -20,6 +21,7 @@ data/networks/* data/networks/example_network/ff/* data/networks/example_network/ch_graph/* data/networks/example_network/base/*.graph +!data/networks/sumo_example data/pubtrans/* !data/pubtrans/route_193 data/vehicles/* @@ -34,6 +36,8 @@ data/zones/* # study directories except for example and example case studies studies/* !studies/example_study +!studies/fleetpy_sumo_coupling +studies/fleetpy_sumo_coupling/results/* studies/example_study/results/* !studies/module_tests/* studies/module_tests/results/* @@ -185,4 +189,4 @@ venv.bak/ dmypy.json # Pyre type checker -.pyre/ +.pyre/ \ No newline at end of file diff --git a/SUMOFleetPyServer.py b/SUMOFleetPyServer.py new file mode 100644 index 00000000..525effc3 --- /dev/null +++ b/SUMOFleetPyServer.py @@ -0,0 +1,786 @@ +#!/usr/bin/python +# IN Traci conda env +from abc import abstractmethod +import os, sys + +import traci +import pandas as pd +import csv +import logging +from operator import itemgetter +from time import perf_counter +from typing import Tuple +from datetime import datetime +from tqdm import tqdm +import xml.etree.ElementTree as ET +import time +import numpy as np +import pathlib +from src.SUMOcontrolledSim import SUMOcontrolledSim +from src.misc.init_modules import load_simulation_environment +import src.misc.config as config +from src.misc.globals import * +import src.evaluation.standard as eval +from run_examples import run_scenarios +import random +import time + + +""" +SUMOFleetPyServer - Coupled FleetPy-SUMO Simulation Server +=========================================================== + +This script creates a co-simulation coupling FleetPy (mobility-on-demand simulation) with SUMO (traffic simulation). +FleetPy handles customer requests, routing decisions, and fleet control logic, while SUMO simulates the actual +vehicle movements in a microscopic traffic simulation environment. + +DESCRIPTION: +----------- +The coupling works by synchronizing two simulation environments: +- FleetPy computes routes and manages fleet operations +- SUMO executes vehicle movements and provides realistic travel times +- Vehicles are dynamically created/removed in SUMO based on FleetPy route assignments +- Travel time feedback from SUMO updates FleetPy's routing engine in real-time + +INPUT ARGUMENTS (Command Line): +------------------------------- +1. constant_config_path (str, required): + Path to the FleetPy constant configuration file containing study-wide parameters + (e.g., network paths, vehicle types, evaluation settings) + +2. scenario_config_path (str, required): + Path to the FleetPy scenario configuration file containing scenario-specific parameters + (e.g., demand levels, fleet sizes, operator strategies) + +3. sumo_config (str, required): + Path to the SUMO configuration file (.sumocfg) defining the SUMO simulation setup + (network, routes, simulation time, etc.) + +4. sumoBinary (str, optional, default="sumo-gui"): + SUMO executable to use: "sumo" for command-line or "sumo-gui" for graphical interface + +5. log_level (str, optional, default="info"): + Logging verbosity level: "verbose", "debug", "info", or "warning" + +PREREQUISITES: +------------- +- FleetPy network must be synchronized with SUMO network (use preprocessing/networks/network_from_sumo.py) +- FleetPy demand files must created and matched to the network (use preprocessing/networks/demand_from_sumo.py) +- Vehicle types defined in FleetPy must exist in SUMO as vehicle type definitions +- SUMO_HOME environment variable should be set + +NAMING CONVENTIONS: +------------------ +- fp_* : FleetPy-related parameters and variables +- g_* : Global parameters shared between FleetPy and SUMO +- sumo_*: SUMO-specific parameters and variables + +OUTPUT FILES: +------------ +- SumoDumps/: SUMO output files (TripInfo, vehRoutes, EdgeData, collisions, statistics) +- EdgeTravelTimes/: Time-series of travel time updates sent from SUMO to FleetPy +- Standard FleetPy evaluation outputs (KPIs, statistics, plots) +- Computationaltime.csv: Total simulation execution time + +""" + +LOG = logging.getLogger(__name__) +t_start = time.time() + + +class SUMOFleetPyServer(): + def __init__(self,constant_config_path, scenario_config_path, sumo_config, sumoBinary, log_level): + """ + :param constant_config_file: this file contains all input parameters that remain constant for a study + :type constant_config_file: str + :param scenario_file: this file contain all input parameters that are varied for a study + :type scenario_file: str + :param n_parallel_sim: number of parallel simulation processes + :type n_parallel_sim: int + :param n_cpu_per_sim: number of cpus for a single simulation + :type n_cpu_per_sim: int + :param evaluate: 0: no automatic evaluation / != 0 automatic evalaution after each simulation + :type evaluate: int + :param log_level: hierarchical output to the logging file. Possible inputs with hierarchy from low to high: + - "verbose": lowest level -> logs everything; even code which could scale exponentially + - "debug": standard debugging logger. code which scales exponentially should not be logged here + - "info": basic information during simulations (default) + - "warning": only logs warnings + :type log_level: str + :param keep_old: does not start new simulation if result files are already available in scenario output directory + :type keep_old: bool + """ + + self.fp_constant_config_path = constant_config_path + self.fp_scenario_config_path = scenario_config_path + self.fp_log_level = log_level + self.fp_n_cpu_per_sim=1 + self.fp_evaluate = 1 + self.fp_keep_old = False + self.sumo_config_path = sumo_config + self.sumo_binary = sumoBinary + self.sumo_edgeData_interval = 3600 + self.g_start_time = time.time() + scenario_cfgs = config.ScenarioConfig(self.fp_scenario_config_path) + self.fp_to_sumo_veh_id_dict= {} + self.sumo_to_fp_veh_id_dict = {} + + def _finalize_setup(self): + self.g_end_time_setup = time.time() + + def setup_fleetsimulation(self, n_cpu_per_sim=1, evaluate=1,keep_old=False) -> SUMOcontrolledSim: + """ + This function combines constant study parameters and scenario parameters. + Then it sets up a pool of workers and starts a simulation for each scenario. + The required parameters are stated in the documentation. + """ + # read constant and scenario config files + constant_cfg = config.ConstantConfig(self.fp_constant_config_path) + + scenario_cfgs = config.ScenarioConfig(self.fp_scenario_config_path) + # set constant parameters from function arguments + const_abs = os.path.abspath(self.fp_constant_config_path) + study_name = os.path.basename(os.path.dirname(os.path.dirname(const_abs))) + + if study_name == "scenarios": + print("ERROR! The path of the config files is not longer up to date!") + print("See documentation/Data_Directory_Structure.md for the updated directory structure needed as input!") + exit() + + if constant_cfg.get(G_STUDY_NAME) is not None and study_name != constant_cfg.get(G_STUDY_NAME): + print("ERROR! {} from constant config is not consitent with study directory: {}".format(constant_cfg[G_STUDY_NAME], study_name)) + print("{} is now given directly by the folder name !".format("G_STUDY_NAME")) + exit() + constant_cfg[G_STUDY_NAME] = study_name + constant_cfg["n_cpu_per_sim"] = self.fp_n_cpu_per_sim + constant_cfg["evaluate"] = self.fp_evaluate + constant_cfg["log_level"] = self.fp_log_level + constant_cfg["keep_old"] = self.fp_keep_old + + + # combine constant and scenario parameters into verbose scenario parameters + for i, scenario_cfg in enumerate(scenario_cfgs): + scenario_cfgs[i] = constant_cfg + scenario_cfg + + scenario_cfgs[0][G_SIM_START_TIME] += scenario_cfgs[0].get(G_SUMO_SIM_TIME_OFFSET, 0) + + SF = load_simulation_environment(scenario_cfgs[0]) + + self.fp_scenario_config = scenario_cfgs[0] + + self.fp_sim_env = SF + + # Get interval in which new network statistics are gathered and sent to FleetPy to updated network (if not given, no statistics are gathered) + if self.fp_sim_env.scenario_parameters.get(G_SUMO_STAT_INT) is None: + self.g_update_fleetsim_traveltimes = False + self.g_sumo_t_update = 10000000000000 + else: + self.g_update_fleetsim_traveltimes = True + self.g_sumo_t_update = int(self.fp_sim_env.scenario_parameters.get(G_SUMO_STAT_INT)) + + def setup_sumo_simulation(self): + """ + This function setups the SUMO simulation environment including the traci interface. SUMO parameters are read from the scenario config file. Default Values of SUMO are used if parameters are not given. + """ + results_path = self.fp_sim_env.dir_names[G_DIR_OUTPUT] + EdgeDataCfgPath = self._create_EdgeDataCfg_xml() + + ## Create output directory for sumo dumps + if not os.path.isdir(os.path.join(results_path, "SumoDumps")): + os.mkdir(os.path.join(results_path, "SumoDumps")) + + TripInfoPath = os.path.join(results_path, "SumoDumps", "TripInfo.xml.gz") + vehRoutePath = os.path.join(results_path, "SumoDumps", "vehRoutes.xml.gz") + collisionPath = os.path.join(results_path, "SumoDumps", "collisionPath.xml") + statisticsPath = os.path.join(results_path, "SumoDumps", "statistics.xml") + edges_output = os.path.join(results_path, "SumoDumps", "edge-output.xml") + + + sumoCmd = [self.sumo_binary, "-c", self.sumo_config_path , + "--collision.action","warn", + "--begin",str(self.fp_sim_env.scenario_parameters.get(G_SIM_START_TIME)), + "-a",EdgeDataCfgPath, + "--step-length","1", + "--tripinfo-output",TripInfoPath, + "--vehroute-output",vehRoutePath, + "--vehroute-output.exit-times","--vehroute-output.incomplete","--vehroute-output.write-unfinished","--vehroute-output.route-length", + "--collision-output",collisionPath, + "--statistic-output",statisticsPath, + "--start", + "--seed", str(self.fp_sim_env.scenario_parameters[G_RANDOM_SEED]), + "--no-warnings",str(True), + "--route-steps", str(self.fp_sim_env.scenario_parameters.get(G_SUMO_ROUTE_STEPS, 200)), + "--no-internal-links", str(self.fp_sim_env.scenario_parameters.get(G_SUMO_NO_INTERNAL_LINKS, False)), + "--ignore-junction-blocker", str(self.fp_sim_env.scenario_parameters.get(G_SUMO_IGNORE_JUNCTION_BLOCKER, -1)), + "--time-to-teleport", str(self.fp_sim_env.scenario_parameters.get(G_SUMO_TIME_TO_TELEPORT, 300)), + "--time-to-teleport.highways", str(self.fp_sim_env.scenario_parameters.get(G_SUMO_TIME_TO_TELEPORT_HIGHWAYS, 0)), + "--eager-insert", str(self.fp_sim_env.scenario_parameters.get(G_SUMO_EAGER_INSERT, False)), + ] + + traci.start(sumoCmd) + print(f"SUMO-Simulation Initialized at t={self.fp_sim_env.scenario_parameters.get(G_SIM_START_TIME)}") + + def _create_EdgeDataCfg_xml(self): + additional = ET.Element("additional") + edge_data = ET.SubElement(additional, "edgeData", { + "id": str(self.fp_sim_env.scenario_parameters[G_SCENARIO_NAME]), + "file": str(os.path.join(self.fp_sim_env.dir_names[G_DIR_OUTPUT], "SumoDumps", "EdgeData.xml.gz")), + "begin": str(self.fp_sim_env.scenario_parameters.get(G_EVAL_INT_START,self.fp_sim_env.scenario_parameters.get(G_SIM_START_TIME))), + "end": str(self.fp_sim_env.scenario_parameters.get(G_EVAL_INT_END,self.fp_sim_env.scenario_parameters.get(G_SIM_END_TIME))), + "period": str(self.fp_sim_env.scenario_parameters.get(G_SUMO_EDGE_DATA_INTERVAL, 3600)), + "withInternal": str(self.fp_sim_env.scenario_parameters.get(G_SUMO_EDGE_DATA_WITH_INTERNAL,True)), + "excludeEmpty": str(self.fp_sim_env.scenario_parameters.get(G_SUMO_EDGE_DATA_EXCLUDE_EMPTY, True)) + }) + tree = indent_xml(additional) + tree = ET.ElementTree(additional) + file_name = os.path.join(self.fp_sim_env.dir_names[G_DIR_OUTPUT], "EdgeData.cfg.add.xml") + tree.write(file_name, encoding='utf-8') + return file_name + + def setup_network_translation(self): + """Edge ID Dict Translator + :param sumo_edge_id_to_fs_edge --> SUMO_EDGE_ID : (FP_START_NODE,FP_END_NODE) + :param fs_edge_to_sumo_edge_id --> (FP_START_NODE,FP_END_NODE):SUMO_EDGE_ID + :param sumo_node_list --> [J1,J1,J2...] + :param fs_edge_to_ff_tt --> (FP_START_NODE,FP_END_NODE): TRAVEL_TIME + :param fs_edge_to_len --> (FP_START_NODE,FP_END_NODE): DISTANCE + :param fs_node_to_sumo_junction --> FP_Node: DUMO_JUNCTION + """ + nw_path = self.fp_sim_env.dir_names[G_DIR_NETWORK] + edge_df = pd.read_csv(os.path.join(nw_path, "base", "edges.csv")) + node_df = pd.read_csv(os.path.join(nw_path, "base", "nodes.csv")) + sumo_edge_id_to_fs_edge = {} + fs_edge_to_sumo_edge_id = {} + fs_edge_to_ff_tt = {} + fs_edge_to_len ={} + for _, row in edge_df.iterrows(): + if row["from_node"] != row["to_node"]: + sumo_edge_id = row["source_edge_id"] + if pd.isna(sumo_edge_id): + print(f"Warning: no sumo edge for {row['from_node']} -> {row['to_node']} exists!") + continue + sumo_edge_id = str(sumo_edge_id) + start_node_index = row["from_node"] + end_node_index = row["to_node"] + sumo_edge_id_to_fs_edge[sumo_edge_id] = (start_node_index, end_node_index) ## SUMO_EDGE_ID : (FP_START_NODE,FP_END_NODE) + fs_edge_to_sumo_edge_id[(start_node_index, end_node_index)] = sumo_edge_id ## (FP_START_NODE,FP_END_NODE):SUMO_EDGE_ID + fs_edge_to_ff_tt[(start_node_index, end_node_index)] = row["travel_time"] ## (FP_START_NODE,FP_END_NODE): TRAVEL_TIME + fs_edge_to_len[(start_node_index, end_node_index)] = row["distance"] ## (FP_START_NODE,FP_END_NODE): DISTANCE + + fs_node_to_sumo_junction = node_df.set_index('node_index')['source_node_id'].to_dict() + + sumo_node_list = node_df.source_node_id + sumo_node_list = sumo_node_list.values.tolist() + + self.g_sumo_edge_id_to_fs_edge = sumo_edge_id_to_fs_edge + self.g_fs_edge_to_sumo_edge_id = fs_edge_to_sumo_edge_id + self.sumo_node_list = sumo_node_list + self.g_fs_edge_to_ff_tt = fs_edge_to_ff_tt + self.g_fs_edge_to_len = fs_edge_to_len + self.g_fs_node_to_sumo_junction =fs_node_to_sumo_junction + self._finalize_setup() + + def run_coupled_simulation(self): + vehicle_to_position_dict = {} + resultsPath = self.fp_sim_env.dir_names[G_DIR_OUTPUT] + end_time = self.fp_sim_env.scenario_parameters[G_SIM_END_TIME] + fp_time_step = self.fp_sim_env.scenario_parameters.get(G_SIM_TIME_STEP, 1) + + ##tt-retrieval (new) + sim_pos_dict = {} # {sim_time:{veh_id:(edge,start_time_on_this_edge)}} + res_list = [] # [(edge_id, start_time, end_time, veh_id)] + + + # get vehicle types of the simulation vehicles + self.fp_opvid_to_veh_type = {op_vid : veh.veh_type for op_vid, veh in self.fp_sim_env.sim_vehicles.items()} # {(op_id,veh_id):"veh_type"} + + #Check for old EdgeTravelTimes and delete them if they are still there + if os.path.isfile(os.path.join(resultsPath, "EdgeTravelTimes", "new_travel_times.csv")): + os.remove(os.path.join(resultsPath, "EdgeTravelTimes", "new_travel_times.csv")) + + ### SIMULATION + active_pois = {} + step = 0 + last_time = -1 + while True: + # 1) fleetpy time step + sim_time = int(traci.simulation.getTime()) # sumo time in seconds + if sim_time > end_time: + break + sim_time_float = traci.simulation.getTime() + if sim_time_float % float(fp_time_step) == 0: # sumo time in seconds + if sim_time != last_time: # avoid same time step again due to rounding + LOG.info(f"---- FleetPy Step ----- {sim_time_float}") + leg_status_dict = self.fp_sim_env.step(sim_time) # fleetpy timestep and computing new routes TODO: Implement Different step Sizes for SUMO and FP + last_time = sim_time + + if sim_time % 120 == 0: + print("{}: current simtime: {}/{}".format(self.fp_sim_env.scenario_parameters[G_SCENARIO_NAME], sim_time, end_time)) + + # 2) check for new routes and finished boarding processes + arrivedVehicles_internal = self._update_routes_and_add_vehicles(sim_time) + + # 3) sumo time step + try: + traci.simulationStep() + except Exception as e: + LOG.info(f"Crash at simtime: {traci.simulation.getTime()}") + LOG.info(f"Vehicles in Simulation: {len(traci.vehicle.getIDList())}") + LOG.info(f"Vehicles in Teleportation: {traci.vehicle.getTeleportingIDList()}") + LOG.info(f"Pending Vehicles: {traci.simulation.getPendingVehicles()}") + LOG.info(f"Vehicles Starting Teleportation: {traci.simulation.getStartingTeleportIDList()}") + veh_speeds = [traci.vehicle.getSpeed(veh_id) for veh_id in traci.vehicle.getIDList()] + LOG.info(f"Average Speed of Vehicles in Simulation: {np.mean(veh_speeds)}") + for veh_id in traci.vehicle.getTeleportingIDList(): + LOG.info(f"Teleporting Vehicle: {veh_id} Route: {traci.vehicle.getRoute(veh_id)}") + if veh_id.startswith("fp_"): + veh_id_fp = self._sumo_v_id_to_fleetpy_v_id(veh_id) + LOG.info(f"FP Position: {vehicle_to_position_dict.get(veh_id_fp, 'not in dict')}") + LOG.info(f"Lane Position: {traci.vehicle.getLanePosition(veh_id)}") + traci.vehicle.remove(veh_id) + raise e + + # 4) get current vehicle positions and update travel time statistics (if needed) + if sim_time%1==0 and self.g_update_fleetsim_traveltimes==True: + sim_pos_dict,res_list = self._get_current_edge_tt(sim_time=sim_time,sim_pos_dict=sim_pos_dict,res_list=res_list) + + # 5) send new travel times to fleetsim + if (sim_time%self.g_sumo_t_update==0) and self.g_update_fleetsim_traveltimes==True: + time_df = self._process_tt_data(res_list=res_list,sim_time=sim_time) + time_update_dict = dict(zip(zip(list(time_df["from_node"]),list(time_df["to_node"])),list(time_df["edge_tt"]))) + self._save_tt_to_csv(time_df, sim_time) + + res_list = [] # Clear res_list to prevent unlimited growth + if self.g_update_fleetsim_traveltimes==True: + self.fp_sim_env.update_network_travel_times(time_update_dict, sim_time) + self.fp_sim_env.routing_engine.load_tt_file_SUMO(resultsPath,sim_time) + + # 6) collect the current positions of all fleet vehicles in SUMO + vehicle_to_position_dict = self._get_current_vehicle_positions() + + # 7) set the new positions in FleetPy + self.fp_sim_env.update_vehicle_positions(vehicle_to_position_dict,sim_time) + + # 8) check for vehicles that arrived at their destination + self._update_arrived_vehicles(arrivedVehicles_internal,int(sim_time)) + + if self.sumo_binary == "sumo-gui": + active_pois = self._show_idle_vehicles_gui(active_pois) + + step+=1 + traci.close() + self._post_sim_evaluation() + + def _post_sim_evaluation(self): + t_stop = time.time() + time_elapsed = t_stop - t_start + print(f"Simulation Time: {time_elapsed} seconds; {time_elapsed/60} minutes; {time_elapsed/3600} hours") + timefile = self.fp_sim_env.dir_names[G_DIR_OUTPUT] + "/Computationaltime.csv" + with open(timefile, 'w', newline='') as csvfile: + writer = csv.writer(csvfile) + writer.writerow(['simulation_time_seconds']) + writer.writerow([time_elapsed]) + + evaluation_start_time = int(self.fp_sim_env.scenario_parameters.get(G_EVAL_INT_START,self.fp_sim_env.scenario_parameters.get(G_SIM_START_TIME))) + evaluation_end_time = int(self.fp_sim_env.scenario_parameters.get(G_EVAL_INT_END,self.fp_sim_env.scenario_parameters.get(G_SIM_END_TIME))) + + eval.standard_evaluation(self.fp_sim_env.dir_names[G_DIR_OUTPUT], evaluation_start_time =evaluation_start_time, evaluation_end_time =evaluation_end_time, print_comments=True, dir_names_in = {}) + eval.evaluate_folder(self.fp_sim_env.dir_names[G_DIR_OUTPUT],evaluation_start_time = evaluation_start_time, evaluation_end_time = evaluation_end_time, print_comments = False) + sys.stdout.flush() + + def _update_routes_and_add_vehicles(self, sim_time): + '''This functions reads a dict of routes with vehicleIDs as strings (key) and a list of edge (value) and sets the vehicle routes accordingly ->(vehicleID, [e1,e2,e3]) + :param vehicle_ids: list string of sumo vehicle ids + :return: None''' + # Receive new routes from FleetPy + route_dict = self.fp_sim_env.get_new_vehicle_routes(sim_time) ## Gets new Routes (Leg by Leg from FP) {(op,veh_no):[n1,n2,...],...} + arrivedVehicles_internal = {} + current_sumo_vehicle_ids_set = set(traci.vehicle.getIDList()) # Get all vehicles in SUMO + current_sumo_teleporting_ids_set = set(traci.vehicle.getTeleportingIDList()) # Get all vehicles in SUMO that are teleporting + for opid_vid_tuple in route_dict.keys(): + veh_obj = self.fp_sim_env.sim_vehicles[opid_vid_tuple] + sumo_vid = self._fleetpy_v_id_to_sumo_v_id(opid_vid_tuple) + route = route_dict[opid_vid_tuple] + sumoRoute = self._transform_route_fp_to_sumo(route) + + LOG.debug(f"New Route from FleetPy {opid_vid_tuple} {route} --> {sumo_vid} {sumoRoute}") + route_name = "Route_"+str(sumo_vid)+"_"+str(sim_time) + # If route only consisted of internal edges, it would not be a sumoRoute + + if len(sumoRoute) > 0: + + traci.route.add(route_name, sumoRoute) # TODO does this lead to an infinite amount of routes in long simulations? -->Yes but removal function is not yet included in traci and will probably included in SUMO 1.22.0 + + # A) Vehicle is already in Simulation or currently teleporting + if (sumo_vid in current_sumo_vehicle_ids_set) or (sumo_vid in current_sumo_teleporting_ids_set): + edgeID = traci.vehicle.getRoadID(sumo_vid) + currentRoute = traci.vehicle.getRoute(sumo_vid) + + ## SUMO-Route Update needed? + if sumoRoute != currentRoute: ## Route needs to be updated because of an new order of fleetpy/teleport + #print("Route Update in SUMO",sumo_vid,"@",edgeID,currentRoute,"-->",sumoRoute) + is_valid_route = True + try: + traci.vehicle.setRoute(sumo_vid,sumoRoute) + if traci.vehicle.isRouteValid(sumo_vid) is False: + LOG.warning(f'Route of {sumo_vid} is not valid') # No occurence + is_valid_route = False + else: + traci.vehicle.setParameter(objectID=sumo_vid, key="cleg_dest", value=sumoRoute[-1]) + traci.vehicle.setParameter(objectID=sumo_vid, key="cleg", value=sumoRoute) + except: + LOG.warning(f'Route of {sumo_vid} could not be set to: {sumoRoute}') + #print(f'Route of {sumo_vid} could not be set to: {sumoRoute}') + is_valid_route = False + + if is_valid_route == False: + LOG.warning(f"Vehicle {sumo_vid} has an invalid route {sumoRoute}") + LOG.debug("Use SUMO rerouter") + try: + traci.vehicle.changeTarget(sumo_vid, sumoRoute[-1]) + #traci.vehicle.rerouteTraveltime(sumo_vid) + LOG.debug(f"Vehicle {sumo_vid} has been rerouted to {sumoRoute[-1]} on {traci.vehicle.getRoute(sumo_vid)}") + #print(f"Vehicle {sumo_vid} has been rerouted to {sumoRoute[-1]} on {traci.vehicle.getRoute(sumo_vid)}") + + except: + LOG.warning(f"Vehicle {sumo_vid} could not be rerouted") + breakpoint() + else: + LOG.debug(f"Vehicle {sumo_vid} is Loaded and in Network and SumoRoute {sumoRoute} is current Route {currentRoute}") + pass + + + # B) Vehicle is not in the simulation, but already loaded and waiting to be inserted (pending) --> no new route needed + elif (sumo_vid not in current_sumo_vehicle_ids_set) and (sumo_vid in traci.simulation.getPendingVehicles()): + LOG.debug(f"{sumo_vid}/{self._sumo_v_id_to_fleetpy_v_id(sumo_vid)} has to wait to get inserted at Edge {traci.vehicle.getRoute(sumo_vid)[0]}") + + # C) Vehicle not in Simualtion: Try to Load Vehicle and insert it in the simulation + else: + if self.sumo_binary == "sumo": + try: + traci.vehicle.addFull(vehID=sumo_vid, routeID=route_name, typeID=self.fp_opvid_to_veh_type[opid_vid_tuple]) + except: + LOG.debug(f'Vehicle {sumo_vid} could not be added') + LOG.debug(traci.simulation.getLoadedIDList()) + LOG.debug(traci.simulation.getEndingTeleportIDList()) + LOG.debug(traci.simulation.getStartingTeleportIDList()) + LOG.debug(traci.vehicle.getTeleportingIDList()) + LOG.debug(sumo_vid in traci.vehicle.getIDList()) + elif self.sumo_binary == "sumo-gui": + + try: + traci.vehicle.addFull(vehID=sumo_vid, routeID=route_name, typeID=self.fp_opvid_to_veh_type[opid_vid_tuple]) + traci.vehicle.setParameter(objectID=sumo_vid, key="Num_PAX", value=len([rq.get_rid_struct() for rq in veh_obj.pax])) + traci.vehicle.setParameter(objectID=sumo_vid, key="PAX", value=[rq.get_rid_struct() for rq in veh_obj.pax]) + traci.vehicle.setParameter(objectID=sumo_vid, key="cleg_dest", value=sumoRoute[-1]) + traci.vehicle.setParameter(objectID=sumo_vid, key="cleg", value=sumoRoute) + + LOG.debug(f"Inserted Vehicle to SUMO: {sumo_vid},{route_name},{self.fp_opvid_to_veh_type[opid_vid_tuple]}") + if traci.vehicle.isRouteValid(sumo_vid) is False: + LOG.warning(f'Route of {sumo_vid} is not valid') + + except: + LOG.debug(f'Vehicle {sumo_vid} could not be added') + LOG.debug(traci.simulation.getLoadedIDList()) + pass + if sumo_vid in traci.simulation.getEndingTeleportIDList(): + LOG.warning(f"SUMO-vehicle {sumo_vid} ended to teleport in this timestep") + + ## If the SUMO route is len(0) it consists only of internal edges. The vehicles are immediately considered to be "arrived" an teleported to the node + else: + LOG.debug(f"veh {veh_obj.vid} @ {veh_obj.pos} gets internal route: {route}") + if veh_obj.pos[0] == route[-1] and veh_obj.pos[1] == None: + LOG.debug(f"Vehicle gets Route to own position:{veh_obj.vid} {veh_obj.pos}") + elif veh_obj.status == VRL_STATES.IDLE: + LOG.debug(f"IDLE Vehicle with new Route found that is only internal: {veh_obj}, {veh_obj.cl_remaining_route} --> No Route Change, Vehicle will be rerouted in next step") + else: + arrivedVehicles_internal.update({sumo_vid:route[-1]}) + + return arrivedVehicles_internal + + def _fleetpy_v_id_to_sumo_v_id(self,op_vid_tuple : Tuple[int, int]) -> str: + """ converts the fleetpy vehicle id tuple (op_id, vid) into the sumo string id (fp_{op_id}_{v_id})""" + if op_vid_tuple not in self.fp_to_sumo_veh_id_dict: + self.fp_to_sumo_veh_id_dict[op_vid_tuple] = f"fp_{op_vid_tuple[0]}_{op_vid_tuple[1]}" + return self.fp_to_sumo_veh_id_dict[op_vid_tuple] + + def _sumo_v_id_to_fleetpy_v_id(self,sumo_v_id_str : str) -> Tuple[int, int]: + """ converts the sumo v_id into the fleetpy vehicle id (op_id, vid)""" + if sumo_v_id_str not in self.sumo_to_fp_veh_id_dict: + _, op_id, vid = sumo_v_id_str.split("_") + self.sumo_to_fp_veh_id_dict[sumo_v_id_str] = (int(op_id), int(vid)) + return self.sumo_to_fp_veh_id_dict[sumo_v_id_str] + + def _transform_route_fp_to_sumo(self,route): + sumoRoute = [] + for i in range(0, len(route)-1): + o_node = route[i] + d_node = route[i+1] + + #If edge is an internal edge it does not need to be added to the sumoRoute, if route only consisted of internal edges, it would not be a sumoRoute + if o_node != d_node: + edgeID = self.g_fs_edge_to_sumo_edge_id.get((o_node,d_node)) + else: + edgeID = None + + if edgeID == None: + LOG.warning(f'There is a KeyError in the Route which is {o_node} -> {d_node} : {route}') + print(f'There is a KeyError in the Route which is {o_node} -> {d_node} : {route}') + if edgeID != None and not edgeID.startswith(":"): # internal edges start with ":" + sumoRoute.append(edgeID) + return sumoRoute + + def _get_current_edge_tt(self,sim_time,sim_pos_dict,res_list): + sim_vehicle_id_list = traci.vehicle.getIDList() + sim_pos_dict[sim_time] = {} + # Initialise the first time step + if self.fp_sim_env.scenario_parameters.get(G_SIM_START_TIME, 0) == sim_time: + for veh_id in sim_vehicle_id_list: + edge = traci.vehicle.getRoadID(veh_id) + sim_pos_dict[sim_time].update({veh_id:(edge,sim_time)}) ##sim_pos_dict: {sim_time:{veh_id:(edge,start_time_on_this_edge)}} + + + return sim_pos_dict ,res_list + + if sim_pos_dict.get(sim_time-1) == None: + raise ValueError(f"Error: sim_pos_dict at time {sim_time-1} is None") + + ## 1 Vehicles in Simualtion + for veh_id in sim_vehicle_id_list: + current_edge = traci.vehicle.getRoadID(veh_id) + + # A) Vehicle was not in simulation last time step --> Initialise on new edge + if sim_pos_dict[sim_time-1].get(veh_id) == None: + sim_pos_dict[sim_time].update({veh_id:(current_edge,sim_time)}) + + + #B) Vehicle was in simulation last time step + elif sim_pos_dict[sim_time-1].get(veh_id) != None: + prev_time_step_edge = sim_pos_dict[sim_time-1].get(veh_id)[0] + + + #B-1 Vehicle was in simulation last time step, but on other edge --> Save last edge and time, update current edge and time + if prev_time_step_edge != current_edge: + last_edge = sim_pos_dict[sim_time-1].get(veh_id)[0] + res_list.append((veh_id,last_edge,int(sim_pos_dict[sim_time-1].get(veh_id)[1]),int(sim_time))) + sim_pos_dict[sim_time].update({veh_id:(current_edge,sim_time)}) + + #B-2 Vehicle was in simulation last time step, and ist still on the same edge --> Update time and copy edge-id and start time + elif prev_time_step_edge == current_edge: + sim_pos_dict[sim_time].update({veh_id:sim_pos_dict[sim_time-1].get(veh_id)}) + + ## 2 Vehicles that have reached their destination + arrived_vehicle_id_list = traci.simulation.getArrivedIDList() + for arr_vehicle in arrived_vehicle_id_list: + if sim_time-1 not in sim_pos_dict.keys(): + break + if sim_pos_dict[sim_time-1].get(arr_vehicle) != None: + last_edge = sim_pos_dict[sim_time-1].get(arr_vehicle)[0] + res_list.append((arr_vehicle,last_edge,int(sim_pos_dict[sim_time-1].get(arr_vehicle)[1]),int(sim_time))) + + + + # Delete old entries in sim_pos_dict to save memory + if sim_time-2 in sim_pos_dict.keys(): + if sim_time -2 >= self.fp_sim_env.scenario_parameters.get(G_SIM_START_TIME, 0): + del sim_pos_dict[sim_time-2] + + return sim_pos_dict,res_list + + def _process_tt_data(self,res_list,sim_time): + tt_df = pd.DataFrame(res_list, columns=['veh_id','edge_id', 'starting_time', 'end_time']) + if len(tt_df) == 0: + return pd.DataFrame(columns=['from_node', 'to_node', 'edge_tt', 'edge_var']) + tt_df["edge_tt"] = tt_df["end_time"] - tt_df["starting_time"] ## No correction term needed + tt_df = tt_df[tt_df['edge_tt'] > 1] + tt_df = self._filter_by_fcd_mode(tt_df) + tt_df = tt_df.groupby('edge_id').agg(edge_tt=('edge_tt', 'mean'), edge_var=('edge_tt', 'var'), count=('edge_tt', 'count')).reset_index() + tt_df["edge_id"] = tt_df["edge_id"].apply(lambda