/
vanet.py
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/
vanet.py
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"""
Mininet-WiFi: A simple networking testbed for Wireless OpenFlow/SDWN!
author: Ramon Fontes (ramonrf@dca.fee.unicamp.br)
"""
from __future__ import division
import warnings
import matplotlib.cbook
from sys import exit
from math import atan2
from random import randint
from time import sleep
from threading import Thread as thread
from random import randrange
from pylab import ginput as ginp, math, cos, sin, np
from mininet.log import info
from mn_wifi.mobility import Mobility
from mn_wifi.node import AP
from mn_wifi.plot import PlotGraph, Plot2D
try:
warnings.filterwarnings("ignore", category=matplotlib.cbook.mplDeprecation)
except:
pass
class vanet(Mobility):
# variables
scatter = 0
com_lines = []
all_points = []
roads = []
points = []
interX = {}
interY = {}
time_per_iteration = 100 * math.pow(10, -3)
def __init__(self, **kwargs):
kwargs['nodes'] = kwargs['cars']
Mobility.thread_ = thread(name='vanet', target=self.start,
kwargs=kwargs)
Mobility.thread_.daemon = True
Mobility.thread_._keep_alive = True
Mobility.thread_.start()
def start(self, cars, **kwargs):
'start topology'
aps = kwargs['aps']
roads = kwargs['roads']
Mobility.stations = cars
Mobility.mobileNodes = cars
Mobility.aps = aps
[self.roads.append(x) for x in range(roads)]
[self.points.append(x) for x in range(roads)]
Plot2D(**kwargs)
self.display_grid(**kwargs)
self.display_cars(cars)
self.set_wifi_params()
while self.thread_._keep_alive:
[self.scatter, self.com_lines] = \
self.simulate_car_movement(cars, aps, self.scatter,
self.com_lines)
sleep(0.0001)
def set_wifi_params(self):
from threading import Thread as thread
thread = thread(name='wifiParameters', target=self.parameters)
thread.start()
def get_line(self, x1, y1, x2, y2):
points = []
issteep = abs(y2 - y1) > abs(x2 - x1)
if issteep:
x1, y1 = y1, x1
x2, y2 = y2, x2
rev = False
if x1 > x2:
x1, x2 = x2, x1
y1, y2 = y2, y1
rev = True
deltax = x2 - x1
deltay = abs(y2 - y1)
error = int(deltax / 2)
y = y1
ystep = None
if y1 < y2:
ystep = 1
else:
ystep = -1
for x in range(x1, x2 + 1):
if issteep:
points.append((y, x))
else:
points.append((x, y))
error -= deltay
if error < 0:
y += ystep
error += deltax
# Reverse the list if the coordinates were reversed
if rev:
points.reverse()
return points
def display_grid(self, links, roads, **kwargs):
for n in range(roads):
if n == 0:
p = ginp(2)
self.points[n] = p
self.all_points = p
else:
p = ginp(1)
self.points[n] = p
self.all_points.append(p[0])
x1 = [x[0] for x in self.points[n]]
y1 = [x[1] for x in self.points[n]]
if n == 0:
# Get all the points in the line
self.points[n] = self.get_line(int(x1[0]), int(y1[0]),
int(x1[1]), int(y1[1]))
else:
self.points[n] = self.get_line(int(self.all_points[n][0]),
int(self.all_points[n][1]),
int(p[0][0]), int(p[0][1]))
x1 = [x[0] for x in self.points[n]]
y1 = [x[1] for x in self.points[n]]
self.interX[n] = x1
self.interY[n] = y1
# Create a line object with the x y values of the points in a line
self.roads[n] = Plot2D.line2d(x1, y1, color='g')
Plot2D.line(self.roads[n])
for bs in kwargs['aps']:
bs.prop = ginp(1)[0]
bs_x = round(bs.prop[0], 2)
bs_y = round(bs.prop[1], 2)
self.scatter = Plot2D.scatter(float(bs_x), float(bs_y))
bs.position = bs_x, bs_y, 0
bs.set_pos_wmediumd(bs.position)
Plot2D.instantiate_attrs(bs)
bs.set_text_pos(float(bs_x), float(bs_y))
bs.set_circle_center(float(bs_x), float(bs_y))
Plot2D.draw()
sleep(1)
Plot2D.create_line(links)
def display_cars(self, cars):
car_lines = []
for _ in range(len(cars)):
n = randint(0, len(self.roads)-1)
car_lines.append(self.roads[n])
for n in range(len(self.roads)-1):
road = self.roads[n]
line_data = road.get_data()
x_min, x_max = self.lineX(line_data)
y_min, y_max = self.lineY(line_data)
locX = (x_max - x_min) / 2 + x_min
locY = (y_max - y_min) / 2 + y_min
Plot2D.line_txt(locX, locY, n + 1)
# temporal variable to hold values of cars
points = [[], []]
# get X cars in the graph
i = 0
for car in cars:
i += 1
random_index = randrange(len(car_lines))
car.currentRoad = int(random_index)
car_line = car_lines[random_index]
point = car_line.get_xydata()[0] # first point in the graph
# calculate the angle
line_data = car_line.get_data()
ang = self.calculateAngle(line_data)
