{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pandas as pd\n",
    "import numpy as np\n",
    "import os, sys, copy, argparse\n",
    "import json\n",
    "import sumolib, traci\n",
    "from tqdm import tqdm\n",
    "from datetime import datetime\n",
    "path_root = os.path.dirname(os.path.dirname(os.path.abspath('.')))\n",
    "path_scr = os.path.join(path_root, 'scripts')\n",
    "sys.path.append(path_scr)\n",
    "from preprocess_daily import DailyPreprocessor\n",
    "from generate_signals import SignalGenerator"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "self = DailyPreprocessor(config_name='revised')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "1. 데이터를 로드합니다.\n",
      "1-1. 네트워크가 로드되었습니다.\n",
      "1-2. 테이블들이 로드되었습니다.\n",
      "1-3. 네트워크의 모든 clean state requirement들을 체크했습니다.\n",
      "1-5. 테이블을 표준화했습니다.\n",
      "1-6. 주요 객체 (리스트, 딕셔너리)들을 저장했습니다.\n"
     ]
    }
   ],
   "source": [
    "self.load_data()\n",
    "self.make_match1()\n",
    "self.make_match2()\n",
    "self.make_match3()\n",
    "self.make_match4()\n",
    "self.make_match5()\n",
    "self.make_match6()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "self.make_matching()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>inter_no</th>\n",
       "      <th>phas_A</th>\n",
       "      <th>phas_B</th>\n",
       "      <th>move_A</th>\n",
       "      <th>move_B</th>\n",
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       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>175</td>\n",
       "      <td>1</td>\n",
       "      <td>1</td>\n",
       "      <td>8</td>\n",
       "      <td>4</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>2</td>\n",
       "      <td>7</td>\n",
       "      <td>3</td>\n",
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       "      <th>2</th>\n",
       "      <td>175</td>\n",
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       "      <td>1</td>\n",
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       "      <th>3</th>\n",
       "      <td>175</td>\n",
       "      <td>3</td>\n",
       "      <td>4</td>\n",
       "      <td>6</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>4</td>\n",
       "      <td>4</td>\n",
       "      <td>5</td>\n",
       "      <td>2</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no  phas_A  phas_B  move_A  move_B\n",
       "0       175       1       1       8       4\n",
       "1       175       2       2       7       3\n",
       "2       175       3       3       6       1\n",
       "3       175       3       4       6       2\n",
       "4       175       4       4       5       2"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 모든 inter_no(교차로번호)에 대한 A, B링 현시별 이동류정보\n",
    "self.match1.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
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       "      <th></th>\n",
       "      <th>inter_no</th>\n",
       "      <th>phase_no</th>\n",
       "      <th>ring_type</th>\n",
       "      <th>move_no</th>\n",
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       "      <th>0</th>\n",
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       "      <td>175</td>\n",
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       "      <td>4</td>\n",
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       "      <th>1</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>A</td>\n",
       "      <td>7</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>B</td>\n",
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       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>175</td>\n",
       "      <td>3</td>\n",
       "      <td>A</td>\n",
       "      <td>6</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no  phase_no ring_type  move_no\n",
       "0       175         1         A        8\n",
       "0       175         1         B        4\n",
       "1       175         2         A        7\n",
       "1       175         2         B        3\n",
       "2       175         3         A        6"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# match1을 계층화한 테이블\n",
    "self.match2.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>inter_no</th>\n",
       "      <th>phase_no</th>\n",
       "      <th>ring_type</th>\n",
       "      <th>move_no</th>\n",
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       "      <td>8</td>\n",
       "      <td>남</td>\n",
       "      <td>북</td>\n",
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       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>175</td>\n",
       "      <td>1</td>\n",
       "      <td>B</td>\n",
       "      <td>4</td>\n",
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       "      <td>남</td>\n",
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       "    <tr>\n",
       "      <th>2</th>\n",
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       "      <th>3</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>B</td>\n",
       "      <td>3</td>\n",
       "      <td>남</td>\n",
       "      <td>서</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>3</td>\n",
       "      <td>A</td>\n",
       "      <td>6</td>\n",
       "      <td>동</td>\n",
       "      <td>서</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no  phase_no ring_type  move_no inc_dire out_dire\n",
       "0       175         1         A        8        남        북\n",
       "1       175         1         B        4        북        남\n",
       "2       175         2         A        7        북        동\n",
       "3       175         2         B        3        남        서\n",
       "4       175         3         A        6        동        서"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# match2의 각 이동류번호에 진입방향, 진출방향을 매칭시킨 테이블\n",