x: self.g_sumo_edge_id_to_fs_edge.get(x, None)) + if 'edge_id' in tt_df.columns: + tt_df = tt_df.dropna(subset=['edge_id']) + tt_df["from_node"] = tt_df["edge_id"].apply(lambda x: x[0]) + tt_df["to_node"] = tt_df["edge_id"].apply(lambda x: x[1]) + + tt_df["edge_tt"]=tt_df['edge_tt'].round(3) + tt_df["edge_var"] = tt_df["edge_var"].fillna(0) + tt_df["edge_var"]=tt_df['edge_var'].round(3) + tt_df = tt_df[["from_node", "to_node", "edge_tt", "edge_var"]] + return tt_df + + def _save_tt_to_csv(self,tt_df, sim_time): + resultsPath = self.fp_sim_env.dir_names[G_DIR_OUTPUT] + if 'count' in tt_df.columns: + tt_df.drop(columns="count",inplace=True) + if not os.path.isdir(os.path.join(resultsPath, "EdgeTravelTimes")): + os.mkdir(os.path.join(resultsPath, "EdgeTravelTimes")) + save_path = os.path.join(resultsPath, "EdgeTravelTimes", f"SUMO_travel_times_{sim_time}.csv") + tt_df.to_csv(save_path) + LOG.debug(f"SUMO Traveltimes sent to FP saved at: {os.path.join(resultsPath, 'EdgeTravelTimes', f'SUMO_travel_times_{sim_time}.csv')}") + + + def _get_current_vehicle_positions(self): + """ this function reads the positions of the specified vehicles from sumo and returns a dictionary + :param vehicle_ids: list integer of sumo vehicle ids to read positions + :param vehicle_to_position_dict: dictionary (operator_id, fleetsim vehicle id) -> fleetsim network position (tuple (o_node, d_node, frac_position) or (o_node, None, None)) + for a single operator operator_id = 0 + :return: """ + fleetsim_vehicles = self.fp_sim_env.get_vehicle_and_op_ids() + vehicle_to_position_dict = {} + current_sumo_vehicle_ids_set = set(traci.vehicle.getIDList()) + for opid_vid_tuple in fleetsim_vehicles: + sumo_vid = self._fleetpy_v_id_to_sumo_v_id(opid_vid_tuple) + + ## A) Vehicle Moving on the Road --> Get Update + if str(sumo_vid) in current_sumo_vehicle_ids_set: + LOG.debug("Vehicle is in IDList and position should be updated") + currentLane = traci.vehicle.getLaneID(str(sumo_vid)) + laneLength = traci.lane.getLength(currentLane) + currentLanePosition = traci.vehicle.getLanePosition(str(sumo_vid)) #returns something like: 20.267898023103246 (Other format needed?!) + frac_position = currentLanePosition/laneLength + currentEdge = traci.lane.getEdgeID(currentLane) + if self.g_sumo_edge_id_to_fs_edge.get(currentEdge) is not None: + o_node, d_node = self.g_sumo_edge_id_to_fs_edge[currentEdge] + CurrentPosition = (o_node, d_node, frac_position) + vehicle_to_position_dict[opid_vid_tuple] = CurrentPosition + else: + LOG.debug(f"Edge {currentEdge} not known in FP, no update this timestep") + + ## B) Vehicle Pending and Waiting to get Inserted --> Update relative Position to 0.000001 + elif sumo_vid in traci.simulation.getPendingVehicles(): + pending_veh_pos = self.g_sumo_edge_id_to_fs_edge[traci.vehicle.getRoute(sumo_vid)[0]] + vehicle_to_position_dict[opid_vid_tuple] = (pending_veh_pos[0],pending_veh_pos[1],0.000001) + + ## C) Not in Network and not Moving --> No Update + else: + LOG.debug(f"Position of {sumo_vid} remained the same") + + ## D) TODO: Consider teleported Vehicles + + return vehicle_to_position_dict + + def _update_arrived_vehicles(self,arrivedVehicles_internal,sim_time): + arrivedVehicleIDs = list(traci.simulation.getArrivedIDList()) #vehicles that have reached destination and have been removed in this sim timestep + arrivedVehicleIDs = [s for s in arrivedVehicleIDs if s.startswith("fp_")] #Only consider FleetPy Vehicles + + if len(arrivedVehicleIDs) == 0 and len(arrivedVehicles_internal)== 0: + return + + LOG.debug(f"Internal Arrivals: {arrivedVehicles_internal}") + LOG.debug(f"Normal Arrivals: {arrivedVehicleIDs}") + + # This should not happen normally as arrived vehicles should be removed by sumo itself: + all_arrivedVehicleIDs = arrivedVehicleIDs + list(arrivedVehicles_internal.keys()) + current_sumo_vehicle_ids_set = set(traci.vehicle.getIDList()) + for sumo_vid in all_arrivedVehicleIDs: + if sumo_vid in current_sumo_vehicle_ids_set: + LOG.warning(f"vehicle {sumo_vid} is being forcefully removed from SUMO") + traci.vehicle.remove(sumo_vid) + + arrival_dict = {} + for sumo_vid in arrivedVehicleIDs: + fp_vid = self._sumo_v_id_to_fleetpy_v_id(sumo_vid) + veh_obj = self.fp_sim_env.sim_vehicles[fp_vid] + + if len(veh_obj.cl_remaining_route)> 0: + destination_node = veh_obj.cl_remaining_route[-1] + + ## Edge Case: Vehicle arrived in SUMO but not yet in FleetPy - happens in some cases with values of relative distance of last edge > 0.95 + else: + destination_node = veh_obj.pos[1] + LOG.debug(f"{veh_obj.vid} Vehicle arrived in SUMO but not yet in FleetPy: Teleported to {(destination_node,None,None)}") + + + arrival_dict.update({fp_vid:(destination_node,None,None)}) + + ## Handling of Internal Arrivals + for sumo_vid,dest in arrivedVehicles_internal.items(): + fp_vid = self._sumo_v_id_to_fleetpy_v_id(sumo_vid) + veh_obj = self.fp_sim_env.sim_vehicles[fp_vid] + LOG.debug(f"Internal Arrival: {veh_obj}, {veh_obj.cl_remaining_route},{veh_obj.status}") ##TODO: Teleport idle vehicles without letting them arrive "reached destination" + + arrival_dict.update({fp_vid:(dest,None,None)}) + + self.fp_sim_env.update_vehicle_positions(arrival_dict, sim_time) + self.fp_sim_env.vehicles_reached_destination(sim_time,list(arrival_dict.keys())) + + def _show_idle_vehicles_gui(self,active_pois): + for sumo_pos in active_pois.keys(): + traci.poi.remove(sumo_pos) + active_pois = {} + for (op_id, veh_id),veh_obj in self.fp_sim_env.sim_vehicles.items(): + if veh_obj.pos[1] == None: #Only for vehicles which are not moving + op_veh_id = f"fp_{op_id}_{veh_id}" + sumo_pos = self.g_fs_node_to_sumo_junction[veh_obj.pos[0]] + + if sumo_pos in active_pois.keys(): + active_pois[sumo_pos].append(op_veh_id) + + else: + active_pois[sumo_pos]=[op_veh_id] + + for sumo_pos,op_veh_ids in active_pois.items(): + junction_pos = traci.junction.getPosition(sumo_pos) + traci.poi.add(sumo_pos,junction_pos[0],junction_pos[1]-5,poiType=' '.join(op_veh_ids),color=(0, 0, 0, 0)) + return active_pois + + def _filter_by_fcd_mode(self,tt_df): + fcd_mode = self.fp_sim_env.scenario_parameters.get(G_SUMO_FCD_VEHICLES) + seed = self.fp_sim_env.scenario_parameters[G_RANDOM_SEED] + tt_df["veh_id"] = tt_df["veh_id"].astype(str) + if fcd_mode == "all": + return tt_df + else: + ## Filter for specified FCO SAVs + fco_MOD_operators = fcd_mode.split("-")[0].split("_")[1:] + sav_tt_df = tt_df[tt_df['veh_id'].str.extract(r'fp_(\d+)_')[0].isin(fco_MOD_operators)] + + ##Filte for specified FCO PV-Share + fco_pv_share = float(fcd_mode.split("-")[1].split("_")[1]) + pv_tt_df = tt_df[tt_df['veh_id'].str.startswith(('pv', 'dv'))] + number_of_fco_pvs = round(int(len(pv_tt_df)) * fco_pv_share) + pv_tt_df = pv_tt_df.sample(n=number_of_fco_pvs, random_state=seed) + tt_df = pd.concat([sav_tt_df,pv_tt_df]) + return tt_df + + +def indent_xml(elem, level=0): + i = "\n" + level * " " + if len(elem): + if not elem.text or not elem.text.strip(): + elem.text = i + " " + if not elem.tail or not elem.tail.strip(): + elem.tail = i + for elem in elem: + indent_xml(elem, level + 1) + if not elem.tail or not elem.tail.strip(): + elem.tail = i + else: + if level and (not elem.tail or not elem.tail.strip()): + elem.tail = i + + + +if __name__ == "__main__": + + try: + constant_config_path = sys.argv[1] + scenario_config_path = sys.argv[2] + sumo_config = sys.argv[3] + if len(sys.argv) > 4: + sumoBinary = sys.argv[4] + else: + sumoBinary = "sumo-gui" + if len(sys.argv) > 5: + log_level = sys.argv[5] + else: + log_level = "info" + except: + print("something is wrong with the input given: ", sys.argv) + exit() + + + SUMOFleetPyCoupling = SUMOFleetPyServer(constant_config_path=constant_config_path, scenario_config_path=scenario_config_path, sumo_config=sumo_config, sumoBinary=sumoBinary, log_level=log_level) + SUMOFleetPyCoupling.setup_fleetsimulation() + SUMOFleetPyCoupling.setup_sumo_simulation() + SUMOFleetPyCoupling.setup_network_translation() + SUMOFleetPyCoupling.run_coupled_simulation() \ No newline at end of file diff --git a/data/demand/sumo_example/matched/sumo_example/sumo_example.csv b/data/demand/sumo_example/matched/sumo_example/sumo_example.csv new file mode 100644 index 00000000..69d3d495 --- /dev/null +++ b/data/demand/sumo_example/matched/sumo_example/sumo_example.csv @@ -0,0 +1,121 @@ +,request_id,orig_id,rq_time,start,end +0,0,0,0.0,8554,329 +1,1,1,10.0,3614,3009 +2,2,2,20.0,9818,9081 +3,3,3,30.0,11924,1181 +4,4,4,40.0,5582,393 +5,5,5,50.0,2874,6817 +6,6,6,60.0,342,2687 +7,7,7,70.0,8688,7331 +8,8,8,80.0,2906,7929 +9,9,9,90.0,10780,91 +10,10,10,100.0,10730,9357 +11,11,11,110.0,4512,2127 +12,12,12,120.0,12808,4547 +13,13,13,130.0,1222,1311 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"Feature", "properties": { "node_index": 13382, "source_node_id": "3354901561", "pos_x": 5450.61, "pos_y": 381.59, "is_stop_only": false }, "geometry": { "type": "Point", "coordinates": [ 5450.609999999999673, 381.59 ] } }, +{ "type": "Feature", "properties": { "node_index": 13383, "source_node_id": "673120", "pos_x": 5491.85, "pos_y": 393.72, "is_stop_only": false }, "geometry": { "type": "Point", "coordinates": [ 5491.850000000000364, 393.72 ] } } +] +} diff --git a/data/vehicles/single_user_vehtype.csv b/data/vehicles/single_user_vehtype.csv new file mode 100644 index 00000000..6446b98f --- /dev/null +++ b/data/vehicles/single_user_vehtype.csv @@ -0,0 +1,7 @@ +vtype_name_full,single_user_vehtype +maximum_passengers,1 +daily_fix_cost [cent],2500 +per_km_cost [cent],25 +battery_size [kWh],50 +range [km],10000 +source, \ No newline at end of file diff --git a/replay_pyplot.py b/replay_pyplot.py index 4c74b059..ef85baad 100644 --- a/replay_pyplot.py +++ b/replay_pyplot.py @@ -16,7 +16,8 @@ def main(output_dir, sim_seconds_per_real_second, start_time_in_seconds = None, :param end_time_in_seconds: determines simulation time when replay ends :param plot_extent: Tuple of (lon_1, lon_2, lat_1, lat_2) marking the left bottom and top right boundary of the map (EPSG_WGS = 4326); if None -> extend of loaded network chosen - :param live_plot: if True: plots directly shown; else: figures stored in ouputdir/plots :param parcels: if True: plots parcel data + :param live_plot: if True: plots directly shown; else: figures stored in ouputdir/plots + :param parcels: if True: plots parcel data :param passengers: if True: plots passenger data :param map_plot: options: "vehicle_status", "occupancy" :param plot_1: top axis, options are (str): status_count, occupancy_average, occupancy_stack_chart, waiting_time_average, ride_time_average, detour_time_average diff --git a/src/SUMOcontrolledSim.py b/src/SUMOcontrolledSim.py new file mode 100644 index 00000000..de323548 --- /dev/null +++ b/src/SUMOcontrolledSim.py @@ -0,0 +1,297 @@ +# -------------------------------------------------------------------------------------------------------------------- # +# standard distribution imports +# ----------------------------- +import logging +import importlib +import os +import json +import pandas as pd +from abc import abstractmethod, ABCMeta +import pathlib +import sys + + +# additional module imports (> requirements) +# ------------------------------------------ +# from IPython import embed + +# src imports +# ----------- +from src.FleetSimulationBase import FleetSimulationBase +from src.fleetctrl.FleetControlBase import FleetControlBase +from src.simulation.Vehicles import SUMOMovingSimulationVehicle +from src.misc.init_modules import load_fleet_control_module +# -------------------------------------------------------------------------------------------------------------------- # +# global variables +# ---------------- +from src.misc.globals import * + +LOG = logging.getLogger(__name__) + +log_level = "DEBUG" +# -------------------------------------------------------------------------------------------------------------------- # +# functions +# --------- + + +# -------------------------------------------------------------------------------------------------------------------- # +# main +# ---- + +INPUT_PARAMETERS_SUMOcontrolledSim = { + "doc" : """this simulation environment couples fleetpy with SUMO. vehicle plans are sent to sumo while current vehicle states are sent back to fleetpy. + vehicles are removed from sumo while standing. + the simulation flow models the immediateDescisionSimulation""", + "inherit" : "FleetSimulationBase", + "input_parameters_mandatory": [], # TODO requires G_AR_MAX_DEC_T == 0 (specify somehow?) + "input_parameters_optional": [G_SUMO_STAT_INT], + "mandatory_modules": [], + "optional_modules": [] +} + +class SUMOcontrolledSim(FleetSimulationBase): + """ + Init main simulation module. Check the documentation for a flowchart of this particular simulation environment. + Main attributes: + - agent list per time step query public transport and fleet operator for offers and immediate decide + - fleet operator offers ride pooling service + - division of study area + + first/last mile service in different parts of the study area + + different parking costs/toll/subsidy in different parts of the study area + """ + + def check_sim_env_spec_inputs(self, scenario_parameters): + if scenario_parameters[G_AR_MAX_DEC_T] != 0: + raise EnvironmentError(f"Scenario parameter {G_AR_MAX_DEC_T} has to be set to 0 for simulations in the " + f"{self.__class__.