avoid freeze carla

ArenBabikian · Apr 15, 2020 · d03af8c · d03af8c
1 parent 244a85a
commit d03af8c
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Showing 3 changed files with 27 additions and 19 deletions.
diff --git a/Co-Simulation/PTV-Vissim/run_synchronization.py b/Co-Simulation/PTV-Vissim/run_synchronization.py
@@ -53,11 +53,11 @@ class SimulationSynchronization(object):
     SimulationSynchronization class is responsible for the synchronization of ptv-vissim and carla
     simulations.
     """
-    def __init__(self, args):
+    def __init__(self, vissim_simulation, carla_simulation, args):
         self.args = args
 
-        self.vissim = PTVVissimSimulation(args)
-        self.carla = CarlaSimulation(args)
+        self.vissim = vissim_simulation
+        self.carla = carla_simulation
 
         # Mapped actor ids.
         self.vissim2carla_ids = {}  # Contains only actors controlled by vissim.
@@ -68,6 +68,12 @@ def __init__(self, args):
         with open(os.path.join(dir_path, 'data', 'vtypes.json')) as f:
             BridgeHelper.vtypes = json.load(f)
 
+        # Configuring carla simulation in sync mode.
+        settings = self.carla.world.get_settings()
+        settings.synchronous_mode = True
+        settings.fixed_delta_seconds = args.step_length
+        self.carla.world.apply_settings(settings)
+
     def tick(self):
         """
         Tick to simulation synchronization
@@ -165,8 +171,11 @@ def synchronization_loop(args):
     """
     Entry point for vissim-carla co-simulation.
     """
+    carla_simulation = CarlaSimulation(args)
+    vissim_simulation = PTVVissimSimulation(args)
+
     try:
-        synchronization = SimulationSynchronization(args)
+        synchronization = SimulationSynchronization(vissim_simulation, carla_simulation, args)
 
         while True:
             start = time.time()

diff --git a/Co-Simulation/PTV-Vissim/vissim_integration/carla_simulation.py b/Co-Simulation/PTV-Vissim/vissim_integration/carla_simulation.py
@@ -37,12 +37,6 @@ def __init__(self, args):
         self.world = self.client.get_world()
         self.blueprint_library = self.world.get_blueprint_library()
 
-        # Configuring carla simulation in sync mode.
-        settings = self.world.get_settings()
-        settings.synchronous_mode = True
-        settings.fixed_delta_seconds = args.step_length
-        self.world.apply_settings(settings)
-
         # The following sets contain updated information for the current frame.
         self._active_actors = set()
         self.spawned_actors = set()

diff --git a/Co-Simulation/PTV-Vissim/vissim_integration/vissim_simulation.py b/Co-Simulation/PTV-Vissim/vissim_integration/vissim_simulation.py
@@ -14,6 +14,7 @@
 import enum
 import logging
 import math
+import os
 
 import carla  # pylint: disable=import-error
 from ctypes import *
@@ -143,15 +144,19 @@ def __init__(self, args):
 
         # Connection to vissim simulator.
         logging.info('Establishing a connection with a GUI version of PTV-Vissim')
-        self.ds_proxy.VISSIM_Connect(args.vissim_version, args.vissim_network,
-                                     int(1. / args.step_length),
-                                     c_double(constants.VISSIM_VISIBILITY_RADIUS),
-                                     c_ushort(constants.VISSIM_MAX_SIMULATOR_VEH),
-                                     c_ushort(constants.VISSIM_MAX_SIMULATOR_PED),
-                                     c_ushort(constants.VISSIM_MAX_SIMULATOR_DET),
-                                     c_ushort(constants.VISSIM_MAX_VISSIM_VEH),
-                                     c_ushort(constants.VISSIM_MAX_VISSIM_PED),
-                                     c_ushort(constants.VISSIM_MAX_VISSIM_SIGGRP))
+        result = self.ds_proxy.VISSIM_Connect(args.vissim_version,
+                                              os.path.abspath(args.vissim_network),
+                                              int(1. / args.step_length),
+                                              c_double(constants.VISSIM_VISIBILITY_RADIUS),
+                                              c_ushort(constants.VISSIM_MAX_SIMULATOR_VEH),
+                                              c_ushort(constants.VISSIM_MAX_SIMULATOR_PED),
+                                              c_ushort(constants.VISSIM_MAX_SIMULATOR_DET),
+                                              c_ushort(constants.VISSIM_MAX_VISSIM_VEH),
+                                              c_ushort(constants.VISSIM_MAX_VISSIM_PED),
+                                              c_ushort(constants.VISSIM_MAX_VISSIM_SIGGRP))
+
+        if not result:
+            raise RuntimeError('There was an error when establishing a connection with PTV-Vissim')
 
         # Structures to keep track of the simulation state at each time step.
         self._vissim_vehicles = {}  # vissim_actor_id: VissimVehicle (only vissim traffic)