ray/rllib/contrib/sumo/connector.py

""" RLLIB SUMO Utils - SUMO Connector

    Author: Lara CODECA lara.codeca@gmail.com

    See:
        https://github.com/lcodeca/rllibsumoutils
        https://github.com/lcodeca/rllibsumodocker
    for further details.
"""

import logging
import os
import sys

# Attach $SUMO_HOME/tools to the path to import SUMO libraries
if "SUMO_HOME" in os.environ:
    sys.path.append(os.path.join(os.environ["SUMO_HOME"], "tools"))
else:
    raise Exception("Please declare environment variable 'SUMO_HOME'")

###############################################################################

logging.basicConfig()
logger = logging.getLogger(__name__)

###############################################################################

DEFAULT_CONFIG = {
    # SUMO Connector. Default: "libsumo".
    # Possible strings: "libsumo" or "traci"
    "sumo_connector": "libsumo",
    # Enable the GUI, works only with traci
    "sumo_gui": False,
    # SUMO configuration file. Required. String.
    "sumo_cfg": None,
    # Overides <output-prefix value=".."/>.
    # Required when using multiple environments at the same time. String.
    "sumo_output": "",
    # Additional parameter for the SUMO command line.
    # It cannot contain --output-prefix. List of strings.
    "sumo_params": None,
    # Enable TraCI trace file. Boolean.
    "trace_file": False,
    # SUMO Simulation ending time, in seconds. Float.
    "end_of_sim": None,
    # SUMO update frequency in number of traci.simulationStep() calls. Integer.
    "update_freq": 1,
    # SUMO tripinfo file as defined in the sumo configuration file in
    # <tripinfo-output value=".."/>.
    # Required for gathering metrics only. String.
    "tripinfo_keyword": None,
    # SUMO tripinfo XML Schema file.
    # Required for gathering metrics only. String.
    "tripinfo_xml_schema": None,
    # Logging legel. Should be one of DEBUG, INFO, WARN, or ERROR.
    "log_level": "WARN",
    # Anything. User defined.
    "misc": None,
}

###############################################################################


class SUMOConnector(object):
    """ Handler of a SUMO simulation. """

    def __init__(self, config):
        """
        Initialize SUMO and sets the beginning of the simulation.

        Param:
            config: Dict. See DEFAULT_CONFIG.
        """
        self._config = config

        # logging
        level = logging.getLevelName(config["log_level"])
        logger.setLevel(level)

        # libsumo vs TraCI selection
        if config["sumo_connector"] == "libsumo":
            import libsumo as traci
        elif config["sumo_connector"] == "traci":
            import traci
        else:
            raise Exception(
                "ERROR: '{}' is not a valid option for 'sumo_connector'. "
                "The possible connectors are 'traci' or 'libsumo'.".format(
                    config["sumo_connector"]))

        # TraCI Handler and SUMO simulation
        logger.debug("Starting SUMOConnector in process %d.", os.getpid())
        self._sumo_label = "{}".format(os.getpid())
        self._sumo_output_prefix = "{}{}".format(config["sumo_output"],
                                                 self._sumo_label)
        self._sumo_parameters = ["sumo", "-c", config["sumo_cfg"]]
        if config["sumo_gui"] and config["sumo_connector"] == "traci":
            self._sumo_parameters[0] = "sumo-gui"
            self._sumo_parameters.extend(["--start", "--quit-on-end"])
        if config["sumo_params"] is not None:
            self._sumo_parameters.extend(config["sumo_params"])
        self._sumo_parameters.extend(
            ["--output-prefix", self._sumo_output_prefix])
        logger.debug("SUMO command line: %s", str(self._sumo_parameters))
        if config["trace_file"]:
            traci.start(
                self._sumo_parameters,
                traceFile="{}.tracefile.log".format(self._sumo_output_prefix))
        else:
            traci.start(self._sumo_parameters)
        self.traci_handler = traci
        # From now on, the call must always be to self.traci_handler

        self._is_ongoing = True
        self._start_time = self.traci_handler.simulation.getTime()
        self._sumo_steps = 0
        self._manually_stopped = False

