Thanks Jakob,
That looks like exactly what I need.
I'm struggling to get it to work though. After a single call to
send_commandSubscribeObjectVariable I'm just receiving a single response
rather than many.
In a class derived from TraCIAPI, I have set up a separate thread which
loops around a call to receiveExact(inMsg) and decodes all the received
messages.
and rather than calling simulationStep, I am calling
send_commandSimulationStep, so that bit doesn't block and wait for a
response.
I don't know whether my problem is related to the objID parameter of
send_commandSubscribeObjectVariable. Why does it need that as I would just
expect send_commandSubscribeObjectContext to need that. or I am
misunderstanding.
or it could be to do with beginTime/endTime, but I think I have it right
(and I do get one message).
Related to this, I thought maybe I had to have my own dynamically added
vehicle to use as objID, but am having difficulty to add a vehicle and it
return a valid Position. I can take over a vehicle defined in the scenario
and move it, but my dynamically added one always returns
INVALID_DOUBLE_VALUE.
My gash code is roughly as follows. It only starts the receive thread near
the end:
mStartTime = simulation.getCurrentTime();
// Run until we get some vehicles
auto IDs = vehicle.getIDList();
while (IDs.empty())
{
simulationStep();
IDs = vehicle.getIDList();
}
std::vector<std::string> routes = route.getIDList();
// This (and variations of it) don't work
vehicle.add("Ego", routes[0], "CarA"); //, "DEFAULT_VEHTYPE", "-1",
"first", "base", 0);
vehicle.moveToXY("Ego", "", 0, 15,995.05, 0, false);
simulationStep();
auto posEgo = vehicle.getPosition("Ego");
// This does
auto pos1 = vehicle.getPosition(IDs[0]);
vehicle.moveToXY(IDs[0], "", 0, 998.50,995.05, 0, false);
simulationStep();
auto pos2 = vehicle.getPosition(IDs[0]);
hUDPThread = CreateThread(NULL, 0, StartNetworkReceiveThread, this,
0, &dwGenericThread);
std::vector<int> vars;
vars.push_back(VAR_POSITION3D);
vars.push_back(VAR_ANGLE);
send_commandSubscribeObjectVariable(CMD_SUBSCRIBE_VEHICLE_VARIABLE,
"veh0", mStartTime, mStartTime+60000, vars);
Any help with any of this would be fantastic, thanks.
Cheers,
Erik
--
Erik Newton
Model Integration Engineer
rFactor Pro
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On 27 April 2016 at 07:23, Jakob Erdmann <[email protected]> wrote:
> Hello,
> there is a more efficient mechanism for retrieving data continuously via
> TraCI, called subscriptions:
> http://sumo.dlr.de/wiki/TraCI/Object_Variable_Subscription
> http://sumo.dlr.de/wiki/TraCI/Object_Context_Subscription
> Basically, you can retrieve all vehicle positions with a single request.
> However, at 1Khz the simulation itself will become quite slow. I think you
> are better of running the simulation at 10Hz and interpolating positional
> data yourself.
>
> regards,
> Jakob
>
> 2016-04-26 21:48 GMT+02:00 Erik Newton <[email protected]>:
>
>> Hi,
>> I am currently investigating the possibility of linking SUMO with our 3D
>> visualisation software.
>> Basically I need a high frequency (1KHz) stream of all vehicle positions
>> (and maybe a lower frequency stream of vehicle types) I have been
>> evaluating the TraCI API but am finding it a bit limited for real-time
>> use.
>>
>> E.g. It would appear I have to request each vehicle's position
>> individually.
>>
>> The API is all based on a TCP request and then waiting for a response,
>> which is killing my real-time application. I have made some progress with
>> creating a new class which inherits from TraCIAPI and splitting all the
>> receipts into a separate thread, but it seems a bit silly to have to keep
>> requesting the same information each time-step.
>>
>> Am I missing an obvious way of doing this?
>>
>> Could we extend the API to have a mechanism to register an interest in
>> particular data and it be continually broadcast? Possibly register an
>> interest in any vehicles within a user-defined radius of the ego vehicle?
>>
>> Alternatively, is there a way to write plugins for SUMO? So I could just
>> write my own bespoke output stream of the data I require.
>>
>> Thanks in advance for any guidance,
>>
>> Erik Newton
>> Model Integration Engineer
>> rFactor Pro
>>
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