simulation.md

Simulation

Simulation can be done using the simulate! function. A simulation updates the initial scene forward in time. Each simulation step consists of the following operation:

• get the actions of each agent in the scene by calling observe! on their respective behavior model (see the behavior section for more information)
• update the scene forward using tick!. It consists in applying the individual actions of each agent and updates their states individually. The actions can be of different type for each vehicle. The state is updated by calling the propagate method associated to the corresponding action type. (This done automatically thanks to Julia's mutliple dispatch). See the action section for more information on the propagate method.
• repeat for the desired number of steps

See the tutorials for examples.

    get_actions!
    tick!
    simulate!

Callbacks

One can define callback function that will be run at each simulation step. The callback function can interrupt the simulation if it return false. It is also useful to log simulation information.

To implement a custom callback function you must implement a type and the associated run_callback method. Here is an example of a callback that checks if a vehicle longitudinal position has reached some goal position and stops the simulation if it is the case.

struct ReachGoalCallback # a callback that checks if vehicle veh_id has reach a certain position 
    goal_pos::Float64
    veh_id::Int64
end 

function AutomotiveDrivingModels.run_callback(cb::ReachGoalCallback, rec::EntityQueueRecord{S,D,I},
    roadway::R,
    models::Dict{I,M},
    tick::Int,
    ) where {S,D,I,R,M<:DriverModel}
    veh = get_by_id(rec[0], cb.veh_id)
    return veh.state.posF.s > cb.goal_pos 
end

A callback for collision is already implemented: CollisionCallback.

    run_callback
    CollisionCallback

Others

    reset_hidden_states!