Basic trip over a real-world graph

In this notebook, we set up a basic simulation where one vessel moves over a real-world graph. The vessel will sail from a location in the Maasvlakte, to a location in the Port of Moerdijk.

0. Import libraries

# package(s) used for creating and geo-locating the graph
import networkx as nx
import shapely

# package(s) related to the simulation (creating the vessel, running the simulation)
import datetime
import simpy
import opentnsim
import opentnsim.fis as fis
from opentnsim.core.logutils import logbook2eventtable
from opentnsim.core.plotutils import generate_vessel_gantt_chart

# package(s) needed for inspecting the output
import pandas as pd
import geopandas as gpd

# plot libraries
import folium

print("This notebook is executed with OpenTNSim version {}".format(opentnsim.__version__))

This notebook is executed with OpenTNSim version 0.1.dev1+gcb6bdda4a

1. Define object classes

# make your preferred Vessel class out of available mix-ins.
Vessel = type(
    "Vessel", 
    (
        opentnsim.core.Identifiable, # allows to give the object a name and a random ID,
        opentnsim.core.Movable,      # allows the object to move, with a fixed speed, while logging this activity
    ), 
    {}
)

2. Create graph

Next we create a network (a graph) along which the vessel can move. For this case we use the Fairway Information System graph, and make the vessel sail from a container terminal at the Maasvlakte to an container terminal at the Port of Moerdijk.

# load the processed version from the Fairway Information System graph provided by Rijkswaterstaat
FG = fis.load_network(version="0.3")

---------------------------------------------------------------------------
KeyboardInterrupt                         Traceback (most recent call last)
Cell In[3], line 2
      1 # load the processed version from the Fairway Information System graph provided by Rijkswaterstaat
----> 2 FG = fis.load_network(version="0.3")

File ~/work/OpenTNSim/OpenTNSim/opentnsim/fis.py:53, in load_network(network, version)
     51 for n in graph.nodes:
     52     node = graph.nodes[n]
---> 53     node["geometry"] = shapely.geometry.shape(node["geometry"])
     55 return graph

File /opt/hostedtoolcache/Python/3.13.11/x64/lib/python3.13/site-packages/shapely/geometry/geo.py:101, in shape(context)
     99     return _empty_shape_for_no_coordinates(geom_type)
    100 elif geom_type == "point":
--> 101     return Point(ob["coordinates"])
    102 elif geom_type == "linestring":
    103     return LineString(ob["coordinates"])

File /opt/hostedtoolcache/Python/3.13.11/x64/lib/python3.13/site-packages/shapely/geometry/point.py:81, in Point.__new__(self, *args)
     79 if not np.issubdtype(coords.dtype, np.number):
     80     coords = [float(c) for c in coords]
---> 81 geom = shapely.points(coords)
     82 if not isinstance(geom, Point):
     83     raise ValueError("Invalid values passed to Point constructor")

File /opt/hostedtoolcache/Python/3.13.11/x64/lib/python3.13/site-packages/shapely/decorators.py:173, in deprecate_positional.<locals>.decorator.<locals>.wrapper(*args, **kwargs)
    171 @wraps(func)
    172 def wrapper(*args, **kwargs):
--> 173     result = func(*args, **kwargs)
    175     n = len(args)
    176     if n > warn_from:

File /opt/hostedtoolcache/Python/3.13.11/x64/lib/python3.13/site-packages/shapely/decorators.py:88, in multithreading_enabled.<locals>.wrapped(*args, **kwargs)
     86     for arr in array_args:
     87         arr.flags.writeable = False
---> 88     return func(*args, **kwargs)
     89 finally:
     90     for arr, old_flag in zip(array_args, old_flags):

File /opt/hostedtoolcache/Python/3.13.11/x64/lib/python3.13/site-packages/shapely/creation.py:124, in points(coords, y, z, indices, handle_nan, out, **kwargs)
    122     handle_nan = HandleNaN.get_value(handle_nan)
    123 if indices is None:
--> 124     return lib.points(coords, np.intc(handle_nan), out=out, **kwargs)
    125 else:
    126     return simple_geometries_1d(
    127         coords, indices, GeometryType.POINT, handle_nan=handle_nan, out=out
    128     )

