PPO_Mixedinput_Navigation_v2.gaml

/***
* Name: PPOMixedinputNavigation
* Author: Zjj
* Description: 
* Tags: Tag1, Tag2, TagN
***/

model PPOMixedinputNavigation


global {   
	file shape_file_roads  <- file("../includes/intersection/easy/simple_network.shp") ;
	file shape_file_nodes  <- file("../includes/intersection/easy/simple_nodes.shp");//simple_nodes2
	geometry shape <- envelope(shape_file_roads);

	int nb_people <-0; //10
	int nb_bus_agent <- 1;
	int nb_bus_npc <- 40; //3
	int NPC_speed <-16;
	int time_to_set_offset <- 1;
	int episode <- 0;
	int total_episode <- 10000;
	int done;  //終わり-1

	node_agt starting_point; //agent species
	
	graph road_network;
	graph kagayaki_network;
	graph pana_east_network;
	graph kasayama_network;
	
	map kagayaki_route;
	map kasayama_route;
	map general_speed_map;
	
	path kagayaki_path;
	path kasayama_path;
	path pana_east_path;
	
	point t1;//スタート地点
	point t2;//ゴール地点
	
	file icon_bus_agent  <- file('../includes/icons/vehicles/taxi_red.png');
	file bus_shape_kagayaki  <- file('../includes/icons/vehicles/bus_blue.png');
	file bus_shape_kasayama  <- file('../includes/icons/vehicles/bus_green.png');
	file car_shape_empty  <- file('../includes/icons/vehicles/normal_red.png');
	
	init {  
		create road from: shape_file_roads with:[id::int(read("id")),nblanes::int(read("lanes")),maxspeed::int(read("maxspeed")),highway::string(read("highway")),
			kasayama::int(read("kasayama")),kagayaki::int(read("kagayaki")),pana_east::int(read("pana-east"))] {
			
		    //lanes <- 1;
		    maxspeed <-  60 + (rnd(20)-10)°m/°s;// (lanes = 1 ? 30.0 : (lanes = 2 ? 50.0 : 70.0)) °km/°h;
		    
		    if(kagayaki!=1){
		    	kagayaki <- 500;//重みを極端にする
		    }
		    if(kasayama!=1){
		    	kasayama <- 500;
		    }
		    if(pana_east!=1){
		    	pana_east <- 500;
		    }
		    switch oneway {
		    	match "no" {
		    		create road {
					  	lanes <- max([1, int (myself.lanes / 2.0)]);
						shape <- polyline(reverse(myself.shape.points));
						maxspeed <- myself.maxspeed;
						geom_display  <- myself.geom_display;
						linked_road <- myself;
						
						self.kagayaki <- myself.kagayaki; 
						myself.linked_road <- self;
						
						
						if(myself.kagayaki!=1){
					    	self.kagayaki <- 500;//重みを極端にする
					    }
					    if(myself.kasayama!=1){
					    	self.kasayama <- 500;
					    }
					    if(myself.pana_east!=1){
					    	self.pana_east <- 500;
					    }								
						
					  }
					  //lanes <- int(lanes /2.0 + 0.5);
				 }
		    	match "yes" {
		    		create road {
					  	lanes <- max([1, int (myself.lanes / 2.0)]);
						shape <- polyline(reverse(myself.shape.points));
						maxspeed <- myself.maxspeed;
						geom_display  <- myself.geom_display;
						linked_road <- myself;
						myself.linked_road <- self;
						self.kagayaki <- myself.kagayaki; 
						
						if(myself.kagayaki!=1){
					    	self.kagayaki <- 500;//重みを極端にする
					    }
					    if(myself.kasayama!=1){
					    	self.kasayama <- 500;
					    }
					    if(myself.pana_east!=1){
					    	self.pana_east <- 500;
					    }
					  }
					  //lanes <- int(lanes /2.0 + 0.5);
				 }
				 match "-1" {
				 	lanes <- 1;
				 	self.linked_road <- self;
				 	shape <- polyline(reverse(shape.points));
				}
			}
			geom_display <- shape+ (2.5 * lanes);
		    maxspeed <- 60 + (rnd(20)-10)°m/°s;//maxspeed <- (lanes = 1 ? 30.0 : (lanes = 2 ? 50.0 : 70.0)) °km/°h;
		}
		
		create node_agt from: shape_file_nodes with:[is_traffic_signal::(string(read("type")) = "traffic_signals"),type::(string(read("type")))];
		starting_point <- one_of(node_agt where each.is_traffic_signal);
		
		general_speed_map <- road as_map (each::(each.shape.perimeter / (each.maxspeed)));
		
		
		/*以下数行を書き換える */
		kagayaki_route <- road as_map(each::(each.kagayaki));//重みを
		kasayama_route <- road as_map(each::(each.kasayama));
		road_network <-  (as_driving_graph(road, node_agt))with_weights general_speed_map;
		
		t1 <- (node_agt(5)).location;   //スタート地点  //5 list 4 ?  
		t2 <- (node_agt(12)).location;  //ゴール地点  //12
		
