egoID: id of ego car; netFile: network files, e.g. `example.net.xml`; rouFile: route files, e.g. `example.rou.xml`. if you have vehicle-type file as an input, define this parameter as `examplevTypes.rou.xml,example.rou.xml`; obseFile
| 29 | |
| 30 | |
| 31 | class Model(): |
| 32 | ''' |
| 33 | egoID: id of ego car; |
| 34 | netFile: network files, e.g. `example.net.xml`; |
| 35 | rouFile: route files, e.g. `example.rou.xml`. if you have |
| 36 | vehicle-type file as an input, define this parameter as |
| 37 | `examplevTypes.rou.xml,example.rou.xml`; |
| 38 | obseFile: obstacle files, e.g. `example.obs.xml`; |
| 39 | dataBase: the name of the database, e.g. `example.db`. if it is not |
| 40 | specified, it will be named with the current timestamp. |
| 41 | SUMOGUI: boolean variable, used to determine whether to display the SUMO |
| 42 | graphical interface; |
| 43 | simNote: the simulation note information, which can be any information you |
| 44 | wish to record. For example, the version of your trajectory |
| 45 | planning algorithm, or the user name of this simulation. |
| 46 | ''' |
| 47 | |
| 48 | def __init__(self, |
| 49 | egoID: str, |
| 50 | netFile: str, |
| 51 | rouFile: str, |
| 52 | ctf: CoordTF, |
| 53 | widget: QGraphicsView, |
| 54 | obsFile: str = None, |
| 55 | dataBase: str = None, |
| 56 | SUMOGUI: int = 0, |
| 57 | simNote: str = None, |
| 58 | carla_cosim: bool = False) -> None: |
| 59 | print('[green bold]Model initialized at {}.[/green bold]'.format( |
| 60 | datetime.now().strftime('%H:%M:%S.%f')[:-3])) |
| 61 | self.netFile = netFile |
| 62 | self.rouFile = rouFile |
| 63 | self.obsFile = obsFile |
| 64 | self.SUMOGUI = SUMOGUI |
| 65 | self.sim_mode: str = 'RealTime' |
| 66 | self.timeStep = 0 |
| 67 | # tpStart marks whether the trajectory planning is started, |
| 68 | # when the ego car appears in the network, tpStart turns into 1. |
| 69 | self.tpStart = 0 |
| 70 | # tpEnd marks whether the trajectory planning is end, |
| 71 | # when the ego car leaves the network, tpEnd turns into 1. |
| 72 | self.tpEnd = 0 |
| 73 | # need carla cosimulation |
| 74 | self.carla_cosim = carla_cosim |
| 75 | |
| 76 | self.ego = egoCar(egoID) |
| 77 | |
| 78 | if dataBase: |
| 79 | self.dataBase = dataBase |
| 80 | else: |
| 81 | self.dataBase = datetime.strftime( |
| 82 | datetime.now(), '%Y-%m-%d_%H-%M-%S') + '_egoTracking' + '.db' |
| 83 | |
| 84 | self.createDatabase() |
| 85 | self.simDescriptionCommit(simNote) |
| 86 | self.dataQue = Queue() |
| 87 | self.createTimer() |
| 88 |
nothing calls this directly
no outgoing calls
no test coverage detected