Re: [sumo-user] Errors while setting speeds with TraCI

[Quinton Velcic <velcic@xxxxxxxxxxx>]

Thank you, Jakob!

Quinton

On Thu, Mar 1, 2018 at 5:30 AM, Jakob Erdmann <namdre.sumo@xxxxxxxxxxxxxx> wrote:

Hello,
the problem is that your variable adoID has type 'numpy.ndarray' whereas traci expects string. It just happens that print() does not show you the difference. Using str(adoID) should fix the problem.

Note also, that setSpeed requires a speed value in m/s (this holds for all speed values read or written by sumo).

regards,

Jakob

2018-02-28 22:17 GMT+01:00 Quinton Velcic <velcic@xxxxxxxxxxx>:

# Objective

I want to use predefined speed vectors for individual vehicles to move them in SUMO simulation.  

# Data and files

There are 3 vehicles in the simulation. For 2 of those vehicles, I want to specify the speeds. The speed data is created in `Python` as follows:  

    import numpy as np

    import pandas as pd

    from pandas import Series, DataFrame

    data = "">r1','car2','car2','car2'],

            'Time_sec':[0,1,2,0,1,2],

            'Speed.kph':[50,51,52,0,0,52]}

    dframe = DataFrame(data)  

The route, network and configuration files for this simulation are available in a folder here:  https://1drv.ms/f/s!AsMFpkDhWcnw61EI5wR6hPaaRBJI  

I have also put the code in a `Script.py` file in the same folder.  

# What I tried

Following is the code that I've been trying to use, along with the error:  

    #start sumo

    sumoBinary = "C:/Users/Quinton/Desktop/Documents/Sumo/bin/sumo-gui"

    sumoCmd = [sumoBinary, "-c", "C:/Users/Quinton/Desktop/Example2/example2.sumocfg"]

    

    

    #importing libraries

    import traci

    import traci.constants as tc

    traci.start(sumoCmd)

    

    #subscribing to variables that we want to be printed once the copy has run

    traci.vehicle.subscribe("car1", (tc.VAR_SPEED, tc.VAR_ROAD_ID, tc.VAR_LANE_ID, tc.VAR_LANEPOSITION))

    traci.vehicle.subscribe("car2", (tc.VAR_SPEED, tc.VAR_ROAD_ID, tc.VAR_LANE_ID, tc.VAR_LANEPOSITION))

    traci.vehicle.subscribe("car3", (tc.VAR_SPEED, tc.VAR_ROAD_ID, tc.VAR_LANE_ID, tc.VAR_LANEPOSITION))

    

    #using traci.movetoXY to position car1 and car2 on network

    traci.vehicle.moveToXY(vehID="car1", edgeID="highway1.1", lane=0, x=1000, y=-3.3, keepRoute=0)

    traci.vehicle.moveToXY(vehID="car2", edgeID="highway1.1", lane=1, x=700, y=3.3, keepRoute=0)

    

    #disallows car1 and car2 from changing lanes during simulation

    traci.vehicle.setLaneChangeMode(vehID="car1", lcm=512)

    traci.vehicle.setLaneChangeMode(vehID="car2", lcm=512)

    

    

    #importing python modules

    import numpy as np

    import pandas as pd

    from pandas import Series, DataFrame

    

    #creating speed data

    data = "">r1','car2','car2','car2'],

            'Time_sec':[0,1,2,0,1,2],

            'Speed.kph':[50,51,52,0,0,52]}

    dframe = DataFrame(data)

    #print(dframe)

    

    step = 0

    

    #running traci

    for ado in dframe.groupby('ADO_name'):

      ado_name = ado[1]["ADO_name"]

      adoID = ado_name.unique()

    

      while step <= 2:

        traci.simulationStep()

        traci.vehicle.setSpeed(adoID, ado[1][ado[1].Time_sec == step]['Speed.kph'])

        print (traci.vehicle.getSubscriptionResults("car1"), traci.vehicle.getSubscriptionResults("car2"))

        

      step += 1  

# Error:

    Traceback (most recent call last):

      File "C:\Users\Quinton\AppData\Local\Temp\Rtmp6jCqR4\chunk-code-16888822790.txt", line 41, in <module>

        traci.vehicle.setSpeed(adoID, ado[1][ado[1].Time_sec == step]['Speed.kph'])

      File "C:\Program Files (x86)\DLR\Sumo\tools\traci\_vehicle.py", line 927, in setSpeed

        tc.CMD_SET_VEHICLE_VARIABLE, tc.VAR_SPEED, vehID, speed)

      File "C:\Program Files (x86)\DLR\Sumo\tools\traci\connection.py", line 139, in _sendDoubleCmd

        self._beginMessage(cmdID, varID, objID, 1 + 8)

      File "C:\Program Files (x86)\DLR\Sumo\tools\traci\connection.py", line 127, in _beginMessage

        self._packString(objID, varID)

      File "C:\Program Files (x86)\DLR\Sumo\tools\traci\connection.py", line 66, in _packString

        self._string += struct.pack("!Bi", pre, len(s)) + s.encode("latin1")

    AttributeError: 'numpy.ndarray' object has no attribute 'encode'  

# Notes 

From my understanding, the problem is somewhere in `#running traci` section of the code. I tested this code without invoking `TraCI` and using `print()` instead of  `traci.vehicle.setSpeed()` and got no error. So, it seems that `Python` side of things are fine. Could you please help me fixing this problem

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