__name__} environment!") + + def add_init(self, scenario_parameters): + """ + Simulation specific additional init. + :param scenario_parameters: row of pandas data-frame; entries are saved as x["key"] + """ + super().add_init(scenario_parameters) + #print(f"Operator Routing Mode: {scenario_parameters[G_OP_ROUTING_MODE]}") + #self.routing_engine.set_routing_mode(scenario_parameters[G_OP_ROUTING_MODE]) + + def step(self, sim_time): + """This method determines the simulation flow in a time step. + # 1) update fleets and network + # 2) get new travelers, add to undecided request + # 3) sequential processes for each undecided request: request -> offer -> user-decision + # 4) periodically for waiting requests: run decision process -> possibly leave system (cancellation) + # 5) periodically operator: call ride pooling optimization, repositioning, charging management + + :param sim_time: new simulation time + :return: None + """ + LOG.debug(f"________SUMOcontrolledSimulation time: {sim_time}_______") + # 1) update fleets and network + leg_status_dict = self.update_sim_state_fleets(sim_time - self.time_step, sim_time) + new_travel_times = self.routing_engine.update_network(sim_time) + + + if new_travel_times: + for op_id in range(self.n_op): + self.operators[op_id].inform_network_travel_time_update(sim_time) + # 2) get new travelers, add to undecided request + list_undecided_travelers = list(self.demand.get_undecided_travelers(sim_time)) + last_time = sim_time - self.time_step + if last_time < self.start_time: + last_time = None + list_new_traveler_rid_obj = self.demand.get_new_travelers(sim_time, since=last_time) + # 3) sequential processes for each undecided request: request -> offer -> user-decision + for rid, rq_obj in list_undecided_travelers + list_new_traveler_rid_obj: + LOG.debug(f'rid is {rid} and rq_obj is {rq_obj}') + LOG.debug(f'range(self.n_op) {range(self.n_op)}') + for op_id in range(self.n_op): + LOG.debug(f'op_id {op_id}') + LOG.debug(f"Request {rid}: Checking AMoD option of operator {op_id} ...") + # TODO # adapt fleet control + #self.user_request(rq_obj, sim_time) + self.operators[op_id].user_request(rq_obj, sim_time) + amod_offer = self.operators[op_id].get_current_offer(rid) + LOG.debug(f'amod offer {amod_offer} ') + if amod_offer is not None: + rq_obj.receive_offer(op_id, amod_offer, sim_time) + #LOG.debug(f'rq_obj.receive_offer(op_id, amod_offer, sim_time){rq_obj.receive_offer(op_id, amod_offer, sim_time)}') + self._rid_chooses_offer(rid, rq_obj, sim_time) + # 4) periodically for waiting requests: run decision process -> possibly leave system (cancellation) + self._check_waiting_request_cancellations(sim_time) + # 5) periodically operator: call ride pooling optimization, repositioning, charging management + for op in self.operators: + op.time_trigger(sim_time) + # record at the end of each time step + self.record_stats() + return leg_status_dict + + def add_evaluate(self): + """Runs standard and simulation environment specific evaluations over simulation results.""" + # output_dir = self.dir_names[G_DIR_OUTPUT] + # from src.evaluation.temporal import run_complete_temporal_evaluation + # run_complete_temporal_evaluation(output_dir, method="snapshot") + pass + + def _load_fleetctr_vehicles(self): + """ Loads the fleet controller and vehicles """ + + # simulation vehicles and fleet control modules + LOG.info("Initialization of MoD fleets...") + route_output_flag = self.scenario_parameters.get(G_SIM_ROUTE_OUT_FLAG, True) + replay_flag = self.scenario_parameters.get(G_SIM_REPLAY_FLAG, False) + veh_type_list = [] + for op_id in range(self.n_op): + operator_attributes = self.list_op_dicts[op_id] + operator_module_name = operator_attributes[G_OP_MODULE] + self.op_output[op_id] = [] # shared list among vehicles + if not operator_module_name == "LinebasedFleetControl": + fleet_composition_dict = operator_attributes[G_OP_FLEET] + list_vehicles = [] + vid = 0 + for veh_type, nr_veh in fleet_composition_dict.items(): + for _ in range(nr_veh): + veh_type_list.append([op_id, vid, veh_type]) + tmp_veh_obj = SUMOMovingSimulationVehicle(op_id, vid, self.dir_names[G_DIR_VEH], veh_type, + self.routing_engine, self.demand.rq_db, + self.op_output[op_id], route_output_flag, + replay_flag) + list_vehicles.append(tmp_veh_obj) + self.sim_vehicles[(op_id, vid)] = tmp_veh_obj + vid += 1 + OpClass: FleetControlBase = load_fleet_control_module(operator_module_name) + self.operators.append(OpClass(op_id, operator_attributes, list_vehicles, self.routing_engine, self.zones, + self.scenario_parameters, self.dir_names, self.charging_operator_dict["op"].get(op_id, None), list(self.charging_operator_dict["pub"].values()))) + else: + from dev.fleetctrl.LinebasedFleetControl import LinebasedFleetControl + OpClass = LinebasedFleetControl(op_id, self.gtfs_data_dir, self.routing_engine, self.zones, self.scenario_parameters, self.dir_names, self.charging_operator_dict["op"].get(op_id, None), list(self.charging_operator_dict["pub"].values())) + init_vids = OpClass.return_vehicles_to_initialize() + list_vehicles = [] + for vid, veh_type in init_vids.items(): + veh_type_list.append([op_id, vid, veh_type]) + tmp_veh_obj = SUMOMovingSimulationVehicle(op_id, vid, self.dir_names[G_DIR_VEH], veh_type, + self.routing_engine, self.demand.rq_db, + self.op_output[op_id], route_output_flag, + replay_flag) + list_vehicles.append(tmp_veh_obj) + self.sim_vehicles[(op_id, vid)] = tmp_veh_obj + OpClass.continue_init(list_vehicles, self.start_time) + self.operators.append(OpClass) + veh_type_f = os.path.join(self.dir_names[G_DIR_OUTPUT], "2_vehicle_types.csv") + veh_type_df = pd.DataFrame(veh_type_list, columns=[G_V_OP_ID, G_V_VID, G_V_TYPE]) + veh_type_df.to_csv(veh_type_f, index=False) + self.vehicle_update_order = {vid : 1 for vid in self.sim_vehicles.keys()} + + def update_sim_state_fleets(self, last_time, next_time, force_update_plan=False): + """ + This method updates the simulation vehicles, records, ends and starts tasks and returns some data that + will be used for additional state updates (fleet control information, demand, network, ...) + :param last_time: simulation time before the state update + :param next_time: simulation time of the state update + :param force_update_plan: flag that can force vehicle plan to be updated + """ + leg_status_dict = {} + LOG.debug(f"updating MoD state from {last_time} to {next_time}") + for opid_vid_tuple, veh_obj in self.sim_vehicles.items(): + op_id, vid = opid_vid_tuple + boarding_requests, alighting_requests, passed_VRL, dict_start_alighting =\ + veh_obj.update_veh_state(last_time, next_time) + for rid, boarding_time_and_pos in boarding_requests.items(): + boarding_time, boarding_pos = boarding_time_and_pos + LOG.debug(f"rid {rid} boarding at {boarding_time} at pos {boarding_pos}") + self.demand.record_boarding(rid, vid, op_id, boarding_time, pu_pos=boarding_pos) + self.operators[op_id].acknowledge_boarding(rid, vid, boarding_time) + for rid, alighting_start_time_and_pos in dict_start_alighting.items(): + # record user stats at beginning of alighting process + alighting_start_time, alighting_pos = alighting_start_time_and_pos + LOG.debug(f"rid {rid} deboarding at {alighting_start_time} at pos {alighting_pos}") + self.demand.record_alighting_start(rid, vid, op_id, alighting_start_time, do_pos=alighting_pos) + for rid, alighting_end_time in alighting_requests.items(): + # # record user stats at end of alighting process + self.demand.user_ends_alighting(rid, vid, op_id, alighting_end_time) + self.operators[op_id].acknowledge_alighting(rid, vid, alighting_end_time) + LOG.debug(f"alighting end time {alighting_end_time}") + # send update to operator + if len(boarding_requests) > 0 or len(dict_start_alighting) > 0: + self.operators[op_id].receive_status_update(vid, next_time, passed_VRL, True)# Hier passiert nichts + LOG.debug(f"boarding_requests {boarding_requests} next_time {next_time}") + else: + self.operators[op_id].receive_status_update(vid, next_time, passed_VRL, force_update_plan) #Hier passiert auch nichts + LOG.debug(f"force_update_plan {force_update_plan}")#Always False + + #leg_status = veh_obj[1] + LOG.debug(f"vehicle object {veh_obj} leg status: {veh_obj.status} position = {veh_obj.pos}") + leg_status_dict[opid_vid_tuple] = (veh_obj.status, veh_obj.pos) + LOG.debug(f"leg_status_dict{leg_status_dict}") + return leg_status_dict + + + def update_vehicle_positions(self, vehicle_to_position_dict, simulation_time): + ''' This method is called to update the vehicle positions in the fleetsimulation + :param vehicle_to_position_dict: dictionary (operator_id, fleetsim vehicle id) -> fleetsim network position (tuple (o_node, d_node, frac_position) or (o_node, None, None)) + for a single operator operator_id = 0 + :param simulation_time: current simulation time + return: None''' + for op_veh_id, position in vehicle_to_position_dict.items(): + LOG.debug(f'This is the position {position}') + if position: + try: + self.sim_vehicles[op_veh_id].update_vehicle_position(position, simulation_time) + except KeyError: + LOG.warning("update_vehicle_positions failed") + + def get_vehicle_and_op_ids(self): + opid_vid_tuple_list = [] + for opid_vid_tuple, veh_obj in self.sim_vehicles.items(): + #op_id, vid = opid_vid_tuple + opid_vid_tuple_list.append(opid_vid_tuple) + return(opid_vid_tuple_list) + + + def get_new_vehicle_routes(self, sim_time): + ''' This method retrieves routes from vehicles that have to be updated or started + :return: dictionary (op_id, vehicle_id) -> list node indices in fleet sim network + 0th entry corresponds to the start node of the current edge; + vehicle routes that dont need to updated are not part of the dictionary + if a vehicle has to stop moving, an empty list is returned ''' + return_dict = {} + for opid_vid_tuple, veh_obj in self.sim_vehicles.items(): + #print(veh_obj.vid,veh_obj.pos,veh_obj.status, veh_obj.cl_remaining_time,[rq.get_rid_struct() for rq in veh_obj.pax]) + #print([str(leg_obj) for leg_obj in veh_obj.assigned_route]) + new_route = veh_obj.get_new_route() + if new_route is not None: + return_dict[opid_vid_tuple] = new_route + LOG.debug(f'This is the return_dict from get_new_vehicle_routes{return_dict}') + return return_dict + + def get_unserved_request_information(self): + """ this method returns information of requests that have not been served in the last simulation time step + :return: dictionary rq_id -> (origin_node, destination_node)""" + LOG.warning("gut unserved request information not implemented yet") # TODO + return {} + + def update_network_travel_times(self, new_travel_time_dict, sim_time): + '''This method takes new edge travel time information from sumo and updates the network in the fleet simulation + :param new_travel_time_dict: dict edge_id (o_node, d_node) -> edge_traveltime [s] + :param sim_time: current simulation time + :return None''' + LOG.warning(f'new_travel_time_dict{new_travel_time_dict}') + self.routing_engine.external_update_edge_travel_times(new_travel_time_dict) + LOG.warning(f'self.operators {self.operators}') + #for op in self.operators.values(): + # op.inform_network_travel_time_update(sim_time) # TODO # this wont work for multiprocessing! + + def vehicles_reached_destination(self, simulation_time, vids_reached_destination): + """ this function is triggered if fleet vehicles in SUMO reached its destination; + updates vehicle states, triggers start of boarding processes, adds information to stats + :param simulation_time: int time of simulation from SUMO + :param vids_reached_destination: list of (opid, vid)""" + LOG.debug("vehicles reached destination") + LOG.debug(f"simulation_time {simulation_time}") + LOG.debug(f"vids_reached_destinations {vids_reached_destination}") + + for opid_vid in vids_reached_destination: + LOG.debug(f'opid_vid {opid_vid}') + veh_obj = self.sim_vehicles[opid_vid] + LOG.debug(f"veh {veh_obj} reached destination") + veh_obj.reached_destination(simulation_time) + return \ No newline at end of file diff --git a/src/demand/demand_from_sumo.py b/src/demand/demand_from_sumo.py new file mode 100644 index 00000000..491a54c6 --- /dev/null +++ b/src/demand/demand_from_sumo.py @@ -0,0 +1,106 @@ +import xml.etree.ElementTree as ET +import pandas as pd +import sys +import pathlib +import os +from tqdm import tqdm +import gzip +import time + + +""" +This script transforms demand files from SUMO (.xml) into demand files for Fleetpy (.csv). +As SUMO Trips are defined Edge to Edge and FleetPy Trips are defined Node to Node the starting Node from each SUMO Edge is taken as a starting Node. +Requires Network already translated from SUMO to Fleetpy. + +Input Variables: +- xmlfile (str): Path to SUMO-XML Demand File +- demand_name (str): Name of the demand set +- demand_type (str): Type of the Demand (trips/routes) +- nw_name (str): Name of the transformed Network in the FleetPy Repository + +""" + +def transform_demand_SUMO_to_fp(xmlfile,demand_type,nw_name): + if xmlfile.endswith('.gz'): + # If the file is gzipped, open it with gzip + with gzip.open(xmlfile, 'rb') as f: + tree = ET.parse(f) + elif xmlfile.endswith('.xml'): + # If it's a normal XML file, open it normally + tree = ET.parse(xmlfile) + else: + print(f"Wrong Filename: {xmlfile}. XML/GZ File required") + + demand_root = tree.getroot() + nw_Path = FLEETPY_PATH / "data" / "networks" / nw_name / "base" + + edges_df = pd.read_csv(nw_Path.joinpath("edges.csv")) + edges_df = edges_df.set_index("source_edge_id", drop=False) + + request_ids = [] + rq_times = [] + start_nodes = [] + end_nodes = [] + orig_ids =[] + + if demand_type == "trips": + count = 0 + for trip in tqdm(demand_root.findall("trip"), desc="Iterating over all Routes"): + start_edge = trip.get("from") + start_nodes.append(get_fp_start_node_from_SUMO_edge(start_edge,edges_df)) + end_edge = trip.get("to") + end_nodes.append(get_fp_end_node_from_SUMO_edge(end_edge,edges_df)) + rq_times.append(float(trip.get("depart"))) + orig_ids.append(trip.get('id')) + request_ids.append(count) + count += 1 + elif demand_type == "routes": + count = 0 + for vehicle in tqdm(demand_root.findall("vehicle"),desc="Iterating over all Routes"): + route = vehicle.find("route") + edges_list = route.get("edges").split(" ") + start_nodes.append(get_fp_start_node_from_SUMO_edge(edges_list[0],edges_df)) + end_nodes.append(get_fp_end_node_from_SUMO_edge(edges_list[-1],edges_df)) + orig_ids.append(vehicle.get('id')) + rq_times.append(float(vehicle.get("depart"))) + request_ids.append(count) + count += 1 + + fp_df = pd.DataFrame({"request_id":request_ids,"orig_id":orig_ids,"rq_time":rq_times,"start":start_nodes,"end":end_nodes}) + fp_df = fp_df.reset_index(drop=True) + + return fp_df + +def save_demand_files(fp_df,demand_type,nw_name): + if not os.path.exists(FLEETPY_PATH /"data" / "demand" / demand_name): + os.makedirs(FLEETPY_PATH / "data" / "demand" / demand_name) + if not os.path.exists(FLEETPY_PATH / "data" / "demand" / demand_name/ "matched" / nw_name): + os.makedirs(FLEETPY_PATH / "data" / "demand" / demand_name/ "matched" / nw_name) + + demand_path = FLEETPY_PATH / "data" / "demand" / demand_name / "matched" / nw_name/ f"{demand_name}.csv" + fp_df.to_csv(demand_path) + print(f"Demand File saved to: {demand_path}") + +def get_fp_start_node_from_SUMO_edge(sumo_edge,edges_df): + start_node = edges_df.loc[sumo_edge, "from_node"] + return start_node + +def get_fp_end_node_from_SUMO_edge(sumo_edge,edges_df): + end_node = edges_df.loc[sumo_edge, "to_node"] + return end_node + +if __name__ == "__main__": + PY_PATH = pathlib.Path(__file__) + FLEETPY_PATH = PY_PATH.parent.parent.parent + if len(sys.argv) == 5: + xmlfile = sys.argv[1] + demand_name = sys.argv[2] + demand_type = sys.argv[3] + nw_name = sys.argv[4] + fp_df = transform_demand_SUMO_to_fp(xmlfile,demand_type,nw_name) + save_demand_files(fp_df,demand_type,nw_name) + + else: + print("wrong call!") + print("arguments of this script should be the path to the SUMO demand XML-file and the name of the created demand-set") \ No newline at end of file diff --git