TraCI/Interfacing TraCI from Python
The TraCI commands are split into the 13 domains gui, lane, poi, simulation, trafficlight, vehicletype, edge, inductionloop, junction, multientryexit, polygon, route, person and vehicle, which correspond to individual modules. For a detailed list of available functions see the pydoc generated documentation. The source code can be found at 
- 1 importing traci in a script
- 2 First Steps
- 3 Subscriptions
- 4 Context Subscriptions
- 5 Context Subscription Filters
- 6 Adding a StepListener
- 7 Controlling parallel simulations from the same TraCI script
- 8 Controlling the same simulation from multiple clients
- 9 Embedded Python
- 10 Additional Functions
- 11 Pitfalls and Solutions
- 12 Usage Examples
- 13 Further Resources
importing traci in a script
To use the library, the <SUMO_HOME>/tools directory must be on the python load path. This is typically done with a stanza like this:
import os, sys if 'SUMO_HOME' in os.environ: tools = os.path.join(os.environ['SUMO_HOME'], 'tools') sys.path.append(tools) else: sys.exit("please declare environment variable 'SUMO_HOME'")
This assumes that the environment variable SUMO_HOME is set before running the script. Alternatively, you can declare the path to sumo/tools directly as in the line
sys.path.append(os.path.join('c:', os.sep, 'whatever', 'path', 'to', 'sumo', 'tools'))
In general it is very easy to interface with SUMO from Python (the following example is a modification of tutorial/traci_tls):
sumoBinary = "/path/to/sumo-gui" sumoCmd = [sumoBinary, "-c", "yourConfiguration.sumocfg"]
Then you start the simulation and connect to it with your script:
import traci traci.start(sumoCmd) step = 0 while step < 1000: traci.simulationStep() if traci.inductionloop.getLastStepVehicleNumber("0") > 0: traci.trafficlight.setRedYellowGreenState("0", "GrGr") step += 1 traci.close()
After connecting to the simulation, you can emit various commands and execute simulation steps until you want to finish by closing the connection. by default the close command will wait until the sumo process really finishes. You can disable this by calling
Subscriptions can be thought of as a batch mode for retrieving variables. Instead of asking for the same variables over and over again, you can retrieve the values of interest automatically after each time step. TraCI subscriptions are handled on a per module basis. That is you can ask the module for the result of all current subscriptions after each time step. In order to subscribe for variables you need to know their variable ids which can be looked up in the traci/constants.py file.
import traci import traci.constants as tc traci.start(["sumo", "-c", "my.sumocfg"]) traci.vehicle.subscribe(vehID, (tc.VAR_ROAD_ID, tc.VAR_LANEPOSITION)) print(traci.vehicle.getSubscriptionResults(vehID)) for step in range(3): print("step", step) traci.simulationStep() print(traci.vehicle.getSubscriptionResults(vehID)) traci.close()
The values retrieved are always the ones from the last time step, it is not possible to retrieve older values.
Context subscriptions work like subscriptions in that they retrieve a list of variables automatically for every simulation stop. However, the do so by setting a reference object and a range and then retrieving variables for all objects of a given type within range of the reference object.
TraCI context subscriptions are handled on a per module basis. That is you can ask the module for the result of all current subscriptions after each time step. In order to subscribe for variables you need to the domain id of the objects that shall be retrieved and the variable ids which can be looked up in the traci/constants.py file. The domain id always has the form CMD_GET_<DOMAIN>_VARIABLE. The following code retrieves all vehicle speeds and waiting times within range (42m) of a junction (the vehicle ids are retrieved implicitly).
import traci import traci.constants as tc traci.start(["sumo", "-c", "my.sumocfg"]) traci.junction.subscribeContext(junctionID, tc.CMD_GET_VEHICLE_VARIABLE, 42, [tc.VAR_SPEED, tc.VAR_WAITING_TIME]) print(traci.junction.getContextSubscriptionResults(junctionID)) for step in range(3): print("step", step) traci.simulationStep() print(traci.junction.getContextSubscriptionResults(junctionID)) traci.close()
The values retrieved are always the ones from the last time step, it is not possible to retrieve older values.