	
		create people number: nb_people { 
			speed <- 30 #km /#h ;
			vehicle_length <- 3.0 #m;
			right_side_driving <- true;
			proba_lane_change_up <- 0.1 + (rnd(500) / 500);
			proba_lane_change_down <- 0.5+ (rnd(500) / 500);
			location <- one_of(node_agt).location;
			security_distance_coeff <- 4.0;//(1.5 - rnd(1000) / 1000);  
			proba_respect_priorities <- 1.0 - rnd(200/1000);
			proba_respect_stops <- [0.1];
			proba_block_node <- 0.0;
			proba_use_linked_road <- 0.0;
			max_acceleration <- 0.5 + rnd(500) / 1000;
			speed_coeff <- 1.2 - (rnd(400) / 1000);
		}
		create bus_agent number: nb_bus_agent {   //Agent
			time_target<- 12+ rnd(13);
			max_speed <- 330°m/°s;
			real_speed <- 0 °m/°s;
			target_speed<-9 + rnd(3)°m/°s; //30
			vehicle_length <- 3.0 #m;
			location <- t1;
			time_pass <- 0;
			done <- 0;
			over <- 0;
			max_acceleration <- 0.0 ;
			min_safety_distance <- 0.0; 
			min_security_distance <- 0.0;
			safety_distance_coeff <- 1.0;  //speed - security_distance =max(min_security_distance, security_distance_coeff * min(self.real_speed, other.real_speed)
			security_distance_coeff <- 1.0; //speed = security_distance_coeff * min(self.real_speed, other.real_speed)
			proba_respect_priorities <-0.0;
			proba_block_node <- 0.0;
	        //proba_use_linked_road <- 0.99;   //使用相反道路
	        //right_side_driving <- false; //for collision
		}	
		create bus number: nb_bus_npc {   //NPC
			time_target<- 12+ rnd(13);
			max_speed <- 20°m/°s;
			real_speed <- 0 °m/°s;
			vehicle_length <- 3.0 #m;
			location <- t1;
			time_pass <- 0;
			proba_use_linked_road <- 0.0; 
			max_acceleration <- 0.0 ;
			min_safety_distance <- 0.0;
			min_security_distance <- 0.0;
			safety_distance_coeff <- 1.0;
			security_distance_coeff <- 1.0;
			//proba_use_linked_road <- 0.99;
		}	
			
	}
    reflex stop_simulation when: episode = total_episode {
        do pause ;
    } 
	
} 

//RL-agent
  species bus_agent skills: [advanced_driving,RSkill] { 
	  rgb color <- rgb(255,0,0); //rnd_
	  bool green_light_checked <-false;
  	  node_agt target; 
	  node_agt true_target;
	  node_agt bus_start;
	  int n <-1;
	  int m <- rnd(n);//乱数でバスのルートを決定
      // 自作
      int time_pass;
      int time_target;
	  int first_time <- 1;
	  int over;
      int check_receive <- 0;
      int random_node;
	  int a_flag_checked_pass_light <- nil;
	  int on_linked_road_int <- 0;
	  int collision<-0;   //衝突
	  int jam <-0;  //渋滞生成
	  int time_after_waite <-0;
	  unknown read_python;
	  unknown pause;
	  unknown clear;
      float reward <- 0.0;
      float acceleration<-0.0; 
      float target_speed;   
	  float elapsed_time_ratio;
	  float elapsed_dis_ratio;
	  float distance_all;
	  float distance_passed <-0.0;
	  float distance_left <-0.0;
	  float distance_front_car <-100.0;
	  float distance_behind_car <-100.0;
	  float distance_front_car_before <-100.0;
	  float distance_behind_car_before <-100.0;
	  float Instantaneous_speed<-0.0;
	  float real_real_speed<-0.0;
	  float safe_interval <- 50.0;
	  point pre_point;
	  file Rcode_pause<-text_file("/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_R/R_pause.txt"); //file Rcode_clear<-text_file("D:/Software/GamaWorkspace/Python/R_clear.txt");
      file Rcode_read<-text_file("/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_R/R_read.txt");
      list<bus>cars_front_behind;
      list<point>cars_closest_front;
      list<point>cars_closest_behind;
      list<point>cars_closest_10;
      list<point>route;
      
	action road_weight{
		if(m=0){
			 road_network <- road_network with_weights kagayaki_route;//重みを地図に適応		
			 current_path <- compute_path(graph: road_network,target: target);
		 }
		 if(m=1){
		   road_network <- road_network with_weights kasayama_route;//重みを地図に適応
		   current_path <- compute_path(graph: road_network,target: target);
		 } 
		 int length_nodes <- length(targets);
		 int sum_nodes <- 0;
		 loop while: (sum_nodes+1 < length_nodes) {
		     distance_all <- distance_all + (targets at sum_nodes)distance_to(targets at (sum_nodes+1));
		     sum_nodes <- sum_nodes+1;
		 }
		 distance_left <- distance_all;
		 distance_left<-max (distance_left,distance_to_goal);
		 if(round(distance_left/100)>= 0){
		     time_target <- int(distance_left/100)*17+ rnd(3);  //key   distance_left/16*10 +15+ rnd(3);//
		 }
		 else{
		 	time_target <- rnd(2) + 9;
		 }
		 
