public virtual void Do_timestep()
{
try
{
conn.Do_timestep();
}
catch (Exception ex)
{
MonoBehaviour.print(ex.GetBaseException());
}
}
// Update is called once per frame
void Update()
{
watchdog.Start();
// Simulation step with realtime check
if ((unity3DstartTime.ElapsedMilliseconds > stepLengthSeconds * 1000 * simStep) && (simStep < maxSimSteps))
{
// Update egoVehicle coordinates for forwarding them to SUMO
double xEgo = 0;;
double yEgo = 0;;
double angleEgo = 0;;
if (enableEgoVehicle)
{
egoVehicle = GameObject.Find("egoVehicle_Peugot_WASD(Clone)");
if (egoVehicle == null)
{
egoVehicle = GameObject.Find("egoVehicle_Peugot(Clone)");
}
xEgo = egoVehicle.transform.position.x;
yEgo = egoVehicle.transform.position.z;
angleEgo = egoVehicle.transform.rotation.eulerAngles.y;
}
// Only do next time step if it's necessary (not to fast)
conn.Do_timestep();
simStep++;
if (enableEgoVehicle)
{
// Update egoVehicle
conn.Do_job_set(Vehicle.MoveToVTD("egoVehicle", "0", 0, xEgo, yEgo, angleEgo, 2));
}
// Before updating all vehicles store the vehicles from last step for steering angle approximation (and prob. other interpolations)
lastStepVehicles = vehicles.ToDictionary(i => i.Key, i => i.Value);
// Get IDs of all vehicles in Simulation
SumoStringList vehicleIDs = (SumoStringList)conn.Do_job_get(Vehicle.GetIDList());
vehicles.Clear();
foreach (string id in vehicleIDs.getList())
{
SumoPosition3D position = (SumoPosition3D)conn.Do_job_get(Vehicle.GetPosition3D(id));
double yawAngle = (double)conn.Do_job_get(Vehicle.GetAngle(id));
vehicles.Add(id, new SUMOCombinedPositionOrientation(id, position, yawAngle));
}
// Update all 3D vehicle models
update3DVehiclesInScene();
// Update all traffic lights every refreshTimeTrafficLightsMS miliseconds
if (trafficLightsUpdate.ElapsedMilliseconds > refreshTimeTrafficLightsMS)
{
updateAllTrafficLights();
trafficLightsUpdate.Reset();
trafficLightsUpdate.Start();
}
}
// Watchdog
long stopTime = watchdog.ElapsedMilliseconds;
if (stopTime > stepLengthSeconds * 1000)
{
watchDogCount++;
print("Warning: Stepwidth of " + stepLengthSeconds * 1000 + "ms is too short for calculation loop, needed " + stopTime +
"ms, Exceeded " + watchDogCount + " times, Current total offset: " + (unity3DstartTime.ElapsedMilliseconds - 1000 * simStep * stepLengthSeconds + stopTime) + " ms");
}
watchdog.Reset();
}