    "self.match3.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "      <th></th>\n",
       "      <th>inter_no</th>\n",
       "      <th>phase_no</th>\n",
       "      <th>ring_type</th>\n",
       "      <th>move_no</th>\n",
       "      <th>inc_dire</th>\n",
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       "      <td>175</td>\n",
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       "      <td>175</td>\n",
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       "      <td>A</td>\n",
       "      <td>7</td>\n",
       "      <td>북</td>\n",
       "      <td>동</td>\n",
       "      <td>001</td>\n",
       "      <td>095</td>\n",
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       "      <th>3</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>B</td>\n",
       "      <td>3</td>\n",
       "      <td>남</td>\n",
       "      <td>서</td>\n",
       "      <td>179</td>\n",
       "      <td>271</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>3</td>\n",
       "      <td>A</td>\n",
       "      <td>6</td>\n",
       "      <td>동</td>\n",
       "      <td>서</td>\n",
       "      <td>092</td>\n",
       "      <td>270</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no  phase_no ring_type  move_no inc_dire out_dire inc_angle out_angle\n",
       "0       175         1         A        8        남        북       179       004\n",
       "1       175         1         B        4        북        남       003       176\n",
       "2       175         2         A        7        북        동       001       095\n",
       "3       175         2         B        3        남        서       179       271\n",
       "4       175         3         A        6        동        서       092       270"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# match3의 각 이동류번호에 진입/진출 방위각을 매칭시킨 테이블\n",
    "self.match4.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
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       "      <td>7</td>\n",
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       "      <td>095</td>\n",
       "      <td>-571500487_01</td>\n",
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       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>left</td>\n",
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       "      <th>3</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>B</td>\n",
       "      <td>3</td>\n",
       "      <td>남</td>\n",
       "      <td>서</td>\n",
       "      <td>179</td>\n",
       "      <td>271</td>\n",
       "      <td>-571542797_02</td>\n",
       "      <td>571510153_01</td>\n",
       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>left</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>3</td>\n",
       "      <td>A</td>\n",
       "      <td>6</td>\n",
       "      <td>동</td>\n",
       "      <td>서</td>\n",
       "      <td>092</td>\n",
       "      <td>270</td>\n",
       "      <td>571545870_02</td>\n",
       "      <td>571510153_01</td>\n",
       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>straight</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no  phase_no ring_type  move_no inc_dire out_dire inc_angle  \\\n",
       "0       175         1         A        8        남        북       179   \n",
       "1       175         1         B        4        북        남       003   \n",
       "2       175         2         A        7        북        동       001   \n",
       "3       175         2         B        3        남        서       179   \n",
       "4       175         3         A        6        동        서       092   \n",
       "\n",
       "  out_angle    inc_edge_id   out_edge_id node_id node_type turn_type  \n",
       "0       004  -571542797_02  571500487_01      i0    normal  straight  \n",
       "1       176  -571500487_01  571542797_02      i0    normal  straight  \n",
       "2       095  -571500487_01  571545870_01      i0    normal      left  \n",
       "3       271  -571542797_02  571510153_01      i0    normal      left  \n",
       "4       270   571545870_02  571510153_01      i0    normal  straight  "
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# match4의 각 행에 진입엣지id, 진출엣지id 노드id 추가한 테이블\n",
    "self.match5.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
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       "    .dataframe tbody tr th {\n",
       "        vertical-align: top;\n",
       "    }\n",
       "\n",
       "    .dataframe thead th {\n",
       "        text-align: right;\n",
       "    }\n",
       "</style>\n",
       "<table border=\"1\" class=\"dataframe\">\n",
       "  <thead>\n",
       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>inter_no</th>\n",
       "      <th>phase_no</th>\n",
       "      <th>ring_type</th>\n",
       "      <th>move_no</th>\n",
       "      <th>inc_dire</th>\n",
       "      <th>out_dire</th>\n",
       "      <th>inc_angle</th>\n",
       "      <th>out_angle</th>\n",
       "      <th>inc_edge_id</th>\n",
       "      <th>out_edge_id</th>\n",
       "      <th>node_id</th>\n",
       "      <th>node_type</th>\n",
       "      <th>turn_type</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>175</td>\n",
       "      <td>1</td>\n",
       "      <td>A</td>\n",
       "      <td>8</td>\n",
       "      <td>남</td>\n",
       "      <td>북</td>\n",
       "      <td>179</td>\n",
       "      <td>004</td>\n",
       "      <td>-571542797_02</td>\n",
       "      <td>571500487_01</td>\n",
       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>straight</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>1</th>\n",
       "      <td>175</td>\n",
       "      <td>1</td>\n",
       "      <td>B</td>\n",
       "      <td>4</td>\n",
       "      <td>북</td>\n",
       "      <td>남</td>\n",
       "      <td>003</td>\n",