a/src/evaluation/standard.py b/src/evaluation/standard.py index 2db1c5c5..605b1aaf 100644 --- a/src/evaluation/standard.py +++ b/src/evaluation/standard.py @@ -577,6 +577,5 @@ def evaluate_folder(path, evaluation_start_time = None, evaluation_end_time = No if __name__ == "__main__": import sys sc = sys.argv[1] - # sc = r'C:\Users\ge37ser\Documents\Coding\TUM_VT_FleetSimulation\tum-vt-fleet-simulation\results\FabianRPPsc01\sc01_200_1' #evaluate_folder(sc, print_comments=True) standard_evaluation(sc, print_comments=True) diff --git a/src/fleetctrl/pooling/objectives.py b/src/fleetctrl/pooling/objectives.py index e941f620..bc5df429 100644 --- a/src/fleetctrl/pooling/objectives.py +++ b/src/fleetctrl/pooling/objectives.py @@ -36,7 +36,7 @@ def return_pooling_objective_function(vr_control_func_dict:dict)->Callable[[int, :rtype: function """ func_key = vr_control_func_dict["func_key"] - + # ---------------------------------------------------------------------------------------------------------------- # # control objective function definitions # -------------------------------------- @@ -585,8 +585,10 @@ def control_f(simulation_time:float, veh_obj:SimulationVehicle, veh_plan:Vehicle else: raise IOError(f"Did not find valid request assignment control objective string." - f" Please check the input parameter {G_OP_VR_CTRL_F}!") - + f" Please check the input parameter {G_OP_VR_CTRL_F}!") + + return control_f + def embedded_control_f(simulation_time:float, veh_obj:SimulationVehicle, veh_plan:VehiclePlan, rq_dict:Dict[Any,PlanRequest], routing_engine:NetworkBase)->float: """This function is the embedded objective function which is returned to the calling function. diff --git a/src/misc/globals.py b/src/misc/globals.py index 7217373d..c3cdc14e 100644 --- a/src/misc/globals.py +++ b/src/misc/globals.py @@ -313,8 +313,18 @@ G_AIMSUN_VEH_TYPE_NAME = "aimsun_vehicle_type_name" # sumo api -G_SUMO_STAT_INT = "sumo_statistics_interval" # interval in which new network statistics are gathered and sent to FleetPy to updated network (if not given, no statistics are gathered) +G_SUMO_STAT_INT = "sumo_t_update" # equals statistics interval, interval in which new network statistics are gathered and sent to FleetPy to updated network (if not given, no statistics are gathered) G_SUMO_SIM_TIME_OFFSET = "sumo_sim_time_offset" # offset between fleetpy and sumo simulation time (fleetpy simtime = sumo simtim + offset; if not given, 0) +G_SUMO_FCD_VEHICLES = "sumo_fcd_vehicles" # vehicles that are providing FCD for the Real-Time Traffic Data used by Fleet Control ("all": all vehicles): Specified as: op_{operator_id_1}_{operator_id_2}_...-pv_{pv_share} +G_SUMO_ROUTE_STEPS = "sumo_route-steps" +G_SUMO_NO_INTERNAL_LINKS = "sumo_no-internal-links" +G_SUMO_IGNORE_JUNCTION_BLOCKER = "sumo_ignore-junction-blocker" +G_SUMO_TIME_TO_TELEPORT = "sumo_time-to-teleport" +G_SUMO_TIME_TO_TELEPORT_HIGHWAYS = "sumo_time-to-teleport.highways" +G_SUMO_EAGER_INSERT = "sumo_eager-insert" +G_SUMO_EDGE_DATA_INTERVAL = "sumo_edgeData.interval" +G_SUMO_EDGE_DATA_WITH_INTERNAL = "sumo_edgeData.withInternal" +G_SUMO_EDGE_DATA_EXCLUDE_EMPTY = "sumo_edgeData.excludeEmpty" # RPP fleetcontrol G_OP_PA_ASSTH = "op_parcel_assignment_threshold" diff --git a/src/misc/init_modules.py b/src/misc/init_modules.py index 46245ded..25d90510 100644 --- a/src/misc/init_modules.py +++ b/src/misc/init_modules.py @@ -48,6 +48,7 @@ def get_src_simulation_environments(): sim_env_dict["BrokerDecision"] = ("src.BrokerSimulation", "BrokerDecisionSimulation") sim_env_dict["UserDecisionSimulation"] = ("src.BrokerSimulation", "UserDecisionSimulation") sim_env_dict["PreferredOperatorSimulation"] = ("src.BrokerSimulation", "PreferredOperatorSimulation") + sim_env_dict["SUMOcontrolledSim"] = ("src.SUMOcontrolledSim", "SUMOcontrolledSim") # add development content if dev_content is not None: dev_sim_env_dict = dev_content.add_dev_simulation_environments() @@ -65,6 +66,8 @@ def get_src_routing_engines(): re_dict["NetworkBasicCpp"] = ("src.routing.NetworkBasicCpp", "NetworkBasicCpp") re_dict["NetworkPartialPreprocessedCpp"] = ("src.routing.NetworkPartialPreprocessedCpp", "NetworkPartialPreprocessedCpp") re_dict["NetworkTTMatrix"] = ("src.routing.NetworkTTMatrix", "NetworkTTMatrix") + re_dict["NetworkBasicSumoCoupling"] = ("src.routing.NetworkBasicSumoCoupling", "NetworkBasicSumoCoupling") + re_dict["NetworkBasicWithStoreCppSumoCoupling"] = ("src.routing.NetworkBasicWithStoreCppSumoCoupling", "NetworkBasicWithStoreCppSumoCoupling") # add development content if dev_content is not None: dev_re_dict = dev_content.add_dev_routing_engines() diff --git a/src/preprocessing/demand/demand_from_sumo.py b/src/preprocessing/demand/demand_from_sumo.py new file mode 100644 index 00000000..87a51bac --- /dev/null +++ b/src/preprocessing/demand/demand_from_sumo.py @@ -0,0 +1,104 @@ +import xml.etree.ElementTree as ET +import pandas as pd +import sys +import pathlib +import os +from tqdm import tqdm +import gzip + +""" +This script transforms demand files from SUMO (.xml) into demand files for Fleetpy (.csv). +As SUMO Trips are defined Edge to Edge and FleetPy Trips are defined Node to Node the starting Node from each SUMO Edge is taken as a starting Node. +Requires Network already translated from SUMO to Fleetpy. + +Input Variables: +- xmlfile (str): Path to SUMO-XML File/SUMO-XML.gz File +- demand_name (str): Name of the demand set +- demand_type (str): Type of the Demand (trips/routes) +- nw_name (str): Name of the transformed Network in the FleetPy Repository + +Output: +Saves .csv file into FleetPy\data\demand\{dmd_name} + +""" + +PY_PATH = pathlib.Path(__file__) +FLEETPY_PATH = PY_PATH.parent.parent.parent.parent + + +def transform_demand_SUMO_to_fp(xmlfile,demand_type,nw_name): + if xmlfile.endswith('.gz'): + # If the file is gzipped, open it with gzip + with gzip.open(xmlfile, 'rb') as f: + tree = ET.parse(f) + elif xmlfile.endswith('.xml'): + # If it's a normal XML file, open it normally + tree = ET.parse(xmlfile) + else: + print(f"Wrong Filename: {xmlfile}. XML/GZ File required") + + demand_root = tree.getroot() + nw_Path = FLEETPY_PATH / "data" / "networks" / nw_name / "base" + + edges_df = pd.read_csv(nw_Path.joinpath("edges.csv")) + request_ids = [] + rq_times = [] + start_nodes = [] + end_nodes = [] + orig_ids =[] + + if demand_type == "trips": + for trip in tqdm(demand_root.findall("trip"), desc="Iterating over all Routes"): + start_edge = trip.get("from") + start_nodes.append(get_fp_node_from_SUMO_edge(start_edge,edges_df)) + end_edge = trip.get("to") + end_nodes.append(get_fp_node_from_SUMO_edge(end_edge,edges_df)) + request_ids.append(int(trip.get('id'))) + rq_times.append(float(trip.get("depart"))) + orig_ids.append(trip.get('id')) + + elif demand_type == "routes": + count = 0 + for vehicle in tqdm(demand_root.findall("vehicle"),desc="Iterating over all Routes"): + route = vehicle.find("route") + edges_list = route.get("edges").split(" ") + start_nodes.append(get_fp_node_from_SUMO_edge(edges_list[0],edges_df)) + end_nodes.append(get_fp_node_from_SUMO_edge(edges_list[-1],edges_df)) + orig_ids.append(vehicle.get('id')) + rq_times.append(float(vehicle.get("depart"))) + request_ids.append(count) + count += 1 + + fp_df = pd.DataFrame({"request_id":request_ids,"orig_id":orig_ids,"rq_time":rq_times,"start":start_nodes,"end":end_nodes}) + fp_df = fp_df.reset_index(drop=True) + + return fp_df + +def save_demand_files(fp_df,demand_type,nw_name): + if not os.path.exists(FLEETPY_PATH /"data" / "demand" / demand_name): + os.makedirs(FLEETPY_PATH / "data" / "demand" / demand_name) + if not os.path.exists(FLEETPY_PATH / "data" / "demand" / demand_name/ "matched" / nw_name): + os.makedirs(FLEETPY_PATH / "data" / "demand" / demand_name/ "matched" / nw_name) + + demand_path = FLEETPY_PATH / "data" / "demand" / demand_name / "matched" / nw_name/ f"{demand_name}.csv" + fp_df.to_csv(demand_path) + print(f"Demand File saved to: {demand_path}") + +def get_fp_node_from_SUMO_edge(SUMO_EDGE,edges_df): + filtered_df = edges_df[edges_df['source_edge_id'] == SUMO_EDGE] + start_node = filtered_df["from_node"].values[0] + return start_node + + +if __name__ == "__main__": + if len(sys.argv) == 5: + xmlfile = sys.argv[1] + demand_name = sys.argv[2] + demand_type = sys.argv[3] + nw_name = sys.argv[4] + fp_df = transform_demand_SUMO_to_fp(xmlfile,demand_type,nw_name) + save_demand_files(fp_df,demand_type,nw_name) + + else: + print("wrong call!") + print("arguments of this script should be the path to the SUMO demand XML-file and the name of the created demand-set") \ No newline at end of file diff --git a/src/preprocessing/networks/network_from_sumo.py b/src/preprocessing/networks/network_from_sumo.py new file mode 100644 index 00000000..71f7e93c --- /dev/null +++ b/src/preprocessing/networks/network_from_sumo.py @@ -0,0 +1,228 @@ +import csv +import xml.etree.ElementTree as ET +import operator +import pandas as pd +import numpy as np +import os +import sys +import geopandas as gpd +from shapely.geometry import Point, LineString +from tqdm import tqdm +import argparse + + +""" +This script converts network.net.xml files from SUMO into nodes.csv/edges.csv and nodes_all_infos.geojson/edges_all_infos.geojson for FleetPy. + +Args: + xmlfile (str): Path to SUMO network XML file (network.net.xml) + -n, --network (str): Name of the network (Network is saved to FleetPy\data\networks\{Name}) + -a, --allowed-modes (str, optional): SUMO modes that FleetPy vehicles correspond to (e.g., "passenger,bus,taxi"). + FleetPy vehicles will only use lanes that allow at least one of these modes. + Defaults to "all" (all SUMO modes allowed). + +Usage: + python network_from_sumo.py -n [-a ] + +Example: + python network_from_sumo.py network.net.xml -n my_network -a "passenger,taxi" +""" + +## For SUMO version 1.19 (05/2024): +ALL_MODES_SUMO = {"passenger","private","taxi","bus","coach","delivery","truck","trailer","emergency","motorcycle","moped", + "bicycle","pedestrian","tram","rail_electric","rail_fast","rail_urban","rail","evehicle","army","ship", + "authority","vip","hov","custom1","custom2"} + + +def check_lane_usability(lane_modes_allow=str,lane_modes_disallow=str,allowed_modes_FP=str,ALL_MODES_SUMO=set): + """ + # Checks for a lane with defined modes that are allowed and not allowed if a Fleetpy-vehicle can use it + # Returns TRUE if it is usable and FALSE if not + """ + if lane_modes_allow == None and lane_modes_disallow == None: + lane_modes_allow = ALL_MODES_SUMO + elif lane_modes_allow == None and lane_modes_disallow != None: + lane_modes_allow = ALL_MODES_SUMO - set(lane_modes_disallow) + elif lane_modes_allow != None: + lane_modes_allow = set(lane_modes_allow.split(" ")) + + if len(lane_modes_allow.intersection(set(allowed_modes_FP))) > 0: + lane_usable_by_FP = True + else: + lane_usable_by_FP = False + return lane_usable_by_FP + +def create_nodes_and_edges_from_xml(xmlfile, allowed_modes="all"): + """ + Approach is to parse the xml file of the sumo network for the relevant information + """ + tree = ET.parse(xmlfile) + root_node = tree.getroot() + + nodes = {} # node_index -> node info + node_source_id_to_node_indices = {} # node_source_id -> node_indices + edges = {} # edge_source_id -> edge info + + if allowed_modes == "all": + allowed_modes_FP = ALL_MODES_SUMO + else: + allowed_modes_FP = set(allowed_modes.split(",")) + # Create start and end node for each sumo link + node_index = 0 + for edge in tqdm(root_node.findall('edge'),desc="Create start and end node for each sumo link"): + function = edge.get('function') + ## First only non-internal edges + if function != 'internal': + usable_lane_count = 0 + for lane in edge.findall('lane'): + lane_modes_allow = lane.get("allow") + lane_modes_disallow = lane.get("disallow") + lane_usable_by_FP = check_lane_usability(lane_modes_allow,lane_modes_disallow,allowed_modes_FP,ALL_MODES_SUMO) + if lane_usable_by_FP == True: + usable_lane_count += 1 + min_travel_time = round(float(lane.get("length"))/float(lane.get("speed")),3) ## Travel time derived fom Max Speed of Lane + distance = round(float(lane.get("length")),2) + + if usable_lane_count > 0: + new_edgeID = edge.get('id') + # Start Node + new_from_node = edge.get('from') + nodes[f"S_{new_edgeID}"] = {"node_index" : node_index, "source_node_id" : new_from_node} + try: + node_source_id_to_node_indices[new_from_node].append(f"S_{new_edgeID}") + except KeyError: + node_source_id_to_node_indices[new_from_node] = [f"S_{new_edgeID}"] + node_index += 1 + + # End Node + new_to_node = edge.get('to') + nodes[f"E_{new_edgeID}"] = {"node_index" : node_index, "source_node_id" : new_to_node} + try: + node_source_id_to_node_indices[new_to_node].append(f"E_{new_edgeID}") + except KeyError: + node_source_id_to_node_indices[new_to_node] = [f"E_{new_edgeID}"] + node_index += 1 + + # Add FP-Information to SUMO-Network: + for param in edge.findall("param"): + if param.get("key") == "fp_from_node" or param.get("key") == "fp_to_node": + edge.remove(param) + + ET.SubElement(edge, "param", {"key": "fp_from_node", "value": str(node_index-2) }) + ET.SubElement(edge, "param", {"key": "fp_to_node", "value": str(node_index-1) }) + + edges[new_edgeID] = {"from_node" : node_index-2, "to_node" : node_index-1, "source_edge_id" : new_edgeID, "number_of_usable_lanes":usable_lane_count,"travel_time":min_travel_time,"distance":distance} + + + #Add Connecting edges (within intersections) + for connection in tqdm(root_node.findall('connection'),desc="Add Connecting edges (within intersections)"): + fromEdge = connection.get('from') + toEdge = connection.get('to') + if fromEdge not in edges.keys() or toEdge not in edges.keys() or ":" in fromEdge or ":" in toEdge: + continue + internalEdge_id = connection.get("via") + if "_" in internalEdge_id: + last_underscore_index = internalEdge_id.rfind('_') + if last_underscore_index != -1: + internalEdge_id= internalEdge_id[:last_underscore_index] + + for edge_element in root_node.findall("edge"): #find internal edge element for id + if edge_element.get("id")==internalEdge_id: + break + + ## Get average speed and length of internal lanes + internal_lanes_speeds = [] + internal_lanes_lengths = [] + internal_lanes_count = 0 + + for internal_lane in edge_element.findall("lane"): + + internal_lane_usable_by_FP = check_lane_usability(internal_lane.get("allow"),internal_lane.get("disallow"),allowed_modes_FP,ALL_MODES_SUMO) + # Check if internal edge can be used by FP-vehicles + if internal_lane_usable_by_FP == False: + continue + else: + internal_lanes_speeds.append(float(internal_lane.get("speed"))) + internal_lanes_lengths.append(float(internal_lane.get("length"))) + internal_lanes_count += 1 + + if