Context Subscription Filters
For vehicle-to-vehicle context subscriptions (i.e., context subscriptions, whose reference object is a vehicle and whose requested context objects are vehicles as well) it is possible to request additional filters to be applied already on the server side. The general procedure is to equip a requested context subscription with the filter directly after the call to
subscribeContext() by a succesive call to
addSubscriptionFilter<FILTER_ID>() as for instance in the following snippet:
traci.vehicle.subscribeContext("ego", tc.CMD_GET_VEHICLE_VARIABLE, 0.0, [tc.VAR_SPEED]) traci.vehicle.addSubscriptionFilterLanes(lanes, noOpposite=True, downstreamDist=100, upstreamDist=50)
The first line requests a context subscription for the speed of vehicles in the neighborhood of the reference vehicle with the ID
"ego". The range of the context subscription (which refers to the radial context region of the usual subscription mechanism) can be set equal to
0.0, since it is be overridden by the selective values of
upstreamDist, respectively, given to the call of
addSubscriptionFilterLanes() in the second line. The call to
addSubscriptionFilter<FILTER_NAME>() automatically takes effect on the last issued context subscription, which has to be of the vehicle-to-vehicle form for a successful application.
The following filter types are available:
- Lanes: Return surrounding vehicles on lanes specified relatively to the reference vehicle
- CFManeuver: Return leader and follower on the reference vehicle's lane
- LCManeuver: Return leader and follower on the reference vehicle's lane and neighboring lane(s)
- Turn: Return conflicting vehicles on upcoming junctions along the vehicle's route
- VType: Only return vehicles of the specified vTypes
- VClass: Only return vehicles of the specified vClasses
See the pydoc documentation for detailed specifications.
Adding a StepListener
Often a function needs to be called each time when traci.simulationStep() is called, to let this happen automatically (always after each call to simulationStep()) it is possible to add a StepListener object 'listener' (more precisely an instance of a subclass of traci.StepListener) i.e.
class ExampleListener(traci.StepListener): def step(self, t=0): # do something at every simulaton step print("ExampleListener called at time %s ms." % t) # indicate that the step listener should stay active in the next step return True listener = ExampleListener() traci.addStepListener(listener)
Controlling parallel simulations from the same TraCI script
The TraCI python library can be used to control multiple simulations at the same time with a single script. The function traci.start() has an optional label argument which allows you to call it multiple times with different simulation instances and labels. The function traci.switch() can then be used to switch to any of the initialized labels:
traci.start(["sumo", "-c", "sim1.sumocfg"], label="sim1") traci.start(["sumo", "-c", "sim2.sumocfg"], label="sim2") traci.switch("sim1") traci.simulationStep() # run 1 step for sim1 traci.switch("sim2") traci.simulationStep() # run 1 step for sim2
If you prefer a more object oriented approach you can also use connection objects to communicate with the simulation. They have the same interface as the static traci. calls but you will still need to start the simulation manually for them:
traci.start(["sumo", "-c", "sim1.sumocfg"], label="sim1") traci.start(["sumo", "-c", "sim2.sumocfg"], label="sim2") conn1 = traci.getConnection("sim1") conn2 = traci.getConnection("sim2") conn1.simulationStep() # run 1 step for sim1 conn2.simulationStep() # run 1 step for sim2
Controlling the same simulation from multiple clients
To connect with multiple clients, the number of clients must be known in advance and specified with sumo option --num-clients <INT>. Also, the connection port must be known to all clients. After deciding on a port it can be made available to the clients via arguments or configuration files. A free port can be obtained by
from sumolib.miscutils import getFreeSocketPort port = sumolib.miscutils.getFreeSocketPort()
One client may use method traci.start() to start the simulation and connect to it at the same time while the other client only needs to connect. After establishing client order, each client must continuously call simulationStep to allow the simulation to advance:
#client1 # PORT = int(sys.argv) # example traci.start(["sumo", "-c", "sim.sumocfg", "--num-clients", "2"], port=PORT) traci.setOrder(1) # number can be anything while traci.simulation.getMinExpectedNumber() > 0: traci.simulationStep() # more traci commands traci.close(
# client2 # PORT = int(sys.argv) # example traci.init(PORT) traci.setOrder(2) # number can be anything as long as each client gets its own number while traci.simulation.getMinExpectedNumber() > 0: traci.simulationStep() # more traci commands traci.close()
As an experimental feature, it is also possible to link SUMO with python directly and have the scripts executed in SUMO. The syntax is completely the same, except that you leave out the calls to init and close and you need to start sumo with the option --python-script. This feature is considered deprecated and will be replaced by libsumo. It does currently not work with the GUI version of sumo.