KeyboardInterrupt: 

maasvlakte = shapely.Point(4.0566946, 51.9471624)
moerdijk = shapely.Point(4.5944738, 51.6829037)

nodes_gdf = gpd.GeoDataFrame(FG.nodes.values(), index=FG.nodes.keys())

distances, idx = nodes_gdf.sindex.nearest(maasvlakte)
maasvlakte_node = nodes_gdf.iloc[idx[0]]

distances, idx = nodes_gdf.sindex.nearest(moerdijk)
moerdijk_node = nodes_gdf.iloc[idx[0]]

route = nx.shortest_path(FG, maasvlakte_node.name, moerdijk_node.name, weight='length_m')

# Create a map centered between the two points
m = folium.Map(location=[51.83, 4.33], zoom_start = 10, tiles="cartodb positron")

for edge in FG.edges(data = True):
    points_x = list(edge[2]["geometry"].coords.xy[0])
    points_y = list(edge[2]["geometry"].coords.xy[1])
    
    line = []
    for i, _ in enumerate(points_x):
        line.append((points_y[i], points_x[i]))

    if edge[0] in route and edge[1] in route:
        folium.PolyLine(line, color = "red", weight = 3, popup = edge[2]["Name"]).add_to(m)
    else:
        folium.PolyLine(line, color = "black", weight = 3, popup = edge[2]["Name"]).add_to(m)

for node in FG.nodes(data = True):
    point = list(node[1]["geometry"].coords.xy)
    folium.CircleMarker(location=[point[1][0],point[0][0]], color='black',fill_color = "black", fill=True, radus = 1, popup = node[0]).add_to(m)
        
# Add round marker for Maasvlakte with popup
folium.CircleMarker(
    location=[maasvlakte_node.Y, maasvlakte_node.X],
    radius=8,
    color='green',
    fill=True,
    fill_color='green',
    fill_opacity=0.7,
    popup='Maasvlakte'
).add_to(m)

# Add round marker for Moerdijk with popup
folium.CircleMarker(
    location=[moerdijk_node.Y, moerdijk_node.X],
    radius=8,
    color='blue',
    fill=True,
    fill_color='blue',
    fill_opacity=0.7,
    popup='Moerdijk'
).add_to(m)

# Display the map
m

Make this Notebook Trusted to load map: File -> Trust Notebook

3. Run simulation

def mission(env, vessel):
    """
    Method that defines the mission of the vessel. 
    
    In this case: 
        keep moving along the path until its end point is reached
    """
    while True:
        yield from vessel.move()
        
        if vessel.geometry == nx.get_node_attributes(env.graph, "geometry")[vessel.route[-1]]:
            break

# start simpy environment
simulation_start = datetime.datetime(2024, 1, 1, 0, 0, 0)
env = simpy.Environment(initial_time=simulation_start.timestamp())
env.epoch = simulation_start

# add graph to environment
env.graph = FG

# create vessel from a dict 
path = route
data_vessel = {
    "env": env,                                       # needed for simpy simulation
    "name": "Vessel",                                 # required by Identifiable
    "geometry": env.graph.nodes[path[0]]['geometry'], # required by Locatable
    "route": path,                                    # required by Routeable
    "v": 1,                                           # required by Movable, 1 m/s to check if the distance is covered in the expected time
}  # 

# create an instance of the Vessel class using the input dict data_vessel
vessel = Vessel(**data_vessel)

# start the simulation
env.process(mission(env, vessel))
env.run()

4. Inspect output

We can now inspect the simulation output by inspecting the vessel.logbook. Note that the Log mix-in was included when we added Movable. The vessel.logbook keeps track of the moving activities of the vessel. For each discrete event OpenTNSim logs an event message, the start/stop time and the location. The vessel.logbook is of type dict. For convenient inspection it can be loaded into a Pandas dataframe.