	}
	action distance_cal{
		distance_passed<- distance_passed + (location distance_to pre_point);
		pre_point <- location;
		distance_left <- distance_all - distance_passed;
		distance_left<-max (distance_left,distance_to_goal);
	}
	action reward_calculate{
    	if(time_pass != 0){
    	    float punishment <- collision*0.1 + jam*0.0003 ;
    	    if(distance_front_car_before < safe_interval or time_after_waite>0){punishment <- collision*0.1 ;} //+ jam*0.0001
    	     //低速
		    if(Instantaneous_speed <=target_speed and Instantaneous_speed != 0){ 
		        if(distance_front_car_before <= safe_interval or time_after_waite>0){  //前面有车  或前面车离开不到3回合    或 出生 ?or current_target = targets at 0 
		        	reward <- 0.001*(Instantaneous_speed/target_speed);
		          }  
			     else{reward <- 0.001 - 0.004*((target_speed-Instantaneous_speed)/target_speed);}////+ (time_pass > time_target ? -0.00013 : 0.00005); 0.00066   0.0007*(target_speed/Instantaneous_speed)
		     }
		     //速度0
		    else if(real_speed = 0 or Instantaneous_speed=0){ 
		    	  if(distance_front_car_before <= safe_interval or time_after_waite>0){  //前面有车 
		        	  reward <- 0.0;
		          }  
			     else{reward <- -0.0032 ;}
			}
			//超速
		   else{ 
		        /*if(distance_behind_car_before < 20){reward <-0.001 - 0.03*((Instantaneous_speed-target_speed)/target_speed);} //后面有车  0.03
			    else{reward <- 0.001 - 0.0008*(Instantaneous_speed/target_speed);}  ////+ (time_pass > time_target ? -0.0001 : 0.00005); //36 sigmiod*/
			    reward <-0.001 - 0.006*((Instantaneous_speed-target_speed)/target_speed);
		    }
		    reward <- reward - punishment + (collision = 1 ? 0 : done*0.01) - (time_pass <= time_target ? 0 : done*0.008) - (time_pass>=150?0.1:0);  //
	    }//初期
	   else{reward<-0.0;}
	}
   action Python {
    	 save cars_closest_front to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_img/save_NPC_front.csv" type: "csv" header: false;
    	 save cars_closest_behind to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_img/save_NPC_behind.csv" type: "csv" header: false;
    	 save cars_closest_10 to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_img/save_NPC_closest_10.csv" type: "csv" header: false;
    	 save location to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_img/save_self.csv" type: "csv" header: false;
    	 do reward_calculate;
    	 do distance_cal;
       elapsed_time_ratio <- time_pass/time_target;
       elapsed_dis_ratio <- distance_left/100;//distance_passed/distance_all;///(distance_passed+distance_left); //    
       if(done =1){write "elapsed_time_ratio "+elapsed_time_ratio+"time_target"+time_target;}
       on_linked_road_int <- on_linked_road = true?1:0;
       over <- (episode < total_episode ? 0 : 1);
    	 save [Instantaneous_speed/10, target_speed/10, elapsed_time_ratio, elapsed_dis_ratio,distance_front_car/10,distance_behind_car/10,reward,done,over] //time_pass
    	                                to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_R/GAMA_intersection_data_1.csv"  type: "csv" header: false; 
    	 save [Instantaneous_speed/10, target_speed/10, elapsed_time_ratio, elapsed_dis_ratio,distance_front_car/10,distance_behind_car/10,reward,done,over] 
    	                                to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_R/GAMA_intersection_data_2.csv"  type: "csv" header: false; 
         //write "read";
	     loop s over:Rcode_read.contents{read_python<- R_eval(s);}
	     check_receive <- read_python at 0;
	     //waiting for python
	     loop while: check_receive = 0 {
	         loop s over:Rcode_pause.contents{pause<- R_eval(s);}
	         loop s over:Rcode_read.contents{read_python<- R_eval(s);}  
	         check_receive <- read_python at 0;
	      }
	      //wait over. caculate
	      acceleration  <- read_python at 1;     //write"check_receive acceleration: "+acceleration;
          //clear write "clear";loop s over:Rcode_clear.contents{clear<- R_eval(s);}  //seems useless
	      save [0] to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_R/python_AC_1.csv"  type: "csv" header: false; 
	      save [0] to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_R/python_AC_2.csv"  type: "csv" header: false;
	      jam<-0;
      }    
			        