len(internal_lanes_speeds)>0 and len(internal_lanes_lengths)>0: + internal_lane_speed_avg = np.mean(internal_lanes_speeds) + internal_lanes_length_avg = np.mean(internal_lanes_lengths) + min_travel_time = round(internal_lanes_length_avg/internal_lane_speed_avg,3) + internal_lanes_length_avg = round(internal_lanes_length_avg,1) + else: + continue + edge_connection = f"i_{fromEdge}_{toEdge}" + from_node_index = nodes[f"E_{fromEdge}"]["node_index"] + to_node_index = nodes[f"S_{toEdge}"]["node_index"] + edges[internalEdge_id] = {"from_node" : from_node_index, "to_node" : to_node_index, "distance" : internal_lanes_length_avg, "travel_time" : min_travel_time, "source_edge_id" : internalEdge_id, "number_of_usable_lanes":internal_lanes_count,"connecting_edges":edge_connection} + + + #add node information (Coordinates) + for node in tqdm(nodes,desc="Add node information (Coordinates)"): + source_node_id = nodes[node]["source_node_id"] + for junction in root_node.findall('junction'): + if junction.get("id") == source_node_id: + pos_x = junction.get('x') + pos_y = junction.get('y') + break + + nodes[node]["pos_x"] = float(pos_x) + nodes[node]["pos_y"] = float(pos_y) + nodes[node]["is_stop_only"] = False + + return nodes, edges, root_node + +def store_network(nodes, edges, network_name,root_node,xmlfile): + node_list = sorted(list(nodes.values()), key=lambda x:x["node_index"]) + edges_list = list(edges.values()) + node_df = pd.DataFrame(node_list) + edges_df = pd.DataFrame(edges_list) + + p = os.path.join(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))), "data", "networks") + p = os.path.join(p, network_name) + if not os.path.isdir(p): + os.mkdir(p) + p = os.path.join(p, "base") + if not os.path.isdir(p): + os.mkdir(p) + node_df.to_csv(os.path.join(p, "nodes.csv"), index=False) + print(f"File saved to {os.path.join(p, 'nodes.csv')}") + edges_df.to_csv(os.path.join(p, "edges.csv"), index=False) + print(f"File saved to {os.path.join(p, 'edges.csv')}") + + node_gdf_dict = {} + for _, node in nodes.items(): + node["geometry"] = Point(node["pos_x"], node["pos_y"]) + node_gdf_dict[node["node_index"]] = node + edge_gdf_dict = {} + for edge in edges.values(): + edge["geometry"] = LineString([(node_gdf_dict[edge["from_node"]]["pos_x"], node_gdf_dict[edge["from_node"]]["pos_y"]), (node_gdf_dict[edge["to_node"]]["pos_x"], node_gdf_dict[edge["to_node"]]["pos_y"])]) + edge_gdf_dict[edge["source_edge_id"]] = edge + node_gdf = gpd.GeoDataFrame(list(node_gdf_dict.values())) + edge_gdf = gpd.GeoDataFrame(list(edge_gdf_dict.values())) + node_gdf.to_file(os.path.join(p, "nodes_all_infos.geojson"), index=False, driver="GeoJSON") + edge_gdf.to_file(os.path.join(p, "edges_all_infos.geojson"), index=False, driver="GeoJSON") + + with open(os.path.join(p, "crs.info"), "w") as f: + f.write("unknowncrs") + + new_SUMO_net_tree = ET.ElementTree(root_node) + new_SUMO_net_tree.write(os.path.join(p, "new_network.xml")) + print(f"New XML-File saved to {os.path.join(p, 'new_network.xml')}") + +def create_network(xmlfile, nw_name, allowed_modes): + nodes, edges, root_node = create_nodes_and_edges_from_xml(xmlfile, allowed_modes) + store_network(nodes, edges, nw_name,root_node,xmlfile) + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description='Convert SUMO network to FleetPy format') + parser.add_argument('xmlfile', help='Path to SUMO network XML file') + parser.add_argument('-n', '--network', dest='nw_name', required=True, help='Name of the network') + parser.add_argument('-a', '--allowed-modes', dest='allowed_modes', default='all', help='SUMO modes allowed (e.g., "passenger,bus,taxi")') + + args = parser.parse_args() + + create_network(args.xmlfile, args.nw_name, args.allowed_modes) diff --git a/src/routing/NetworkBasic.py b/src/routing/NetworkBasic.py index 2f1eeeaf..fb429b4d 100644 --- a/src/routing/NetworkBasic.py +++ b/src/routing/NetworkBasic.py @@ -32,10 +32,6 @@ from src.misc.globals import * LOG = logging.getLogger(__name__) -# import os -# import pandas as pd -# import imports.Router as Router - INPUT_PARAMETERS_NetworkBasic = { "doc" : "this routing class does all routing computations based on dijkstras algorithm", "inherit" : "NetworkBase", @@ -180,7 +176,6 @@ def loadNetwork(self, network_name_dir, network_dynamics_file_name=None, scenari LOG.info(f"Loading nodes from {nodes_f} ...") nodes_df = pd.read_csv(nodes_f) self.nodes = nodes_df.apply(read_node_line, axis=1) - # edges_f = os.path.join(network_name_dir, "base", "edges.csv") LOG.info(f"Loading edges from {edges_f} ...") edges_df = pd.read_csv(edges_f) diff --git a/src/routing/NetworkBasicSumoCoupling.py b/src/routing/NetworkBasicSumoCoupling.py new file mode 100644 index 00000000..1c41c02a --- /dev/null +++ b/src/routing/NetworkBasicSumoCoupling.py @@ -0,0 +1,41 @@ +# -------------------------------------------------------------------------------------------------------------------- # +# standard distribution imports +# ----------------------------- +import os +import logging + +# additional module imports (> requirements) +# ------------------------------------------ +import pandas as pd +import numpy as np + +# src imports +# ----------- +from src.routing.NetworkBasicWithStore import NetworkBasicWithStore +from src.routing.routing_imports.Router import Router + +# -------------------------------------------------------------------------------------------------------------------- # +# global variables +# ---------------- +from src.misc.globals import * +LOG = logging.getLogger(__name__) + +class NetworkBasicSumoCoupling(NetworkBasicWithStore): + """ this network is used for an external coupling with SUMO + the only difference is the implementation of the method "external_update_edge_travel_times" + to update travel times based on external input + """ + + def external_update_edge_travel_times(self, new_travel_time_dict): + '''This method takes new edge travel time information from sumo and updates the network in the fleet simulation + :param new_travel_time_dict: dict edge_id (o_node, d_node) -> edge_traveltime [s] + :return None''' + self._reset_internal_attributes_after_travel_time_update() + for edge_index_tuple, new_tt in new_travel_time_dict.items(): + if type(new_tt) != float or type(new_tt) != int: + new_tt = new_tt[0] + o_node = self.nodes[edge_index_tuple[0]] + d_node = self.nodes[edge_index_tuple[1]] + self._set_edge_tt(edge_index_tuple[0], edge_index_tuple[1], new_tt) + + diff --git a/src/routing/NetworkBasicWithStoreCppSumoCoupling.py b/src/routing/NetworkBasicWithStoreCppSumoCoupling.py new file mode 100644 index 00000000..6462b356 --- /dev/null +++ b/src/routing/NetworkBasicWithStoreCppSumoCoupling.py @@ -0,0 +1,49 @@ +# -------------------------------------------------------------------------------------------------------------------- # +# standard distribution imports +# ----------------------------- +import os +import logging + +# additional module imports (> requirements) +# ------------------------------------------ +import pandas as pd +import numpy as np + +# src imports +# ----------- +from src.routing.NetworkBasicWithStoreCpp import NetworkBasicWithStoreCpp +from src.routing.routing_imports.Router import Router + +# -------------------------------------------------------------------------------------------------------------------- # +# global variables +# ---------------- +from src.misc.globals import * +LOG = logging.getLogger(__name__) + +class NetworkBasicWithStoreCppSumoCoupling(NetworkBasicWithStoreCpp): + """ this network is used for an external coupling with SUMO + the only difference is the implementation of the method "external_update_edge_travel_times" + to update travel times based on external input + """ + + def external_update_edge_travel_times(self, new_travel_time_dict): + '''This method takes new edge travel time information from sumo and updates the network in the fleet simulation + :param new_travel_time_dict: dict edge_id (o_node, d_node) -> edge_traveltime [s] + :return None''' + self._reset_internal_attributes_after_travel_time_update() + for edge_index_tuple, new_tt in new_travel_time_dict.items(): + o_node = self.nodes[edge_index_tuple[0]] + d_node = self.nodes[edge_index_tuple[1]] + edge_obj = o_node.edges_to[d_node] + self._set_edge_tt(edge_index_tuple[0], edge_index_tuple[1], new_tt) + print(f"Updated {len(new_travel_time_dict)} edges in FP Routing Engine with simulated values.") + + def load_tt_file_SUMO(self, resultsPath,sim_time): + """ + loads new travel time files for scenario_time + """ + if self._tt_infos_from_folder: + tt_file = os.path.join(resultsPath, "EdgeTravelTimes", f"SUMO_travel_times_{sim_time}.csv") + self.cpp_router.updateEdgeTravelTimes(tt_file.encode()) + print(f"SUMO Travel times loaded into cpp Router at step {sim_time}") + diff --git a/src/routing/_NetworkBasicReliabilityWithStoreCppSumoCoupling.py b/src/routing/_NetworkBasicReliabilityWithStoreCppSumoCoupling.py new file mode 100644 index 00000000..915a8a49 --- /dev/null +++ b/src/routing/_NetworkBasicReliabilityWithStoreCppSumoCoupling.py @@ -0,0 +1,513 @@ +# -------------------------------------------------------------------------------------------------------------------- # +# standard distribution imports +# ----------------------------- +import os +import logging + +# additional module imports (> requirements) +# ------------------------------------------ +import pandas as pd +import numpy as np +from datetime import datetime +import pathlib +import random +import math + +# src imports +# ----------- +from src.routing.NetworkBasicWithStoreCppSumoCoupling import NetworkBasicWithStoreCppSumoCoupling +from src.routing.cpp_router.PyNetwork import PyNetwork +from src.routing.NetworkBasic import Edge as BasicEdge +from src.routing.NetworkBasic import Node as BasicNode +# -------------------------------------------------------------------------------------------------------------------- # +# global variables +# ---------------- +from src.misc.globals import * +LOG = logging.getLogger(__name__) +def read_node_line(columns): + return Node(int(columns["node_index"]), int(columns["is_stop_only"]), float(columns["pos_x"]), float(columns["pos_y"])) + + + +class Node(BasicNode): + def __init__(self, node_index, is_stop_only, pos_x, pos_y, node_order=None): + self.node_index = node_index + self.is_stop_only = is_stop_only + self.pos_x = pos_x + self.pos_y = pos_y + # + self.edges_to = {} #node_obj -> edge + self.edges_from = {} #node_obj -> edge + # + self.travel_infos_from = {} #node_index -> (tt, dis,var) + self.travel_infos_to = {} #node_index -> (tt, dis,var) + # + # attributes set during path calculations + self.is_target_node = False # is set and reset in computeFromNodes + #attributes for forwards dijkstra + self.prev = None + self.settled = 1 + self.cost_index = -1 + self.cost = None + # attributes for backwards dijkstra (for bidirectional dijkstra) + self.next = None + self.settled_back = 1 + self.cost_index_back = -1 + self.cost_back = None + + def add_next_edge_to(self, other_node, edge): + #print("add next edge to: {} -> {}".format(self.node_index, other_node.node_index)) + self.edges_to[other_node] = edge + self.travel_infos_to[other_node.node_index] = (edge.get_tt(),edge.get_distance(), edge.get_tt_var()) + + def add_prev_edge_from(self, other_node, edge): + self.edges_from[other_node] = edge + self.travel_infos_from[other_node.node_index] = (edge.get_tt(),edge.get_distance(), edge.get_tt_var()) + + def get_travel_infos_to(self, other_node_index): + return self.travel_infos_to[other_node_index] + + def get_travel_infos_from(self, other_node_index): + return self.travel_infos_from[other_node_index] + + +class Edge(BasicEdge): + def __init__(self, edge_index, distance, travel_time,travel_time_var): + self.edge_index = edge_index + self.distance = distance + self.travel_time = travel_time + self.travel_time_var = travel_time_var + self.cost_function_value = None + + def set_tt_var(self, travel_time_var): + self.travel_time_var = travel_time_var + + def get_tt_var(self): + """ + :return: (current) travel time standard deviation on edge + """ + return self.travel_time_var + + def set_cfv(self,cfv): + self.cost_function_value = cfv + + def get_tt_mean_var(self): + """ + :return: (travel time mean, travel time standard deviation) tuple + """ + return (self.travel_time, self.travel_time_var) + + def get_init_cfv(self,cost_function): + self.cost_function_value = cost_function(tt_mean=self.travel_time,tt_var=self.travel_time_var,dis=self.distance) + +class _NetworkBasicReliabilityWithStoreCppSumoCoupling(NetworkBasicWithStoreCppSumoCoupling): + def __init__(self, network_name_dir, network_dynamics_file_name=None, scenario_time=None): + """ + The network will be initialized. + This network stores routing results from return_travel_costs_1to1 in a database to retrieve them in case they are queried again + additionally, if calling the function return_travel_costs_1to1, internally a dijkstra to all boarding nodes is called in case origin and destination is a boarding node + these results are not returned, but directly stored in the database in case they are needed again + + :param network_name_dir: name of the network_directory to be loaded + :param type: determining whether the base or a pre-processed network will be used + :param scenario_time: applying travel times for a certain scenario at a given time in the scenario + :param network_dynamics_file_name: file-name of the network dynamics file + :type network_dynamics_file_name: str + """ + + #super().