car.prop = self.carProp(point, ang, x_min, x_max, y_min, y_max)
# for the even cars shift angle to negative
# so that it goes in opposite direction from car1
car.i = i
if i % 2 == 0:
ang = ang + math.pi
# for this car get the last point as positions
point = car_line.get_xydata()[-1]
x_min, x_max = self.lineX(line_data)
y_min, y_max = self.lineY(line_data)
car.initial = self.carPoint(point)
# add scatter
points[0].append(point[0])
points[1].append(point[1])
self.speed(car) # Get Speed
# plot cars
self.scatter = Plot2D.scatter(points[0], points[1])
def lineX(self, line_data):
"get the minimum and maximums of the line"
x_min = min(line_data[0])
x_max = max(line_data[0])
return x_min, x_max
def lineY(self, line_data):
"get the minimum and maximums of the line"
y_min = min(line_data[1])
y_max = max(line_data[1])
return y_min, y_max
def speed(self, car):
car.speed = car.params['max_speed'], car.params['min_speed']
def calculateAngle(self, line_data):
"Calculate Angle"
xdiff = line_data[0][-1] - line_data[0][0]
ydiff = line_data[1][-1] - line_data[1][0]
ang = atan2(ydiff, xdiff)
return ang
def carProp(self, point, ang, x_min, x_max, y_min, y_max):
temp = [point[0], point[1], ang, x_min, x_max, y_min, y_max]
return temp
def carPoint(self, point):
temp = [point[0], point[1]]
return temp
def line_prop(self, line, car):
line_data = line.get_data() # Get the x and y values of the points in the line
ang = self.calculateAngle(line_data) # Get angle
point = list(line.get_xydata()[0]) # first point in the graph
if car.i % 2 == 0:
ang = ang + math.pi
point = list(line.get_xydata()[-1]) # for this car get the last point as positions
x_min, x_max = self.lineX(line_data)
y_min, y_max = self.lineY(line_data)
car.prop = self.carProp(point, ang, x_min, x_max, y_min, y_max)
car.initial = self.carPoint(point)
def repeat (self, car):
# Check if it is the last mile
lastRoad = True
if car.i % 2 == 0:
for n in range(len(self.roads)-1, 0, -1):
if n < car.currentRoad:
car.currentRoad = n
# get properties of each line in a path
self.line_prop(self.roads[car.currentRoad], car)
lastRoad = False
break
if lastRoad:
car.currentRoad = len(self.roads) - 1
self.line_prop(self.roads[car.currentRoad], car)
else:
for n in range(len(self.roads)-1):
if n > car.currentRoad:
car.currentRoad = n
# get properties of each line in a path
self.line_prop(self.roads[car.currentRoad], car)
lastRoad = False
break
if lastRoad:
car.currentRoad = 0
self.line_prop(self.roads[car.currentRoad], car)
def findIntersection(self):
# have to work on
list1 = [list(a) for a in zip(self.interX[0], self.interY[0])]
list2 = [list(a) for a in zip(self.interX[2], self.interY[2])]
first_tuple_list = [tuple(lst) for lst in list1]
secnd_tuple_list = [tuple(lst) for lst in list2]
first_set = set(first_tuple_list)
secnd_set = set(secnd_tuple_list)
(element,) = first_set.intersection(secnd_set)
info(element[0])
def simulate_car_movement(self, cars, aps, scatter,
com_lines):
# temporal variables
points = [[], []]
scatter.remove()
nodes = cars + aps
while com_lines:
com_lines[0].remove()
del com_lines[0]
while self.pause_simulation:
pass
# iterate over each car
for car in cars:
# get all the properties of the car
vel = round(np.random.uniform(car.speed[0], car.speed[1]))
pos_x = car.prop[0]
pos_y = car.prop[1]
car.position = pos_x, pos_y, 0
car.set_pos_wmediumd(car.position)
angle = car.prop[2]
# calculate new position of the car
pos_x = pos_x + vel * cos(angle) * self.time_per_iteration
pos_y = pos_y + vel * sin(angle) * self.time_per_iteration
if (pos_x < car.prop[3] or pos_x > car.prop[4]) \
or (pos_y < car.prop[5] or pos_y > car.prop[6]):
self.repeat(car)
points[0].append(car.initial[0])
points[1].append(car.initial[1])
else:
car.prop[0] = pos_x
car.prop[1] = pos_y
points[0].append(pos_x)
points[1].append(pos_y)
for node in nodes:
if nodes == car:
continue
# compute to see if vehicle is in range
inside = math.pow((node.prop[0] - pos_x), 2) + \
math.pow((node.prop[1] - pos_y), 2)
if inside <= math.pow(node.wintfs[0].range, 2):
if isinstance(node, AP):
color = 'black'
else:
color = 'r'
line = Plot2D.line2d([pos_x, node.prop[0]],
[pos_y, node.prop[1]],
color=color)
com_lines.append(line)
Plot2D.line(line)
car.update_2d()
PlotGraph.pause()
if not self.thread_._keep_alive:
exit()
scatter = Plot2D.scatter(points[0], points[1])
Plot2D.draw()
return [scatter, com_lines]