Since the feature is not well tested yet, you need to enable embedded python explicitly when building SUMO (it is not enabled in the release versions and the nightly build). In order to do so, follow the instructions below
- install the python devel package files
- call configure using the --with-python option
- make && make install as usual
- make sure python is installed and is in your PATH
- call tools\build\pythonPropsMSVC.py to generate / modify the build\msvc10\config.props file
- build the Win32 Release version as usual
- the debug build is somewhat more involved and is disabled by default, the following instructions are taken from here
- download the python source package fitting your python version
- open the pcbuild.sln in the PCbuild subdir with Visual Studio
- do the Win32 Debug build for python, it will have lots of errors but the main parts (hopefully) succeed
- from the PCbuild dir copy
- python27_d.dll to the Python dir (something like C:\Python27)
- python27_d.lib, python27_d.pdb, python27_d.exp to the libs dir (C:\Python27\libs)
- every *_d.pyd to the DLLs dir (C:\Python27\DLLs)
- enable the python debug build by editing build\msvc10\Win32.props
- now you can do the Win32 Debug build for SUMO
Earlier versions of Visual Studio and 64bit build are currently not directly supported (but the interested programmer should be able to modify the files accordingly).
When using TraCI there are some common tasks which are not covered by the traci library such as
- Analyzing the road network
- Parsing simulation outputs
For this functionality it is recommended to use Tools/Sumolib
Pitfalls and Solutions
- Note that strings, if exchanged, have to be ASCII-encoded.
- If you start sumo from within your python script using subprocess.Popen, be sure to call wait() on the resulting process object before quitting your script. You might loose output otherwise.
Debugging a TraCI session on Linux
Sometimes SUMO may crash while running a simulation with TraCI. The below steps make it simple to run sumo with traci in a debugger:
1) add the option --save-configuration to your traci script:
traci.start([sumoBinary, '-c', 'run.sumocfg', '--save-simulation', 'debug.sumocfg'])
2) run your traci script. Instead of starting sumo it will just write the configuration with the chosen port but it will still try to connect repeatedly 3) run
gdb --args sumoD -c debug.sumocfg
Run a simulation until all vehicles have arrived
while traci.simulation.getMinExpectedNumber() > 0: traci.simulationStep()
Add trips (incomplete routes) dynamically
Define a route that consists of the start and destination edge:
traci.route.add("trip", ["startEdge", "endEdge"])
Then add the vehicle with that route
traci.vehicle.add("newVeh", "trip", typeID="reroutingType")
This will cause the vehicle to compute a new route from startEdge to endEdge according to the estimated travel times in the network at the time of departure. For details of this mechanism see Demand/Automatic_Routing.
x, y = traci.vehicle.getPosition(vehID) lon, lat = traci.simulation.convertGeo(x, y) x2, y2 = traci.simulation.convertGeo(lon, lat, fromGeo=True)
edgeID, lanePosition, laneIndex = traci.simulation.convertRoad(x3, y3) edgeID, lanePosition, laneIndex = traci.simulation.convertRoad(lon2, lat2, True)
Retrieve the timeLoss for all vehicles currently in the network
import traci import traci.constants as tc junctionID = '...'
- subscribe around an aribtrary junction with a sufficiently large radius to retrieve the speeds of all vehicles in every step
traci.junction.subscribeContext(junctionID, tc.CMD_GET_VEHICLE_VARIABLE, 1000000, [tc.VAR_SPEED, tc.VAR_ALLOWED_SPEED]) stepLength = traci.simulation.getDeltaT() while traci.simulation.getMinExpectedNumber() > 0:
traci.simulationStep() scResults = traci.junction.getContextSubscriptionResults(junctionID) halting = 0 if scResults: relSpeeds = [d[tc.VAR_SPEED] / d[tc.VAR_ALLOWED_SPEED] for d in scResults.values()] # compute values corresponding to summary-output running = len(relSpeeds) halting = len([1 for d in scResults.values() if d[tc.VAR_SPEED] < 0.1]) meanSpeedRelative = sum(relSpeeds) / running timeLoss = (1 - meanSpeedRelative) * running * stepLength print(traci.simulation.getTime(), timeLoss, halting)
- The module Simpla provides a library for platooning functions that can be integrated with user client scripts.