__init__(network_name_dir, network_dynamics_file_name=network_dynamics_file_name, scenario_time=scenario_time) + #self.cpp_router = None + """ + The network will be initialized. + This network only uses basic routing algorithms (dijkstra and bidirectional dijkstra) + :param network_name_dir: name of the network_directory to be loaded + :param type: determining whether the base or a pre-processed network will be used + :param scenario_time: applying travel times for a certain scenario at a given time in the scenario + :param network_dynamics_file_name: file-name of the network dynamics file + :type network_dynamics_file_name: str + """ + self.nodes = [] #list of all nodes in network (index == node.node_index) + self.network_name_dir = network_name_dir + self._tt_infos_from_folder = True + self._current_tt_factor = None + self.travel_time_file_infos = self._load_tt_folder_path(network_dynamics_file_name=network_dynamics_file_name) + #self.loadNetwork(network_name_dir, network_dynamics_file_name=network_dynamics_file_name, scenario_time=scenario_time) + self.current_dijkstra_number = 1 #used in dijkstra-class + self.sim_time = 0 # TODO # + self.zones = None # TODO # + with open(os.sep.join([self.network_name_dir, "base","crs.info"]), "r") as f: + self.crs = f.read() + self.travel_time_infos = {} #(o,d) -> (tt, dis) + self.travel_time_infos_reliability = {} #(o,d) -> (tt, var) + self.user_vot = None + self.user_vor = None + self.routing_mode = "edge_tt" + #def loadNetwork(self, network_name_dir, network_dynamics_file_name=None, scenario_time=None): + # LOG.info("load c++ router!") + # print("load c++ router!") + #nodes_f = os.path.join(network_name_dir, "base", "nodes.csv") + #edges_f = os.path.join(network_name_dir, "base", "edges.csv") + # self.cpp_router = PyNetwork(nodes_f.encode(), edges_f.encode()) + # super().loadNetwork(network_name_dir, network_dynamics_file_name=network_dynamics_file_name, scenario_time=scenario_time) + #for attr, value in vars(self).items(): + #print(f"{attr}: {value}") + + def set_routing_mode(self,routing_mode): + self.routing_mode = routing_mode + + def set_user_vor(self,user_vor): + self.user_vor = user_vor + + def set_user_vot(self,user_vot): + self.user_vot = user_vot + + def _save_cpp_tt_file(self,tt_file_df,scenario_time): + """ + cleans folder for csv handover to cpp form prievious simulation runs and saves tt_file_df as a new csv file into it. + """ + py_path = pathlib.Path(__file__) + save_path_dir = py_path.parent/"cpp_router"/"tt_updates" + if os.path.exists(save_path_dir): + for filename in os.listdir(save_path_dir): + file_path = os.path.join(save_path_dir, filename) + try: + # If it's a file, delete it + if os.path.isfile(file_path): + os.remove(file_path) + except Exception as e: + print(f"Failed to delete {file_path}. Reason: {e}") + random_number = random.randint(0, 9999) + date = datetime.now().strftime("%Y%m%d%H%M%S%f") + save_file_path_cpp = save_path_dir/f"{scenario_time}_tt_update_{date}_{random_number}.csv" + tt_file_df.to_csv(save_file_path_cpp) + return str(save_file_path_cpp) + + def load_tt_file(self, scenario_time): ##TODO adjust for + """ + loads new travel time files for scenario_time + """ + self._reset_internal_attributes_after_travel_time_update() + if self._tt_infos_from_folder: + f = self.travel_time_file_infos[scenario_time] + tt_file = os.path.join(f, "edges_td_att.csv") + tt_file_df = pd.read_csv(tt_file) + tt_file_df['edge_cfv'] = tt_file_df.apply(lambda row: self.customized_section_cost_function(tt_mean=row['edge_tt'], tt_var=row['edge_var']), axis=1) + columns_to_keep = ['from_node', 'to_node', 'edge_tt', 'distance', 'edge_std', 'edge_cfv','edge_var'] + tt_file_df = tt_file_df.drop(columns=[col for col in tt_file_df.columns if col not in columns_to_keep]) + save_file_path_cpp = self._save_cpp_tt_file(tt_file_df=tt_file_df,scenario_time=scenario_time) + self.cpp_router.updateEdgeTravelTimes(save_file_path_cpp.encode()) + for from_node, to_node, edge_tt, edge_var,edge_cfv in zip(tt_file_df[G_EDGE_FROM], tt_file_df[G_EDGE_TO], tt_file_df['edge_tt'], tt_file_df["edge_var"],tt_file_df['edge_cfv']): + self._set_edge_tt(o_node_index=from_node, d_node_index=to_node, new_travel_time=edge_tt,new_travel_time_var=edge_var,new_cost_function_value=edge_cfv) + + def loadNetwork(self, network_name_dir, network_dynamics_file_name=None, scenario_time=None): + nodes_f = os.path.join(network_name_dir, "base", "nodes.csv") + print(f"Loading nodes from {nodes_f} ...") + nodes_df = pd.read_csv(nodes_f) + self.nodes = nodes_df.apply(read_node_line, axis=1) + edges_f = os.path.join(network_name_dir, "base", "edges.csv") + print(f"Loading edges from {edges_f} ...") + edges_df = pd.read_csv(edges_f) + self.cpp_router = PyNetwork(nodes_f.encode(), edges_f.encode()) + for _, row in edges_df.iterrows(): + o_node = self.nodes[row[G_EDGE_FROM]] + d_node = self.nodes[row[G_EDGE_TO]] + if G_EDGE_TT_STD in row.keys(): + travel_time_std = row[G_EDGE_TT_STD] + else: + travel_time_std = 0 + tmp_edge = Edge(edge_index=(o_node, d_node), distance=row[G_EDGE_DIST], travel_time= row[G_EDGE_TT],travel_time_var=travel_time_std^2) + tmp_edge.get_init_cfv(self.customized_section_cost_function) + o_node.add_next_edge_to(d_node, tmp_edge) + d_node.add_prev_edge_from(o_node, tmp_edge) + print("... {} nodes loaded!".format(len(self.nodes))) + if scenario_time is not None: + latest_tt = None + if len(self.travel_time_file_folders.keys()) > 0: + tts = sorted(list(self.travel_time_file_folders.keys())) + for tt in tts: + if tt > scenario_time: + break + latest_tt = tt + self.load_tt_file(latest_tt) + + + + def _set_edge_tt(self, o_node_index, d_node_index, new_travel_time,new_travel_time_var,new_cost_function_value=None): + o_node = self.nodes[o_node_index] + d_node = self.nodes[d_node_index] + edge_obj = o_node.edges_to[d_node] + edge_obj.set_tt(new_travel_time) + edge_obj.set_tt_var(new_travel_time_var) + edge_obj.set_cfv(new_cost_function_value) + new_tt, dis = edge_obj.get_tt_distance() + o_node.travel_infos_to[d_node_index] = (new_tt, dis,new_travel_time_var) + d_node.travel_infos_from[o_node_index] = (new_tt, dis,new_travel_time_var) + + + def external_update_edge_travel_times(self, new_travel_time_dict): + '''This method takes new edge travel time information from sumo and updates the network in the fleet simulation + :param new_travel_time_dict: dict edge_id (o_node, d_node) -> edge_traveltime [s] + :return None''' + self._reset_internal_attributes_after_travel_time_update() + for edge_index_tuple, (new_tt,new_var) in new_travel_time_dict.items(): + o_node = self.nodes[edge_index_tuple[0]] + d_node = self.nodes[edge_index_tuple[1]] + edge_obj = o_node.edges_to[d_node] + self._set_edge_tt(edge_index_tuple[0], edge_index_tuple[1], new_tt, new_var) + print(f"Updated {len(new_travel_time_dict)} edges in FP Routing Engine with simulated values.") + + def load_tt_file_SUMO(self, resultsPath,sim_time): + """ + loads new travel time files for scenario_time + """ + if self._tt_infos_from_folder: + tt_file = os.path.join(resultsPath, "EdgeTravelTimes", f"SUMO_travel_times_{sim_time}.csv") + self.cpp_router.updateEdgeTravelTimes(tt_file.encode()) + print(f"{tt_file} loaded into cpp Router at step {sim_time}") + + + + def return_travel_costs_1to1(self, origin_position, destination_position, customized_section_cost_function = None,mode="edge_tt"): + """ + This method will return the travel costs of the fastest route between two nodes considering reliability. + :param origin_position: (current_edge_origin_node_index, current_edge_destination_node_index, relative_position) + :param destination_position: (destination_edge_origin_node_index, destination_edge_destination_node_index, relative_position) + :param customized_section_cost_function: function to compute the travel cost of an section: args: (travel_time, travel_distance, current_dijkstra_node) -> cost_value + if None: travel_time is considered as the cost_function of a section + :return: (cost_function_value, travel time, travel_time_var) between the two nodes + """ + trivial_test = self.test_and_get_trivial_route_tt_and_dis(origin_position, destination_position) + if trivial_test is not None: + return trivial_test[1] + origin_node = origin_position[0] + origin_overhead = (0.0, 0.0, 0.0, 0.0) + if origin_position[1] is not None: + origin_node = origin_position[1] + origin_overhead = self.get_section_overhead(origin_position, from_start=False) + destination_node = destination_position[0] + destination_overhead = (0.0, 0.0, 0.0, 0.0) + if destination_position[1] is not None: + destination_overhead = self.get_section_overhead(destination_position, from_start=True) + + if self.travel_time_infos.get( (origin_node, destination_node) ) is not None: + s = self.travel_time_infos.get((origin_node, destination_node)) + else: + s = self.cpp_router.computeTravelCosts1To1(origin_node, destination_node,mode) + if s[0] == np.inf: # TODO # seems to be a bug. Do you know what's the problem here? + LOG.warning(f"in return_travel_costs_1to1, travel_time_infos from nodes {origin_node} to {destination_node}" + f"yields s={s}") + s = self.cpp_router.computeTravelCosts1To1(origin_node, destination_node) + + LOG.warning(f"after recalculation of the routes, s={s}") + + + self._add_to_database(origin_node, destination_node, s[0], s[1], s[2],s[3]) + + return (s[0] + origin_overhead[0] + destination_overhead[0], s[1] + origin_overhead[1] + destination_overhead[1], s[2] + origin_overhead[2] + destination_overhead[2], s[3] + origin_overhead[3] + destination_overhead[3]) + + + + + + def get_section_overhead(self, position, from_start=True, customized_section_cost_function=None): + """This method computes the section overhead for a certain position. + + :param position: (current_edge_origin_node_index, current_edge_destination_node_index, relative_position) + :param from_start: computes already traveled travel_time and distance, + if False: computes rest travel time (relative_position -> 1.0-relative_position) + :param customized_section_cost_function: customized routing objective function + :return: (cost_function_value, travel time, travel_distance) + """ + if position[1] is None: + return 0.0, 0.0, 0.0, 0.0 + all_travel_time, all_travel_distance,all_travel_time_var = self.get_section_infos(position[0], position[1]) + overhead_fraction = position[2] + if not from_start: + overhead_fraction = 1.0 - overhead_fraction + all_travel_cost = self.customized_section_cost_function(tt_mean=all_travel_time,tt_var=all_travel_time_var, dis=all_travel_distance) + return all_travel_time * overhead_fraction, all_travel_distance * overhead_fraction,all_travel_time_var*overhead_fraction,all_travel_cost*overhead_fraction + + def get_section_infos(self, start_node_index, end_node_index): + """ + :param start_node_index_index: index of start_node of section + :param end_node_index: index of end_node of section + :return: (travel time, distance, var); if no section between nodes (None, None) + """ + tt, dis, tt_var = self.nodes[start_node_index].get_travel_infos_to(end_node_index) + + return tt, dis, tt_var + + + def customized_section_cost_function(self,tt_mean=None,tt_var=None,dis=None): + vor=self.user_vor + vot=self.user_vot + cfv = vot * tt_mean + vor * math.sqrt(tt_var) + return cfv + + def _add_to_database(self, o_node, d_node, tt, dis,var,cfv): + """ this function is call when new routing results have been computed + depending on the class the function can be overwritten to store certain results in the database + """ + if self.travel_time_infos.get((o_node, d_node)) is None: + self.travel_time_infos[(o_node, d_node)] = (tt,dis,var,cfv) + + def return_travel_costs_Xto1(self, list_origin_positions, destination_position, max_routes=None, max_cost_value=None, customized_section_cost_function = None,mode="edge_tt"): + """ + This method will return a list of tuples of origin node and travel time of the X fastest routes between + a list of possible origin nodes and a certain destination node, whereas the route starts at certain origins can + be offset. Combinations that dont fullfill all constraints will not be returned. + :param list_origin_positions: list of origin_positions (current_edge_origin_node_index, current_edge_destination_node_index, relative_position) + :param destination_position: destination position : (destination_edge_origin_node_index, destination_edge_destination_node_index, relative_position) + :param max_routes: maximal number of fastest route triples that should be returned + :param max_cost_value: latest cost function value of a route at destination to be considered as solution (max time if customized_section_cost_function == None) + :param customized_section_cost_function: function to compute the travel cost of an section: args: (travel_time, travel_distance, current_dijkstra_node) -> cost_value + if None: travel_time is considered as the cost_function of a section + :return: list of (origin_position, cost_function_value, travel time, travel_distance) tuples + """ + origin_nodes = {} + return_list = [] + for pos in list_origin_positions: + trivial_test = self.test_and_get_trivial_route_tt_and_dis(pos, destination_position) + if trivial_test is not None: + if max_cost_value is not None and trivial_test[1][0] > max_cost_value: + continue + return_list.append( (pos, trivial_test[1][0], trivial_test[1][1], trivial_test[1][2], trivial_test[1][3])) + continue + start_node = pos[0] + if pos[1] is not None: + start_node = pos[1] + try: + origin_nodes[start_node].append(pos) + except: + origin_nodes[start_node] = [pos] + + destination_node = destination_position[0] + destination_overhead = (0.0, 0.0, 0.0, 0.0) + if destination_position[1] is not None: + destination_overhead = self.get_section_overhead(destination_position, from_start=True) + + if len(origin_nodes.keys()) > 0: + s = self.cpp_router.computeTravelCostsXto1(destination_node, origin_nodes.keys(), max_time_range = max_cost_value, max_targets = max_routes,mode=mode) + # s has structure [(origin_node,tt,dis,var,cfv)] + for result in s: + org_node,tt, dis,var,cfv = result + if tt < -0.0001: + continue + self._add_to_database(org_node, destination_node, tt, dis, var,cfv) + tt += destination_overhead[1] + dis += destination_overhead[2] + for origin_position in origin_nodes[org_node]: + origin_overhead = (0.0, 0.0, 0.0, 0.0) + if origin_position[1] is not None: + origin_overhead = self.get_section_overhead(origin_position, from_start=False) + + tt += origin_overhead[0] + dis += origin_overhead[1] + var += origin_overhead[2] + cfv += origin_overhead[3] + if max_cost_value is not None and tt > max_cost_value: + #pass + continue + return_list.append( (origin_position, tt, dis,var,cfv) ) + if max_routes is not None and len(return_list) > max_routes: + return sorted(return_list, key = lambda x:x[1])[:max_routes] + return return_list + + def return_best_route_1to1(self, origin_position, destination_position, customized_section_cost_function = None, mode="edge_tt"): + """ + This method will return the best route [list of node_indices] between two nodes, + while origin_position[0] and destination_postion[1](or destination_position[0] if destination_postion[1]==None) is included. + :param origin_position: (current_edge_origin_node_index, current_edge_destination_node_index, relative_position) + :param destination_position: (destination_edge_origin_node_index, destination_edge_destination_node_index, relative_position) + :param customized_section_cost_function: function to compute the travel cost of an section: args: (travel_time, travel_distance, current_dijkstra_node) -> cost_value + if None: travel_time is considered as the cost_function of a section + :return : route (list of node_indices) of best route + """ + # if customized_section_cost_function is not None: + #return