   reflex collision_detection when :cycle>=0 and first_time !=1{   
        //找出 bus_closest; bus bus_2nd_closest;
       distance_front_car<-100.0;distance_behind_car<-100.0;
       cars_closest_front <- [];cars_closest_behind <- [];cars_closest_10<-[];
  	    list<bus> buses <- agents_inside(bus);
        cars_front_behind <-  buses closest_to(self, 10) ;//write "cars_front_behind:"+cars_front_behind;
        //if(real_real_speed!=0 and real_speed =0){collision<-1;}
         //先算出应有距离
	    loop bus_decided over: cars_front_behind{
	        float Euclidean_distance <- location distance_to bus_decided;
	        if(empty(self.targets) = false and empty(bus_decided.targets) = false){
                //同一条路上,同向,右行
                if(current_target = bus_decided.current_target and current_road = bus_decided.current_road){ //=bus_decided.right_side_driving//and right_side_driving
                    // agent 在后面，判断追尾 //s=v0t + 1/2at^2
            	    if((self.location distance_to current_target) > (bus_decided.location distance_to bus_decided.current_target)){
            	    	if(distance_front_car=100){distance_front_car<-Euclidean_distance;}
            	    	else{distance_front_car<-Euclidean_distance>distance_front_car ? distance_front_car:Euclidean_distance;}
            	    	cars_closest_front<-cars_closest_front+bus_decided.location;
                    }
                    //agent 在前面，判断堵车
                    else{
                    	if(distance_behind_car=100){distance_behind_car<-Euclidean_distance;}
            	    	else{distance_behind_car<-Euclidean_distance>distance_behind_car ? distance_behind_car:Euclidean_distance;}
            	    	cars_closest_behind<-cars_closest_behind+bus_decided.location;
                    }
                 }
                //不同路，同一个目标,下一个目标也一样
                if(current_road != bus_decided.current_road and current_target = bus_decided.current_target ){
                	int remain_self <- length (targets)-targets index_of current_target - 1;
                    int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
                    if(remain_self>1 and remain_bus_decided>1){
                	    int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
                	    point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
                	    int next_2_point_index_self <- targets index_of current_target + 1;
                	    point next_2_point_self <- targets at next_2_point_index_self;
                	    if(next_2_point_bus_closest = next_2_point_self){
                	        cars_closest_10<-cars_closest_10+bus_decided.location;    
                	    }    	    
                	}
                }
                //不同路，不同一个目标
                if(current_road != bus_decided.current_road and current_target != bus_decided.current_target ){ //and targets index_of current_target != 0
                    int remain_self <- length (targets)-targets index_of current_target - 1;
                    int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
                    if( remain_self = 1 and remain_bus_decided > 1 and current_target != targets at 0){
                		//agent 在前面，判断堵车 
                		int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
                	    point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
                        int self_target_before_index <- targets index_of current_target - 1;
                        if(current_target = next_2_point_bus_closest and bus_decided.current_target = targets at self_target_before_index){
                    	    if(distance_behind_car=100){distance_behind_car<-Euclidean_distance;}
            	    	    else{distance_behind_car<-Euclidean_distance>distance_behind_car?distance_behind_car:Euclidean_distance;}
            	    	    cars_closest_behind<-cars_closest_behind + bus_decided.location;
                        }
                	}
                	if(remain_self > 1 and remain_bus_decided = 1 and bus_decided.current_target != bus_decided.targets at 0){
                		// agent 在后面，判断追尾
                		int next_2_point_index_self <- targets index_of current_target + 1;
                	    point next_2_point_self <- targets at next_2_point_index_self;
                	    int self_target_before_index <- targets index_of current_target - 1;
                	    int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
            	        if(next_2_point_self = bus_decided.current_target and current_target = bus_decided.targets at bus_decided_target_before_index){
            		        if(distance_front_car=100){distance_front_car<-Euclidean_distance;}
            	    	    else{distance_front_car<-Euclidean_distance>distance_front_car?distance_front_car:Euclidean_distance;}
            	    	    cars_closest_front<-cars_closest_front + bus_decided.location;
                        }
                	}
                	if(remain_self > 1 and remain_bus_decided > 1 ){
                		int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
                	    point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
                	    int next_2_point_index_self <- targets index_of current_target + 1;
                	    point next_2_point_self <- targets at next_2_point_index_self;
                	    // agent 在后面，判断追尾
            	        if(next_2_point_self = bus_decided.current_target and bus_decided.current_target != bus_decided.targets at 0){
            	        	int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
            	        	if(current_target = bus_decided.targets at bus_decided_target_before_index){
            		            if(distance_front_car=100){distance_front_car<-Euclidean_distance;}
            	    	        else{distance_front_car<-Euclidean_distance>distance_front_car?distance_front_car:Euclidean_distance;}
            	    	        cars_closest_front<-cars_closest_front + bus_decided.location;            	    	        
            	    	    }
                        }
                        //agent 在前面，判断堵车
                        if(current_target = next_2_point_bus_closest and current_target != targets at 0){
                        	int self_target_before_index <- targets index_of current_target - 1;
                        	if(bus_decided.current_target = targets at self_target_before_index){
                    	        if(distance_behind_car=100){distance_behind_car<-Euclidean_distance;}
            	    	        else{distance_behind_car<-Euclidean_distance>distance_behind_car?distance_behind_car:Euclidean_distance;}
            	    	        cars_closest_behind<-cars_closest_behind + bus_decided.location;            	    	    
            	    	    }
                        }
                    }
                }
             }
	    }
	    do Python;
       if(Instantaneous_speed + acceleration<=0 ){ 
           float t <- Instantaneous_speed/(-acceleration);
           real_real_speed <- Instantaneous_speed*t + 0.5*acceleration*t*t°m/°s;
           Instantaneous_speed <- Instantaneous_speed + acceleration;
           if(real_real_speed<=0 ){real_real_speed<-0.0;}
           if(Instantaneous_speed <=0){Instantaneous_speed<-0.0;}
           }
        else{
           	  real_real_speed <- (Instantaneous_speed + 0.5*acceleration)°m/°s;
           	  Instantaneous_speed <- Instantaneous_speed + acceleration;
           }
	    //分别判断 追尾和渋滞
	    loop bus_decided over: cars_front_behind{
	        float Euclidean_distance <- location distance_to bus_decided;
	        if(empty(self.targets) = false and empty(bus_decided.targets) = false){
                //同一条路上,同向,右行
                if(current_target = bus_decided.current_target and current_road = bus_decided.current_road){ //=bus_decided.right_side_driving
                    // agent 在后面，判断追尾 //s=v0t + 1/2at^2
            	    if((self.location distance_to current_target) >= (bus_decided.location distance_to bus_decided.current_target)){
            		    if((Euclidean_distance+bus_decided.real_speed) < (real_real_speed)){collision<-1; write "同一条路上,同向,右行,Collision!"+Euclidean_distance+" "+distance_front_car;}
                    }
                    //agent 在前面，判断堵车
                    else{
                    	if((Euclidean_distance+real_real_speed) <= bus_decided.real_speed+1){jam<-1;write "同一条路上,同向,右行,Jam! "+Euclidean_distance+" "+distance_behind_car;}
                    }
                 }
                 //不同路，同一个目标,下一个目标也一样
                 if(current_road != bus_decided.current_road and current_target = bus_decided.current_target ){
                	int remain_self <- length (targets)-targets index_of current_target - 1;
                    int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
                    if(remain_self>1 and remain_bus_decided>1){
                	    int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
                	    point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
                	    int next_2_point_index_self <- targets index_of current_target + 1;
                	    point next_2_point_self <- targets at next_2_point_index_self;
                	    if(next_2_point_bus_closest = next_2_point_self){
                	        if(real_real_speed = self.location distance_to current_target and bus_decided.real_speed = bus_decided.location distance_to bus_decided.current_target){
                		        collision<-1; write "恰好碰撞！";
                	               }  
                	    }    	    
                	}
                }
                //不同路，同向,右行
                if(current_road != bus_decided.current_road and current_target != bus_decided.current_target ){ //and pass_target index_of next_point_self != 0
                    int remain_self <- length (targets)-targets index_of current_target - 1;
                	int remain_bus_decided <-length (bus_decided.targets)-bus_decided.targets index_of bus_decided.current_target - 1;
                	if(remain_self = 1 and remain_bus_decided > 1 and current_target != targets at 0){
                		//agent 在前面，判断堵车
                		int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
                	    point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
                	    int self_target_before_index <- targets index_of current_target - 1; 
                        if(current_target = next_2_point_bus_closest and bus_decided.current_target = targets at self_target_before_index){
                    	    if((Euclidean_distance+real_real_speed) <= bus_decided.real_speed+1){jam<-1;write "不同路，同向,右行，Jam! "+Euclidean_distance+" "+distance_behind_car;}
                        }
                	}
                	if(remain_self > 1 and remain_bus_decided = 1 and bus_decided.current_target != bus_decided.targets at 0){
                		// agent 在后面，判断追尾
                		int next_2_point_index_self <- targets index_of current_target + 1;
                	    point next_2_point_self <- targets at next_2_point_index_self;
                	    int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
            	        if(next_2_point_self = bus_decided.current_target and current_target = bus_decided.targets at bus_decided_target_before_index){
            		        if((Euclidean_distance+bus_decided.real_speed) <= (real_real_speed)){collision<-1;write "不同路，同向,右行,Collision! "+Euclidean_distance+" "+distance_front_car;} //用欧氏距离粗略估计
                        }
                	}
                	if(remain_self > 1 and remain_bus_decided > 1 ){
                		int next_2_point_index_bus_decided <- bus_decided.targets index_of bus_decided.current_target + 1;
                	    point next_2_point_bus_closest <- bus_decided.targets at next_2_point_index_bus_decided;
                	    int next_2_point_index_self <- targets index_of current_target + 1;
                	    point next_2_point_self <- targets at next_2_point_index_self;
                	    // agent 在后面，判断追尾
            	        if(next_2_point_self = bus_decided.current_target and bus_decided.current_target != bus_decided.targets at 0){
            	        	int bus_decided_target_before_index <- bus_decided.targets index_of bus_decided.current_target - 1;
            		        if((Euclidean_distance+bus_decided.real_speed) <= (real_real_speed) and current_target = bus_decided.targets at bus_decided_target_before_index){
            		        	collision<-1;write ">>1不同路，同向,右行,Collision! "+Euclidean_distance+" "+distance_front_car;
            		            //write "不同路，同向,右行"+current_road + bus_decided.current_road + next_point_self + next_point_bus_closest;
            		        } //用欧氏距离粗略估计
                        }
                        //agent 在前面，判断堵车
                        if(current_target = next_2_point_bus_closest and current_target != targets at 0){
                        	int self_target_before_index <- targets index_of current_target - 1;
                    	    if((Euclidean_distance+real_real_speed) <= (bus_decided.real_speed+1) and bus_decided.current_target = targets at self_target_before_index){
                    	    	jam<-1;write ">>1不同路，同向,右行,Jam! "+Euclidean_distance+" "+distance_behind_car;
                    	    	 //write "不同路，同向,右行"+current_road + bus_decided.current_road + next_point_self + next_point_bus_closest;
                    	    }  //NPC_spped  bus_decided.real_speed
                        }
                    }
                }
             }
	    }
	    if(distance_front_car<=safe_interval){time_target<-time_target+3;time_after_waite<-3;}  // or distance_behind_car<20
	    else{time_after_waite<-time_after_waite-1;}
	    distance_front_car_before<-distance_front_car;distance_behind_car_before<-distance_behind_car;	      
    }
	reflex change when :current_path = nil{		
		a_flag_checked_pass_light <- nil;
		write "a_flag_checked_pass_light: "+ a_flag_checked_pass_light;
		location <- any_location_in(node_agt(5));
		final_target<- any_location_in(node_agt(12));
	}
	//信号に引っかかった後の処理  等红灯。。。
	reflex time_to_go when: a_flag_checked_pass_light != 0 and green_light_checked = true {
		if(true_target != nil){
			target <- true_target;
			true_target <- nil;
		}
		//do road_weight;
	}	
	
