# 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 = "">car1','car2','car2','car2'],
'Time_sec':[0,1,2,0,1,2],
'Speed.kph':[50,51,52,0,0,52]}
dframe = DataFrame(data)
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 = "">car1','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