super().return_best_route_1to1(origin_position, destination_position, customized_section_cost_function=customized_section_cost_function) + trivial_test = self.test_and_get_trivial_route_tt_and_dis(origin_position, destination_position) + if trivial_test is not None: + return trivial_test[0] + origin_node = origin_position[0] + destination_node = destination_position[0] + if origin_position[1] is not None: + origin_node = origin_position[1] + node_list = self.cpp_router.computeRoute1To1(origin_node, destination_node, mode=mode) + if origin_node != origin_position[0]: + node_list = [origin_position[0]] + node_list + if destination_position[1] is not None: + node_list.append(destination_position[1]) + #print(f"best route: {origin_position} --> {destination_position}; Mode = {mode}: {node_list}") + return node_list + + def test_and_get_trivial_route_tt_and_dis(self, origin_position, destination_position): + """ this functions test for trivial routing solutions between origin_position and destination_position + if no trivial solution is found + :return None + else + :return (route, (travel_time, travel_distance)) + """ + #LOG.debug(f"Trivial Test: {origin_position} --> {destination_position}") + if origin_position[0] == destination_position[0]: + if origin_position[1] is None: + if destination_position[1] is None: + return ([], (0.0, 0.0, 0.0, 0.0) ) + else: + return ([destination_position[0], destination_position[1]], self.get_section_overhead(destination_position) ) + else: + if destination_position[1] is None: + return None + else: + if destination_position[1] == origin_position[1]: + if origin_position[2] > destination_position[2]: + return None + else: + effective_position = (origin_position[0], origin_position[1], destination_position[2] - origin_position[2]) + tt, dis, var,cfv = self.get_section_overhead(effective_position, from_start = True) + return ([destination_position[0], destination_position[1]], (tt, dis, var,cfv)) + else: + return None + elif origin_position[1] is not None and origin_position[1] == destination_position[0]: + rest = self.get_section_overhead(origin_position, from_start = False) + rest_dest = self.get_section_overhead(destination_position, from_start = True) + route = [origin_position[0], origin_position[1]] + #print(f"nw basic argh {rest} {rest_dest}") + if destination_position[1] is not None: + route.append( destination_position[1] ) + return (route, (rest[0] + rest_dest[0], rest[1] + rest_dest[1], rest[2] + rest_dest[2],rest[3] + rest_dest[3])) + return None + + def load_tt_file_SUMO(self, resultsPath,sim_time): + """ + loads new travel time files for scenario_time + """ + if self._tt_infos_from_folder: + tt_file = os.path.join(resultsPath, "EdgeTravelTimes", f"SUMO_travel_times_{sim_time}.csv") + self.cpp_router.updateEdgeTravelTimes(tt_file.encode()) + + def return_route_infos(self, route, rel_start_edge_position, start_time): + """ + This method returns the information travel information along a route. The start position is given by a relative + value on the first edge [0,1], where 0 means that the vehicle is at the first node. + :param route: list of nodes + :param rel_start_edge_position: float [0,1] determining the start position + :param start_time: can be used as an offset in case the route is planned for a future time + :return: (arrival time, distance to travel) + """ + arrival_time = start_time + distance = 0 + travel_time_var = 0 + cost_function_value = 0 + start_tt, start_dis, start_var,start_cfv = self.get_section_overhead( (route[0], route[1], rel_start_edge_position), from_start=False) + arrival_time += start_tt + distance += start_dis + travel_time_var += start_var + cost_function_value += start_cfv + if len(route) > 2: + for i in range(2, len(route)): + tt, dis,var = self.get_section_infos(route[i-1], route[i]) + arrival_time += tt + distance += dis + travel_time_var += var + cost_function_value += self.customized_section_cost_function(tt_mean=tt,tt_var=var,dis=dis) + return (arrival_time, distance,travel_time_var,cost_function_value) \ No newline at end of file diff --git a/src/simulation/Vehicles.py b/src/simulation/Vehicles.py index 5902b017..0d3c3da7 100644 --- a/src/simulation/Vehicles.py +++ b/src/simulation/Vehicles.py @@ -580,7 +580,7 @@ def _compute_new_route(self, target_pos:tuple)->tp.List[int]: # ===================================================================================================== # -class ExternallyMovingSimulationVehicle(SimulationVehicle): +class SUMOMovingSimulationVehicle(SimulationVehicle): """ this class can be used for simulations where vehicle movements are controlled externally i.e. when coupling with an microscopic traffic simulation. boarding processes are still handled in this class, but vehicles only move if their positions are actively updated @@ -619,7 +619,8 @@ def update_vehicle_position(self, veh_pos, simulation_time): elif len(self.cl_remaining_route) == 0: LOG.warning("no route planned anymore? {} {}".format(veh_pos, self)) elif veh_pos is not None and not self.start_next_leg_first: - raise EnvironmentError(f"moving without having a driving task? {self}") + LOG.warning(f"moving without having a driving task veh {self},{self.start_next_leg_first}") + #raise EnvironmentError(f"moving without having a driving task? {self}") def start_next_leg(self, simulation_time): """ @@ -648,28 +649,57 @@ def _move(self, c_time, remaining_step_time, update_start_time): return -1 def get_new_route(self): - """ this function is used to return the current pos of the vehicle and the route that is needed to be driven in the aimsun simulation + """ this function is used to return the current pos of the vehicle and the route that is needed to be driven in the SUMO simulation if something is return (i.e. a new driven vrl needs to be started) is indicated by the flag self.start_new_route_flag :return: None, if no route has to be started; node_index_list otherwise """ - #LOG.debug(f"get_pos_and_route: {self.vid} | {self.start_new_route_flag} | {self.assigned_route} | {self.pos} | {self.cl_remaining_route}") - #LOG.debug('Is this ever entered?') + if self._route_update_needed: + leglist = [] + for leg in self.assigned_route: + leglist.append(leg) + LOG.info(f"get_pos_and_route: {self.vid}, {self.status} |{[(leg.destination_pos,leg.status) for leg in self.assigned_route]} | {self.pos} | {self.cl_remaining_route} | {[pax.rid for pax in self.pax]} | {self._route_update_needed}") + if self._route_update_needed: #LOG.debug(f"new route for vehicle {self}") - self._route_update_needed = False + if not self.assigned_route: + LOG.warning(f"Veh {self.vid} needs Route update but has no route assigned! {self}") + # Vehicle without assigned FP-Route found on Edge: if self.pos[1] is not None: LOG.debug(f" -> {self.vid} -> {[self.pos[0], self.pos[1]]}") + self._route_update_needed = False return [self.pos[0], self.pos[1]] + + # Vehicle without assigned FP-Route found on Node: else: - LOG.warning("new route to start after unassignment but on edge!") - LOG.debug(f" -> {self.vid} -> {[self.pos[0]]}") + + LOG.info(f" -> {self.vid} -> {[self.pos[0]]}") + self._route_update_needed = False return [self.pos[0]] else: - route = self.cl_remaining_route - route = [self.pos[0]] + route - LOG.debug(f" -> {self.vid} -> {route}") - return route + # New Route already saved in current Leg: + if len(self.cl_remaining_route) > 0: + route = self.cl_remaining_route + route = [self.pos[0]] + route + LOG.info(f"veh {self.vid} at {self.pos} gets new Route -> {route}") + self._route_update_needed = False + return route + + # New Route not saved in current Leg --> will hapen in next FP step --> Vehicle gets no update this time step + else: + self._route_update_needed = True + if self.pos[1] != None: + route = [self.pos[0],self.pos[1]] + LOG.info(f"BEFORE: veh {self.vid} clears edge {self.pos} before it gets new Route -> {route}") + route = None + LOG.info(f"NOW: veh {self.vid} on edge {self.pos} gets no Route but will get it in next timestep. Proceeds with current Route: {route}") + return route + + else: + route = None + LOG.warning(f"Veh {self.vid} at {self.pos} is at node and stays there -> {route}") + return route + else: #LOG.debug('_route_update_needed is False') return None @@ -724,63 +754,75 @@ def assign_vehicle_plan(self, list_route_legs, sim_time, force_ignore_lock = Fal self._route_update_needed = True def reached_destination(self, simulation_time): - """ this function is called, when the corresponding aimsun vehicle reaches its destination in aimsun + """ this function is called, when the corresponding SUMO vehicle reaches its destination :param simulation_time: time the vehicle reached destination """ - if self.status in G_DRIVING_STATUS: - if self.pos[1] is not None: - LOG.debug(f'cl_driven_route {self.cl_driven_route}') - if self.cl_driven_route[-1] != self.pos[1]: - self.cl_driven_route.append(self.pos[1]) - self.cl_driven_route_times.append(simulation_time) - self.pos = self.routing_engine.return_node_position(self.pos[1]) - if len(self.cl_driven_route) > 1: - try: - _, driven_distance = self.routing_engine.return_route_infos(self.cl_driven_route, 0.0, 0.0) - except KeyError: - LOG.debug(f'reached_destination had a Keyerror') - driven_distance = 0 - if len(self.cl_driven_route) > 2: - for i in range(2, len(self.cl_driven_route)): - try: - tt, dis = self.routing_engine.get_section_infos(self.cl_driven_route[i-1], self.cl_driven_route[i]) - except: - dis = 0 - driven_distance += dis - LOG.debug(f'driven_distance {driven_distance}') - else: + + + if self.pos[1] is not None: ## Vehicle on Edge + LOG.debug(f'cl_driven_route {self.cl_driven_route}') + if len(self.cl_driven_route) == 0: + print(self, "reached destination with no current leg assigned. Error?") + elif self.cl_driven_route[-1] != self.pos[1]: + self.cl_driven_route.append(self.pos[1]) + self.cl_driven_route_times.append(simulation_time) + self.pos = self.routing_engine.return_node_position(self.pos[1]) + + ## Get Driven Distance for stats + if len(self.cl_driven_route) > 1: + try: + _, driven_distance = self.routing_engine.return_route_infos(self.cl_driven_route, 0.0, 0.0) + except KeyError: + LOG.debug(f'reached_destination had a Keyerror') driven_distance = 0 + if len(self.cl_driven_route) > 2: + for i in range(2, len(self.cl_driven_route)): + try: + tt, dis = self.routing_engine.get_section_infos(self.cl_driven_route[i-1], self.cl_driven_route[i]) + except: + dis = 0 + driven_distance += dis + LOG.debug(f'driven_distance {driven_distance}') + else: + driven_distance = 0 - if len(self.assigned_route) == 0: - LOG.debug("no assigned route but moved -> unassignment?") - else: - target_pos = self.assigned_route[0].destination_pos - if self.pos != target_pos: - LOG.debug("reached destination but not at target {}: pos {} target pos {}".format(self, self.pos, target_pos)) - r = self._compute_new_route(target_pos) - if len(r) <= 2: - LOG.debug("only one edge missed: if this is a turn, everything is fine! route: {}".format(r)) - self.pos = target_pos - self.cl_driven_route.append(target_pos[0]) - self.cl_driven_route_times.append( self.cl_driven_route_times[-1] ) - self._route_update_needed = False - elif self.routing_engine.return_route_infos(r, 0, 0)[0] < 0.1: - LOG.debug("more edges but very short edges -> assume reached destination!") - self.pos = target_pos - for x in r[1:]: - self.cl_driven_route.append(x) - self.cl_driven_route_times.append( simulation_time ) - self._route_update_needed = False + if len(self.assigned_route) == 0: + LOG.debug("no assigned route but moved -> unassignment?") + print(f" {self.vid} no assigned route but moved -> unassignment?") + else: + target_pos = self.assigned_route[0].destination_pos + if self.pos != target_pos: + LOG.debug("reached destination but not at target {}: pos {} target pos {}".format(self, self.pos, target_pos)) + r = self._compute_new_route(target_pos) + if len(r) <= 2: + LOG.debug("only one edge missed: if this is a turn, everything is fine! route: {}".format(r)) + self.pos = target_pos + self.cl_driven_route.append(target_pos[0]) + if self.cl_driven_route_times: + self.cl_driven_route_times.append(self.cl_driven_route_times[-1]) else: - self.cl_remaining_route = r - LOG.debug(f"vehicle reached_destination but not at Target") #No occurence - return + self.cl_driven_route_times.append(0) + print(f"cl_driven_route_times ERROR occurred: {self.cl_driven_route_times}: applying FIX with 0") + LOG.warning(f"cl_driven_route_times ERROR occurred: {self.cl_driven_route_times}: applying FIX with 0 for {self}") + self._route_update_needed = False + elif self.routing_engine.return_route_infos(r, 0, 0)[0] < 0.1: + LOG.debug("more edges but very short edges -> assume reached destination!") + self.pos = target_pos + for x in r[1:]: + self.cl_driven_route.append(x) + self.cl_driven_route_times.append( simulation_time ) + self._route_update_needed = False + else: + self.cl_remaining_route = r + LOG.debug(f"vehicle reached_destination but not at Target") #No occurence + return - self.cl_driven_distance += driven_distance - self.end_current_leg(simulation_time) - self.start_next_leg_first = True - else: - LOG.error("vehicle reached destination without performing routing VRL!") - LOG.error("unassignment might be the reason?") - LOG.error(f"sim time {simulation_time} route with time {self.cl_driven_route} {self.cl_driven_route_times} | veh {self}") - raise NotImplementedError \ No newline at end of file + self.cl_driven_distance += driven_distance + self.end_current_leg(simulation_time) + self.start_next_leg_first = True + + if self.status not in G_DRIVING_STATUS: + LOG.warning("vehicle reached destination without performing routing VRL!") + LOG.warning("unassignment might be the reason?") + LOG.warning(f"sim time {simulation_time} route with time {self.cl_driven_route} {self.cl_driven_route_times} | veh {self} Route Update Needed? {self._route_update_needed}") + \ No newline at end of file diff --git a/studies/fleetpy_sumo_coupling/scenarios/001_sumo_example.csv b/studies/fleetpy_sumo_coupling/scenarios/001_sumo_example.csv new file mode 100644 index 00000000..fa893448 --- /dev/null +++ b/studies/fleetpy_sumo_coupling/scenarios/001_sumo_example.csv @@ -0,0 +1,2 @@ +scenario_name,op_module,rq_file,demand_name,op_fleet_composition,network_type,op_vr_control_func_dict,sim_env,network_name,start_time,end_time,evaluation_int_start,evaluation_int_end,sumo_t_update,sumo_fcd_vehicles,random_seed +001_sumo_example,PoolingIRSOnly,sumo_example.csv,sumo_example,default_vehtype:80,NetworkBasicWithStoreCppSumoCoupling,func_key:total_system_time,SUMOcontrolledSim,sumo_example,0,1200,0,1200,86400,,0 diff --git 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