	//目的地（終着バスターミナル）についた時の処理  && 最初の時   location distance_to final_target
	reflex time_to_restart when:(distance_left) = 0 or first_time = 1 or collision = 1 or time_pass>=150{  //a_flag_checked_by_light = 0 and checked = false
	     if(first_time != 1){
             done <- 1;
          	 do Python;
		     episode <- episode + 1 ; //加到1000，算完最后结果
             write "done!!_________________________________";//+"distance_left "+distance_left+"first_time "+first_time + "collision "+collision;
         }
         else{
         	first_time <- 0;
         	do startR;
         }
         real_speed <- 0.0;
         time_pass <- 0;
         done<-0;
         random_node <- int(rnd(12)); //rnd(
         loop while: random_node = 5{random_node <- int(rnd(12));}
         //random_node <- 12;
         target<- node_agt(random_node);true_target <- node_agt(random_node);final_target <- node_agt(random_node).location;	
		   a_flag_checked_pass_light <- 1;
		   location <- any_location_in(node_agt(5)); pre_point<-any_location_in(node_agt(5)); 
		   distance_passed <- 0.0;distance_all<- 0.0;reward<-0.0;collision<-0;jam<-0;Instantaneous_speed<-0.0; time_after_waite<-4;
		   do road_weight;
         //target_speed<- distance_left/time_target;//9 + rnd(3)°m/°s;
         target_speed<- NPC_speed;
         write "target_time "+ time_target+"target_speed "+target_speed+" distance_left "+distance_left;
         route<-[];loop i over: targets{route<-route+any_location_in(node_agt(i));}
         save [location,route] to: "/home/cdl/gama_workspace/GAMA_python/PPO_Mixedinput_Navigation_Model/GAMA_img/route.csv" type: "csv" header: false;
         do Python;
	} 
	
