Merge pull request #71 from usdot-fhwa-stol/update/carla_mosaic_bridge

Update/carla mosaic bridge
usdot-fhwa-stol · Jun 29, 2022 · 54b0b6c · 54b0b6c
2 parents ea707db + 71a28e2
commit 54b0b6c
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Showing 8 changed files with 15 additions and 5,317 deletions.
diff --git a/co-simulation/bridge/bridge.bat b/co-simulation/bridge/bridge.bat
diff --git a/co-simulation/bridge/bridge.sh b/co-simulation/bridge/bridge.sh
diff --git a/co-simulation/bridge/carla_integration/carla_simulation.py b/co-simulation/bridge/carla_integration/carla_simulation.py
@@ -39,7 +39,7 @@ def __init__(self, host, port, step_length):
             except:
                 print("reconnect carla")
                 connected=False
-                
+
             if connected:
                 print("CARLA simulator connected")
                 break

diff --git a/co-simulation/bridge/carla_integration/sumo_simulation.py b/co-simulation/bridge/carla_integration/sumo_simulation.py
@@ -162,9 +162,8 @@ def __init__(self):
         self._current_program = {}  # {tlid: program_id}
         self._current_phase = {}  # {tlid: index_phase}
 
-
         for tlid in traci.trafficlight.getIDList():
-            #self.subscribe(tlid)
+            self.subscribe(tlid)
 
             self._tls[tlid] = {}
             for tllogic in traci.trafficlight.getAllProgramLogics(tlid):
@@ -269,14 +268,14 @@ def tick(self):
         Tick to traffic light manager
         """
         if self._off is False:
-            for tl_id in traci.trafficlight.getIDList():               
+            for tl_id in traci.trafficlight.getIDList():
                 current_program = traci.trafficlight.getProgram(tl_id)
                 current_phase = traci.trafficlight.getPhase(tl_id)
 
                 if current_program != 'online':
                     self._current_program[tl_id] = current_program
                     self._current_phase[tl_id] = current_phase
-        
+
 
 # ==================================================================================================
 # -- sumo simulation -------------------------------------------------------------------------------
@@ -290,7 +289,7 @@ def __init__(self, sumo_net, step_length, host=None, port=None):
 
         logging.info('Connection to bridge server. Host: %s Port: %s', host, port)
         traci.init(host=host, port=port)
-        
+
         self.net = sumo_net
 
         # Variable to asign an id to new added actors.
@@ -299,7 +298,7 @@ def __init__(self, sumo_net, step_length, host=None, port=None):
         # Structures to keep track of the spawned and destroyed vehicles at each time step.
         self.spawned_actors = set()
         self.destroyed_actors = set()
-        
+
         # Traffic light manager.
         self.traffic_light_manager = None
 
@@ -355,9 +354,9 @@ def get_actor(actor_id):
         """
         Accessor for sumo actor.
         """
-        type_id = traci.vehicle.getTypeID(actor_id) 
+        type_id = traci.vehicle.getTypeID(actor_id)
         vclass = SumoActorClass(traci.vehicle.getVehicleClass(actor_id))
-        color = traci.vehicle.getColor(actor_id) 
+        color = traci.vehicle.getColor(actor_id)
 
         length = traci.vehicle.getLength(actor_id)
         width = traci.vehicle.getWidth(actor_id)
@@ -454,7 +453,7 @@ def tick(self):
             self.traffic_light_manager = SumoTLManager()
             self.firstTime = False
         traci.simulationStep()
-        #self.traffic_light_manager.tick()
+        self.traffic_light_manager.tick()
         # Update data structures for the current frame.
         self.spawned_actors = set(traci.simulation.getDepartedIDList())
         self.destroyed_actors = set(traci.simulation.getArrivedIDList())
@@ -466,7 +465,7 @@ def tick(self):
                 print(message)
 
          # Send V2x message to CARLA ambassador
-        if self.sendV2xInterval == 10:          
+        if self.sendV2xInterval == 10:
             traci.setV2xMessage("carla_0; A V2X messages from CARLA simulator.")
             self.sendV2xInterval = 0
 

diff --git a/co-simulation/bridge/carla_mosaic_bridge.py b/co-simulation/bridge/carla_mosaic_bridge.py
@@ -70,6 +70,7 @@ def main(args):
     else:
         world = carla_simulation.client.get_world()
 
+    carla_simulation = CarlaSimulation(args.host, args.port, args.step_length)
     # ---------------
     # sumo simulation
     # ---------------
@@ -78,7 +79,7 @@ def main(args):
         print("load net file")
     else:
         # Temporal folder to save intermediate files.
-        tmpdir = tempfile.mkdtemp()    
+        tmpdir = tempfile.mkdtemp()
         current_map = world.get_map()
         xodr_file = os.path.join(tmpdir, current_map.name + '.xodr')
         current_map.save_to_disk(xodr_file)
@@ -108,7 +109,7 @@ def main(args):
         print("Socket server closed")
 
     finally:
-        try: 
+        try:
             synchronization.close()
         except:
             print("Connection closed")
@@ -137,10 +138,10 @@ def main(args):
                            default=8913,
                            type=int,
                            help='TCP port to listen to (default: None)')
-    argparser.add_argument('-m', 
+    argparser.add_argument('-m',
                            '--map',
                             help='load a new map')
-    argparser.add_argument('net_file', 
+    argparser.add_argument('net_file',
                            type=str,
                            default=None,
                            help='load the net file')