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f234112 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 | """Topology-adaptive emergency priority planning for the SUMO controller."""
from __future__ import annotations
import math
from dataclasses import dataclass
EMERGENCY_TYPE_NAMES = {
"ambulance",
"emergency",
"emergency_vehicle",
"fire",
"firetruck",
"police",
}
# SUMO TraCI vehicle-signal bits.
# Bit 3 = rear brake-light dots; bit 11 = blue emergency light.
EMERGENCY_REAR_MARKER_SIGNAL = 1 << 3
EMERGENCY_BLUE_SIGNAL = 1 << 11
EMERGENCY_VISUAL_SIGNALS = EMERGENCY_REAR_MARKER_SIGNAL | EMERGENCY_BLUE_SIGNAL
@dataclass(frozen=True)
class EmergencyVehicleState:
vehicle_id: str
vehicle_type: str
current_edge: str | None
current_lane: str | None
current_position: float | None
distance_to_junction: float | None
speed_mps: float | None
route: tuple[str, ...]
current_junction: str | None
next_junction: str | None
destination: str | None
emergency: bool
confidence: float
eta_seconds: float | None
@dataclass(frozen=True)
class EmergencyPlan:
vehicle_id: str
junction_id: str
required_movement: str | None
candidate_phases: tuple[str, ...]
selected_phase: str | None
eta_seconds: float | None
urgency: float
safe: bool
current_edge: str | None
next_edge: str | None
distance_to_junction: float | None
vehicle_speed_mps: float | None
conflicting_movements: tuple[str, ...]
class EmergencyCorridorManager:
"""Create emergency phase plans without directly controlling signals."""
def __init__(self, traci_connection, max_speed_floor=0.5):
self.traci = traci_connection
self.max_speed_floor = float(max_speed_floor)
self.active_vehicle_ids = set()
self.released_vehicle_ids = set()
@staticmethod
def _safe_call(function, *args, default=None):
try:
return function(*args)
except Exception:
return default
@classmethod
def _is_emergency(cls, vehicle_type, vehicle_class):
values = {
str(vehicle_type or "").lower(),
str(vehicle_class or "").lower(),
}
return bool(values.intersection(EMERGENCY_TYPE_NAMES)) or any(
"emergency" in value or "ambulance" in value or "fire" in value
for value in values
)
def _apply_visual_markers(self, vehicle_ids):
"""Apply only the requested emergency visualization signals.
Emergency vehicles get two rear red light dots and the blue emergency
light. Normal vehicles get signal state 0 so they remain visually plain.
No left/right blinkers are enabled here.
"""
set_signals = getattr(self.traci.vehicle, "setSignals", None)
if set_signals is None:
return
for vehicle_id in vehicle_ids:
vehicle_type = self._safe_call(
self.traci.vehicle.getTypeID, vehicle_id, default=""
)
vehicle_class = self._safe_call(
self.traci.vehicle.getVehicleClass, vehicle_id, default=""
)
is_emergency = self._is_emergency(vehicle_type, vehicle_class)
signal_state = EMERGENCY_VISUAL_SIGNALS if is_emergency else 0
self._safe_call(set_signals, vehicle_id, signal_state, default=None)
def _junction_for_movement(self, movement, topologies):
for junction_id, topology in topologies.items():
if movement in topology.movements:
return junction_id
return None
def discover(self, topologies):
"""Discover current emergency vehicles from SUMO type/class data."""
states = []
current_ids = set(self.traci.vehicle.getIDList())