	reflex move when: current_path != nil or a_flag_checked_pass_light != 0 {//道が決まり、目的地が決まれば動く  
	    if (episode<total_episode and done = 0 ){
           /*if(Instantaneous_speed + acceleration<=0 ){ //and real_speed !=0 and real_speed !=0.5  and acceleration<0 Instantaneous_speed
           	float t <- Instantaneous_speed/(-acceleration);
           	real_speed <- Instantaneous_speed*t + 0.5*acceleration*t*t°m/°s;
           	Instantaneous_speed <- Instantaneous_speed + acceleration;
           	if(real_speed<=0 or Instantaneous_speed <=0){real_speed<-0.0;Instantaneous_speed<-0.0;}
           	//write "111real_speed+acceleration"+real_speed+" "+acceleration;
               }
           else{
           	  real_speed <- (Instantaneous_speed + 0.5*acceleration)°m/°s;
           	  Instantaneous_speed <- Instantaneous_speed + acceleration;
               }*/
           if(time_pass=0){
           	  real_real_speed<-Instantaneous_speed+0.5*acceleration;
	    	     Instantaneous_speed<- Instantaneous_speed + acceleration;
           	  real_real_speed <- acceleration;
           	  if(real_real_speed <= 0){real_real_speed<-0.0;}
	    	     if(Instantaneous_speed<=0){Instantaneous_speed<-0.0;}
               }
           real_speed <- real_real_speed;
           }
		do drive;
	    time_pass <- time_pass + 1;
	    //write "targets: "+targets; //不变
	    //write "current_target: "+current_target; //变动
	}
	aspect car3D {
		if (current_road) != nil {
			point loc <- calcul_loc();
			draw box(vehicle_length, 1,1) at: loc rotate:  heading color: color;
			draw triangle(0.5) depth: 1.5 at: loc rotate:  heading + 90 color: color;	
		}
	}
	
	aspect icon {
		point loc <- calcul_loc();
			if(m =0){
			draw icon_bus_agent size: vehicle_length   at: loc rotate: heading + 90 ;
			}
			if(m = 1)
				{
			draw icon_bus_agent size: vehicle_length   at: loc rotate: heading + 90 ;	
					}
		}
	
	point calcul_loc {
		float val <- (road(current_road).lanes - current_lane) + 0.5;
		val <- on_linked_road ? val * - 1 : val;
		if (val = 0) {
			return location; 
		} else {
			return (location + {cos(heading + 90) * val, sin(heading + 90) * val});
		}
	}

}

//NPC
  species bus skills: [advanced_driving] { 
	  rgb color <- rnd_color(255);
	  bool green_light_checked <-false;
  	  node_agt target; 
	  node_agt true_target;
	  node_agt bus_start;
	  int n <-1;
	  int m <- rnd(n);//乱数でバスのルートを決定
	  int over<-0;
      // 自作
      int time_target;
      int time_pass;
	  int first_time <- 1;
      int check_receive <- 0;
      int random_node;
	  int a_flag_checked_pass_light <- nil;
      float target_speed;   
	  float elapsed_time_ratio;
	  float distance_all;
	  float distance_passed <-0.0;
	  float distance_left <-0.0;
	  point pre_point;
	  point birth_point;
	
	action road_weight{
		if(m=0){
			 road_network <- road_network with_weights kagayaki_route;//重みを地図に適応		
			 current_path <- compute_path(graph: road_network,target: target);
		 }
		 if(m=1){
		   road_network <- road_network with_weights kasayama_route;//重みを地図に適応
		   current_path <- compute_path(graph: road_network,target: target);
		 } 
		 int length_nodes <- length(targets);
		 int sum_nodes <- 0;
		 loop while: (sum_nodes+1 < length_nodes) {
		     distance_all <- distance_all + (targets at sum_nodes)distance_to(targets at (sum_nodes+1));
		     sum_nodes <- sum_nodes+1;
		 }
		 distance_left <- distance_all;
		 distance_left<-max (distance_left,distance_to_goal);
		 if(round(distance_left/100)>= 0){
		     time_target <- int((distance_left/100)*5)+ rnd(3);  //key
		 }
		 else{
		 	time_target <- rnd(2) + 4;
		 }
		 
	}
    action distance_cal{
		distance_passed<- distance_passed + (location distance_to pre_point);
		pre_point <- location;
		distance_left <- distance_all - distance_passed;
		distance_left<-max (distance_left,distance_to_goal);
	}
	reflex over_detection when :cycle>=0{
		if(real_speed>=distance_left){over<-1;}
	}
	
	reflex change when :current_path = nil{		
		a_flag_checked_pass_light <- nil;
		location <- any_location_in(node_agt(5));
		final_target<- any_location_in(node_agt(12));
	}
	//信号に引っかかった後の処理  等红灯。。。
	reflex time_to_go when: a_flag_checked_pass_light != 0 and green_light_checked = true {
		if(true_target != nil){
			target <- true_target;
			true_target <- nil;
		}
	}	
	
	//目的地（終着バスターミナル）についた時の処理  && 最初の時   location distance_to final_target
	reflex time_to_restart when:(distance_left)<=1 or first_time = 1 or time_pass > 50 or over=1{  //a_flag_checked_by_light = 0 and checked = false
	     if(first_time != 1){
             done <- 1;
             do distance_cal;
		     episode <- episode + 1 ; //加到1000，算完最后结果
         }
         else{
         	first_time <- 0;
         }
         real_speed <- 0.0;
         time_pass <- 0;
        
         random_node <- int(rnd(12)); //rnd(
         int f_p <- int(rnd(12)); //出生点
         loop while: random_node = f_p or f_p = 5 or f_p = 4 or f_p = 1 or f_p = 9{f_p <- int(rnd(12));random_node <- int(rnd(12));}
         target<- node_agt(random_node);
         true_target <- node_agt(random_node);
		 final_target <- node_agt(random_node).location;	
		 a_flag_checked_pass_light <- 1;
		 location <- node_agt(f_p); //any_location_in()
		 birth_point<-location;
		 pre_point<-any_location_in(node_agt(f_p)); 
		 distance_passed <- 0.0;distance_all<- 0.0;over<-0;
		 
		 do road_weight;
         target_speed<- distance_left/time_target;//9 + rnd(3)°m/°s;
	} 
	