# load the logbook data into a dataframe
df = pd.DataFrame.from_dict(vessel.logbook)

print("'{}' logbook data:".format(vessel.name))  
print('')

display(df)

'Vessel' logbook data:

	Message	Timestamp	Value	Geometry
0	Sailing from node 8865973 to node 8867633 start	2024-01-01 00:00:00.000000	0.000000	POINT (4.03967999329435 51.9453492703995)
1	Sailing from node 8865973 to node 8867633 stop	2024-01-01 00:44:24.379610	2664.379609	POINT (4.07753550656458 51.9504653911648)
2	Sailing from node 8867633 to node 8862102 start	2024-01-01 00:44:24.379610	2664.379609	POINT (4.07753550656458 51.9504653911648)
3	Sailing from node 8867633 to node 8862102 stop	2024-01-01 00:49:28.777612	2968.777612	POINT (4.08193446085462 51.95077489336861)
4	Sailing from node 8862102 to node 8861217 start	2024-01-01 00:49:28.777612	2968.777612	POINT (4.08193446085462 51.95077489336861)
...	...	...	...	...
83	Sailing from node 8860742 to node 30986654 stop	2024-01-01 16:27:29.435584	59249.435585	POINT (4.58885224011778 51.6948284745577)
84	Sailing from node 30986654 to node 8865570 start	2024-01-01 16:27:29.435584	59249.435585	POINT (4.58885224011778 51.6948284745577)
85	Sailing from node 30986654 to node 8865570 stop	2024-01-01 16:37:38.270048	59858.270049	POINT (4.59124447578966 51.6895622155408)
86	Sailing from node 8865570 to node 8864978 start	2024-01-01 16:37:38.270048	59858.270049	POINT (4.59124447578966 51.6895622155408)
87	Sailing from node 8865570 to node 8864978 stop	2024-01-01 16:57:15.383138	61035.383139	POINT (4.5959831688951 51.6794008186706)

88 rows × 4 columns

The inspection of the logbook data shows that Vessel moved from its origin (Node 0) to its destination (Node 1). The print statements show that the length of the route from Node 0 to Node 1 is exactly 100 km. At a given speed of 1 m/s the trip duration should be exactly 100000 seconds, as is indeed shown to be the case.

df_eventtable = logbook2eventtable([vessel])
df_eventtable.head(3)

	object id	object name	activity name	start location	stop location	start time	stop time	distance (m)	duration (s)
0	c5b6a6be-5aed-4179-9dc5-6e0665a79ad5	Vessel	Sailing from node 8865973 to node 8867633	POINT (4.03967999329435 51.9453492703995)	POINT (4.07753550656458 51.9504653911648)	2024-01-01 00:00:00.000000	2024-01-01 00:44:24.379610	2664.379609	2664.379610
1	c5b6a6be-5aed-4179-9dc5-6e0665a79ad5	Vessel	Sailing from node 8867633 to node 8862102	POINT (4.07753550656458 51.9504653911648)	POINT (4.08193446085462 51.95077489336861)	2024-01-01 00:44:24.379610	2024-01-01 00:49:28.777612	304.398002	304.398002
2	c5b6a6be-5aed-4179-9dc5-6e0665a79ad5	Vessel	Sailing from node 8862102 to node 8861217	POINT (4.08193446085462 51.95077489336861)	POINT (4.07844925662863 51.9415581666513)	2024-01-01 00:49:28.777612	2024-01-01 01:07:01.917087	1053.139475	1053.139475

generate_vessel_gantt_chart(df_eventtable)

duration = df_eventtable['duration (s)'].sum()
distance = df_eventtable['distance (m)'].sum()

print('{} sailed {:.1f} m in {:.1f} s, which is {}'.format(vessel.name, distance, duration, str(datetime.timedelta(seconds=duration))))

Vessel sailed 61035.4 m in 61035.4 s, which is 16:57:15.383138