# Apply the visual state every simulation step.
self._apply_visual_markers(current_ids)
for vehicle_id in current_ids:
vehicle_type = self._safe_call(
self.traci.vehicle.getTypeID, vehicle_id, default=""
)
vehicle_class = self._safe_call(
self.traci.vehicle.getVehicleClass, vehicle_id, default=""
)
if not self._is_emergency(vehicle_type, vehicle_class):
continue
current_edge = self._safe_call(
self.traci.vehicle.getRoadID, vehicle_id, default=None
)
if current_edge and str(current_edge).startswith(":"):
current_edge = None
lane_id = self._safe_call(
self.traci.vehicle.getLaneID, vehicle_id, default=None
)
position = self._safe_call(
self.traci.vehicle.getLanePosition, vehicle_id, default=None
)
lane_length = (
self._safe_call(self.traci.lane.getLength, lane_id, default=None)
if lane_id else None
)
speed = self._safe_call(
self.traci.vehicle.getSpeed, vehicle_id, default=None
)
speed = float(speed) if speed is not None else None
route = tuple(
self._safe_call(self.traci.vehicle.getRoute, vehicle_id, default=[])
or []
)
route_index = self._safe_call(
self.traci.vehicle.getRouteIndex, vehicle_id, default=None
)
next_edge = None
if route_index is not None and route_index + 1 < len(route):
next_edge = route[route_index + 1]
if next_edge and str(next_edge).startswith(":"):
next_edge = None
current_junction = None
required_movement = None
for junction_id, topology in topologies.items():
for movement_id, movement in topology.movements.items():
if movement.from_road == current_edge and movement.to_road == next_edge:
current_junction = junction_id
required_movement = movement_id
break
if current_junction:
break
distance = None
if lane_length is not None and position is not None:
distance = max(0.0, float(lane_length) - float(position))
eta = None
if distance is not None and speed is not None and speed >= self.max_speed_floor:
eta = distance / speed
next_junction = None
if required_movement:
movement = topologies[current_junction].movements[required_movement]
for junction_id, topology in topologies.items():
if any(
candidate.from_road == movement.to_road
for candidate in topology.movements.values()
):
next_junction = junction_id
break
states.append(
EmergencyVehicleState(
vehicle_id=str(vehicle_id),
vehicle_type=str(vehicle_type),
current_edge=current_edge,
current_lane=lane_id,
current_position=float(position) if position is not None else None,
distance_to_junction=distance,
speed_mps=speed,
route=route,
current_junction=current_junction,
next_junction=next_junction,
destination=route[-1] if route else None,
emergency=True,
confidence=1.0,
eta_seconds=eta,
)
)
return states
@staticmethod
def urgency(state):
"""Normalize urgency from ETA, with safe handling for missing/zero speed."""
if state.eta_seconds is None:
return 0.35
if state.eta_seconds <= 0.0:
return 1.0
return max(0.0, min(1.0, math.exp(-state.eta_seconds / 30.0)))
def plan_for_junction(self, state, junction_id, topology, phases, generator):
"""Build a safe candidate plan for the vehicle's required movement."""
movement_id = None
for candidate_id, movement in topology.movements.items():
if movement.from_road == state.current_edge:
next_edge = (
state.route[state.route.index(state.current_edge) + 1]
if state.current_edge in state.route
and state.route.index(state.current_edge) + 1 < len(state.route)
else None
)
if movement.to_road == next_edge:
movement_id = candidate_id
break
if movement_id is None:
return EmergencyPlan(
state.vehicle_id, junction_id, None, (), None,
state.eta_seconds, self.urgency(state), False,
state.current_edge, None, state.distance_to_junction,
state.speed_mps, ()
)
candidate_phases = tuple(
phase["phase_id"]
for phase in phases
if movement_id in phase["movements"]
and generator.is_compatible(phase["movements"])
)
selected = candidate_phases[0] if candidate_phases else None
conflicting = tuple(
movement_id_2
for movement_id_2 in topology.movements
if movement_id_2 != movement_id
and generator.graph.are_conflicting(movement_id, movement_id_2)
)
return EmergencyPlan(
state.vehicle_id,
junction_id,
movement_id,
candidate_phases,
selected,
state.eta_seconds,
self.urgency(state),
bool(selected),
state.current_edge,
topology.movements[movement_id].to_road,
state.distance_to_junction,
state.speed_mps,
conflicting,
)
def plans(self, states, topologies, runtimes):
"""Return the most urgent valid plan for each junction."""
result = {}
for junction_id, runtime in runtimes.items():
candidates = [
state for state in states
if state.current_junction == junction_id
]
plans = [
self.plan_for_junction(
state,
junction_id,
runtime["topology"],
runtime["phases"],
runtime["generator"],
)
for state in candidates
]
plans = [plan for plan in plans if plan.required_movement]
if plans:
result[junction_id] = max(
plans,
key=lambda plan: (plan.urgency, -(plan.eta_seconds or 1e9)),
)
return result
def release_completed(self, states):
current = {state.vehicle_id for state in states}
released = self.active_vehicle_ids - current
self.released_vehicle_ids.update(released)
self.active_vehicle_ids = current
return released
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