	reflex move when: current_path != nil or a_flag_checked_pass_light != 0 {//道が決まり、目的地が決まれば動く  
	    if (episode<total_episode and done = 0 ){
	       do distance_cal;
           real_speed <- NPC_speed;
        }
        if(episode<total_episode and done = 1){
           do distance_cal;
           done<-0;
           real_speed <- NPC_speed; 
        }
		do drive;
	    time_pass <- time_pass + 1;
	}
	aspect car3D {
		if (current_road) != nil {
			point loc <- calcul_loc();
			draw box(vehicle_length, 1,1) at: loc rotate:  heading color: color;
			draw triangle(0.5) depth: 1.5 at: loc rotate:  heading + 90 color: color;	
		}
	}
	
	aspect icon {
		point loc <- calcul_loc();
			if(m =0){
			draw bus_shape_kagayaki size: vehicle_length   at: loc rotate: heading + 90 ;
			}
			if(m = 1)
				{
			draw bus_shape_kasayama size: vehicle_length   at: loc rotate: heading + 90 ;	
					}
		}
	
	point calcul_loc {
		float val <- (road(current_road).lanes - current_lane) + 0.5;
		val <- on_linked_road ? val * - 1 : val;
		if (val = 0) {
			return location; 
		} else {
			return (location + {cos(heading + 90) * val, sin(heading + 90) * val});
		}
	}

}
species node_agt skills: [skill_road_node] {
	bool is_traffic_signal;
	string type;
	int cycle <- 100; //サイクル長
	float split <- 0.5 ; //スプリット
	int counter;
	int offset <- 0;
	bool is_blue <- true;
	list<road> current_accessible ; //現通行可
	list<road> current_forbidden ; //現通行不可
	list<node_agt> adjoin_node;//隣接交差点[東,西,南,北]
	string mode <- "independence";
	agent c1; //信号制御で止める車1
	agent c2; //信号制御で止める車2
	agent f1;
	agent f2;

	//オフセット設定（広域信号制御の際に使用）
	reflex set_offset when:time = time_to_set_offset and is_traffic_signal{
		starting_point.mode <- "start";
		loop i from: 0 to: length(starting_point.adjoin_node)-1 {
			starting_point.adjoin_node[i].offset <- 0;
		}	
	}
	
	//起点モード（広域信号制御の際に使用）
	reflex set_adjoinnode when: time = 0{
		if(length(self.roads_out) >1){
			loop i from: 0 to: length(self.roads_out) - 1 {
				self.adjoin_node <- self.adjoin_node + [node_agt(road(roads_out[i]).target_node)] where each.is_traffic_signal;
			}
		}
	}
	
	
	//現示の切り替えタイミング
	reflex start when:counter = 10 {//counter >= cycle*split+offset  even()
			counter <- 0; 
			is_blue <- !is_blue; //
	} 
	
	//4叉路用信号制御処理
	reflex stop4 when:is_traffic_signal and length(roads_in) = 4
	{
		counter <- counter + 1;
		
		if(contains(bus,c1)){ //c1是bus吗
			bus(c1).green_light_checked <- false;
		}
	
		if(contains(bus,c2)){
			bus(c2).green_light_checked <- false;
		}
		
		if(contains(people,c1)){
			people(c1).green_light_checked <- false;
		} 
		if(contains(people,c2)){
			people(c2).green_light_checked <- false;
		}
		
		c1 <- nil;
		c2 <- nil;
		
		//現示処理（通行権付与処理）  绿灯能通行的路
		if (is_blue) {		
		    current_accessible <- [road(roads_in[0]),road(roads_in[2])];
		    current_forbidden <- [road(roads_in[1]),road(roads_in[3])];
		}
		else{       		
			current_accessible <- [road(roads_in[1]),road(roads_in[3])];
			current_forbidden <- [road(roads_in[0]),road(roads_in[2])];
		}
		 
		if(length(current_accessible) != 0 or length(current_forbidden) != 0 ){
			if(length(current_accessible[0].all_agents) != 0 ){  //current_shows[0]----road(roads_in[0]) or road(roads_in[1])
				c1 <- current_accessible[0].all_agents[0]; //c1 可以走的路的第一条 上面的所有agent
				if(contains(bus,c1)){
					bus(c1).true_target <- bus(c1).target;
					//bus(c1).final_target <- any_location_in(self);
					bus(c1).a_flag_checked_pass_light <- int(any_location_in(self));
					bus(c1).green_light_checked <- true;
				}
				if(contains(people,c1)){
					people(c1).true_target <- people(c1).target;
					people(c1).final_target <- any_location_in(self);
					people(c1).green_light_checked <- true;
				}
				//write "c1: "+c1+"a_flag_checked_by_light: " + bus(c1).a_flag_checked_pass_light+" current_path"+bus(c1).current_path;
			 }
			                                               //current_shows[1]----road(roads_in[2]) or road(roads_in[3])
		    if(length(current_accessible[1].all_agents) != 0){  //all_agents: the list of agents on the road 
				c2 <- current_accessible[1].all_agents[0]; //c2 可以走的路的第二条 上面的所有agent
				//write "c2: "+c2;
				if(contains(bus,c2)){
					bus(c2).true_target <- bus(c2).target;
					//bus(c2).final_target <- any_location_in(self);
					bus(c2).a_flag_checked_pass_light <- int(any_location_in(self));
					bus(c2).green_light_checked <- true; 
				}
				
				if(contains(people,c2)){
					people(c2).true_target <- people(c2).target;
					people(c2).final_target <- any_location_in(self);
					people(c2).green_light_checked <- true;
				}
			 }
			 //不能通行
			 if(length(current_forbidden[0].all_agents) != 0){  
				f1 <- current_forbidden[0].all_agents[0]; 
				if(contains(bus,f1)){
					bus(f1).true_target <- bus(f1).target;
					//bus(c2).final_target <- any_location_in(self);
					bus(f1).a_flag_checked_pass_light <- 0;//int(any_location_in(self));
					bus(f1).green_light_checked <- false; 
				}
				
			     if(contains(people,f1)){
					people(f1).true_target <- people(f1).target;
					//people(c2).final_target <- any_location_in(self);
					people(f1).green_light_checked <- false;
				}
			   }
			   if(length(current_forbidden[1].all_agents) != 0){ 
				    f2 <- current_forbidden[1].all_agents[0]; 
				    //write "f2: "+f2;
				    if(contains(bus,c2)){
					    bus(f2).true_target <- bus(f2).target;
					    //bus(c2).final_target <- any_location_in(self);
					    bus(f2).a_flag_checked_pass_light <- 0;//int(any_location_in(self));
					    bus(f2).green_light_checked <- false; 
				}
				
				if(contains(people,f2)){
					people(f2).true_target <- people(f2).target;
					people(f2).final_target <- 0;//any_location_in(self);
					people(f2).green_light_checked <- false;
				}
			 }
		}
	}
		