        # Initialize simulation
        self._initialize_simulation()

        # Initialize metrics
        self._initialize_metrics()

    def __del__(self):
        logger.debug("Deleting SUMOConnector in process %d.", os.getpid())
        try:
            self.end_simulation()
        except KeyError:
            logger.warning("Simulation %s already closed.", self._sumo_label)

    ###########################################################################

    def _initialize_simulation(self):
        """ Specific simulation initialization. """
        raise NotImplementedError

    def _initialize_metrics(self):
        """ Specific metrics initialization """
        raise NotImplementedError

    def _default_step_action(self, agents):
        """ Specific code to be executed in every simulation step """
        raise NotImplementedError

    ###########################################################################

    def _stopping_condition(self, current_step_counter, until_end):
        """ Computes the stopping condition. """
        if self._manually_stopped:
            return True
        if self.traci_handler.simulation.getMinExpectedNumber() <= 0:
            # No entities left in the simulation.
            return True
        if self._config["end_of_sim"] is not None:
            if self.traci_handler.simulation.getTime(
            ) > self._config["end_of_sim"]:
                # the simulatio reach the predefined (from parameters) end
                return True
        if (current_step_counter == self._config["update_freq"]
                and not until_end):
            return True
        return False

    def step(self, until_end=False, agents=set()):
        """
            Runs a "learning" step and returns if the simulation has finished.
            This function in meant to be called by the RLLIB Environment.

            Params:
                until_end: Bool. If True, run the sumo simulation
                           until the end.
                agents: Set(String). It passes the agents to the
                        _default_step_action function.

            Return:
                Bool. True iff the simulation is still ongoing.
        """
        # Execute SUMO steps until the learning needs to happen
        current_step_counter = 0
        logger.debug(
            "================================================================="
        )
        while not self._stopping_condition(current_step_counter, until_end):
            logger.debug("[%s] Current step counter: %d, Update frequency: %d",
                         str(until_end), current_step_counter,
                         self._config["update_freq"])
            self.traci_handler.simulationStep()
            self._sumo_steps += 1
            current_step_counter += 1
            self._default_step_action(agents)
        logger.debug(
            "================================================================="
        )

        # If the simulation has finished
        if self.is_ongoing_sim():
            return True
        logger.debug("The SUMO simulation is done.")
        return False

    def fast_forward(self, time):
        """
            Move the simulation forward (without doing anything else) until the
            given time.
            Param:
                time: Float, simulation time in seconds.
        """
        logger.debug("Fast-forward from time %.2f",
                     self.traci_handler.simulation.getTime())
        self.traci_handler.simulationStep(float(time))
        logger.debug("Fast-forward to time %.2f",
                     self.traci_handler.simulation.getTime())

    ###########################################################################

    def get_sumo_steps(self):
        """ Returns the total number of traci.simulationStep() calls."""
        return self._sumo_steps

    def is_ongoing_sim(self):
        """ Return True iff the SUMO simulation is still ongoing. """
        if self._manually_stopped:
            return False
        if self.traci_handler.simulation.getMinExpectedNumber() <= 0:
            # No entities left in the simulation.
            return False
        if self._config["end_of_sim"] is not None:
            if self.traci_handler.simulation.getTime(
            ) > self._config["end_of_sim"]:
                # the simulatio reach the predefined (from parameters) end
                return False
        return True

    def get_current_time(self):
        """
            Returns the current simulation time, or None if the simulation is
            not ongoing.
        """
        if self.is_ongoing_sim():
            return self.traci_handler.simulation.getTime()
        return None

    def end_simulation(self):
        """ Forces the simulation to stop. """
        if self.is_ongoing_sim():
            logger.info("Closing TraCI %s", self._sumo_label)
            self._manually_stopped = True
            self.traci_handler.close()
        else:
            logger.warning("TraCI %s is already closed.", self._sumo_label)

    ###########################################################################