	//3叉路用信号制御処理		
	reflex stop3 when:is_traffic_signal and  length(roads_in) =  3{
		
		counter <- counter + 1;

		//以下初期化
		if(contains(bus,c1)){
			bus(c1).green_light_checked <- false;
		}
	
		if(contains(bus,c2)){
			bus(c2).green_light_checked <- false;
		}
		
		if(contains(people,c1)){
			people(c1).green_light_checked <- false;
		} 
		if(contains(people,c2)){
			people(c2).green_light_checked <- false;
		}
	

		c1 <- nil;
		c2 <- nil;
		
		//現示処理（通行権付与処理）
		if (is_blue) {		
				current_accessible <- [road(roads_in[0])];				
				}else{
				current_accessible <- [road(roads_in[1]),road(roads_in[2])]; 
			}
			
		//現示の道路に車がいない時の処理
		if(length(current_accessible) != 0){
			
			if(length(current_accessible[0].all_agents) != 0 ){
				c1 <- current_accessible[0].all_agents[0]; 
				
				if(contains(bus,c1)){
				    bus(c1).true_target <- bus(c1).target;
					//bus(c1).final_target <- any_location_in(self);
					bus(c1).a_flag_checked_pass_light <- int(any_location_in(self));
					bus(c1).green_light_checked <- true;
				}
				
				if(contains(people,c1)){
					people(c1).true_target <- people(c1).target;
					people(c1).final_target <- any_location_in(self);
					people(c1).green_light_checked <- true;
				}
			}
			
			//現示の道路が二本以上の時
			if(length(current_accessible) > 1){
				if(length(current_accessible[1].all_agents) != 0){
					c2 <- current_accessible[1].all_agents[0];
					
					if(contains(bus,c2)){
						bus(c2).true_target <- bus(c2).target;
						//bus(c2).final_target <-  any_location_in(self);
						bus(c2).a_flag_checked_pass_light <- int(any_location_in(self));
						bus(c2).green_light_checked <- true;
					}
					if(contains(people,c2)){
						people(c2).true_target <- people(c2).target;
						people(c2).final_target <- any_location_in(self);
						people(c2).green_light_checked <- true;
					}	
				}
			}
		}
	}
	
	aspect geom3D {
		if (is_traffic_signal) {	
			draw box(1,1,10) color:rgb("black");
			draw sphere(5) at: {location.x,location.y,12} color: is_blue ? #green : #red;
		}
	}
}
species road skills: [skill_road] { 
    int id;
    int nblanes;
    string highway;
	string oneway;
	geometry geom_display;
	road riverse;
	int kasayama;
	int kagayaki;
	int pana_east;
	bool observation_mode <- true; //交通量観察モード　挙動が重いときはこれをfalseに
	int flow <- 0; //交通量
	list temp1 <- self.all_agents; // t = n -1 の交通量保持のためのリスト
	
	//交通量計測のためのメソッド	
	reflex when :observation_mode  {
		
		if((length(all_agents) - length(temp1)) > 0){
			flow <- flow + length(all_agents) - length(temp1); 		
		}	
		temp1 <- self.all_agents;
	}
	
	
	aspect geom {    
		draw geom_display border:  #gray  color: #gray ;
	}  
}


species people skills: [advanced_driving] { 
	rgb color <- rnd_color(255);
	bool green_light_checked;
	node_agt target;
	node_agt true_target;
	
	reflex change when :current_path = nil{
		final_target <- nil;
	}
	
	
	reflex time_to_go when: final_target = nil and green_light_checked = false{
		
		target <- one_of(node_agt);
		if(true_target != nil){
		target <- true_target;
		true_target <- nil;
		}
		road_network <- road_network with_weights general_speed_map;//重みを地図に適応	
		current_path <- compute_path(graph: road_network, target: target );
		if (current_path = nil ) {
			final_target <- nil;
		}
	}
	
	reflex time_to_go_true when: final_target = nil and green_light_checked = true{	
		current_path <- compute_path(graph: road_network, target: target );
	}
	
	reflex move when: current_path != nil and final_target != nil {
		real_speed <- real_speed + 4 ;
		do drive;
	}
	aspect car3D {
		if (current_road) != nil {
			point loc <- calcul_loc();
			draw box(vehicle_length, 1,1) at: loc rotate:  heading color: color;
			draw triangle(0.5) depth: 1.5 at: loc rotate:  heading + 90 color: color;	
		}
	} 
	
	aspect icon {
		point loc <- calcul_loc();
			draw car_shape_empty size: vehicle_length   at: loc rotate: heading + 90 ;
	}
	
	point calcul_loc {
		float val <- (road(current_road).lanes - current_lane) + 0.5;
		val <- on_linked_road ? val * - 1 : val;
		if (val = 0) {
			return location; 
		} else {
			return (location + {cos(heading + 90) * val, sin(heading + 90) * val});
		}
	}
} 


experiment traffic_simulation type: gui {
	float minimum_cycle_duration<-0.01#s;
	output {
		display city_display type: opengl{
			species road aspect: geom refresh: false;
			species node_agt aspect: geom3D;
			species people aspect: icon;
			species bus aspect: icon;
			species bus_agent aspect: icon;
		}
	}
}