       "      <td>176</td>\n",
       "      <td>-571500487_01</td>\n",
       "      <td>571542797_02</td>\n",
       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>straight</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>A</td>\n",
       "      <td>7</td>\n",
       "      <td>북</td>\n",
       "      <td>동</td>\n",
       "      <td>001</td>\n",
       "      <td>095</td>\n",
       "      <td>-571500487_01</td>\n",
       "      <td>571545870_01</td>\n",
       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>left</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>175</td>\n",
       "      <td>2</td>\n",
       "      <td>B</td>\n",
       "      <td>3</td>\n",
       "      <td>남</td>\n",
       "      <td>서</td>\n",
       "      <td>179</td>\n",
       "      <td>271</td>\n",
       "      <td>-571542797_02</td>\n",
       "      <td>571510153_01</td>\n",
       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>left</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>3</td>\n",
       "      <td>A</td>\n",
       "      <td>6</td>\n",
       "      <td>동</td>\n",
       "      <td>서</td>\n",
       "      <td>092</td>\n",
       "      <td>270</td>\n",
       "      <td>571545870_02</td>\n",
       "      <td>571510153_01</td>\n",
       "      <td>i0</td>\n",
       "      <td>normal</td>\n",
       "      <td>straight</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no  phase_no ring_type  move_no inc_dire out_dire inc_angle  \\\n",
       "0       175         1         A        8        남        북       179   \n",
       "1       175         1         B        4        북        남       003   \n",
       "2       175         2         A        7        북        동       001   \n",
       "3       175         2         B        3        남        서       179   \n",
       "4       175         3         A        6        동        서       092   \n",
       "\n",
       "  out_angle    inc_edge_id   out_edge_id node_id node_type turn_type  \n",
       "0       004  -571542797_02  571500487_01      i0    normal  straight  \n",
       "1       176  -571500487_01  571542797_02      i0    normal  straight  \n",
       "2       095  -571500487_01  571545870_01      i0    normal      left  \n",
       "3       271  -571542797_02  571510153_01      i0    normal      left  \n",
       "4       270   571545870_02  571510153_01      i0    normal  straight  "
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# match5에서 부교차로(유턴교차로, 연동교차로)에 대한 행들을 추가함\n",
    "self.match6.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "      <th>3</th>\n",
       "      <td>175</td>\n",
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       "      <td>북</td>\n",
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       "      <td>-571500487_01</td>\n",
       "      <td>571542797_02</td>\n",
       "      <td>straight</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>i0</td>\n",
       "      <td>5</td>\n",
       "      <td>서</td>\n",
       "      <td>북</td>\n",
       "      <td>571510153_02</td>\n",
       "      <td>571500487_01</td>\n",
       "      <td>left</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no node_id  move_no inc_dire out_dire    inc_edge_id   out_edge_id  \\\n",
       "0       175      i0        1        동        남   571545870_02  571542797_02   \n",
       "1       175      i0        2        서        동   571510153_02  571545870_01   \n",
       "2       175      i0        3        남        서  -571542797_02  571510153_01   \n",
       "3       175      i0        4        북        남  -571500487_01  571542797_02   \n",
       "4       175      i0        5        서        북   571510153_02  571500487_01   \n",
       "\n",
       "  turn_type  \n",
       "0      left  \n",
       "1  straight  \n",
       "2      left  \n",
       "3  straight  \n",
       "4      left  "
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 각 교차로에 대하여, 가능한 모든 이동류 (1~16)에 대한 진입·진출엣지ID를 지정한 테이블\n",
    "self.matching.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "2-2. 초기화 신호가 지정되었습니다. (우회전 : g)\n",
      "2-3. 유턴 인덱스 / 비보호좌회전 인덱스를 지정했습니다.\n",
      "2-4. 직진 및 좌회전(G)을 배정했습니다.\n"
     ]
    }
   ],
   "source": [
    "self.initialize_state()\n",
    "self.assign_indices()\n",
    "self.assign_signals()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "      <th></th>\n",
       "      <th>inter_no</th>\n",
       "      <th>node_id</th>\n",
       "      <th>phase_no</th>\n",
       "      <th>ring_type</th>\n",
       "      <th>move_no</th>\n",
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       "      <th>out_edge_id</th>\n",
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       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>175</td>\n",
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       "      <td>8</td>\n",
       "      <td>-571542797_02</td>\n",
       "      <td>571500487_01</td>\n",
       "      <td>grrrgrrrgGGGGrgrr</td>\n",
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       "      <th>1</th>\n",
       "      <td>175</td>\n",
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       "    <tr>\n",
       "      <th>2</th>\n",
       "      <td>175</td>\n",
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       "      <td>2</td>\n",
       "      <td>A</td>\n",
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       "      <th>3</th>\n",
       "      <td>175</td>\n",
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       "      <td>B</td>\n",
       "      <td>3</td>\n",
       "      <td>-571542797_02</td>\n",
       "      <td>571510153_01</td>\n",
       "      <td>grrrgrrrgrrrrGgrr</td>\n",
       "      <td>left</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>i0</td>\n",
       "      <td>3</td>\n",
       "      <td>A</td>\n",
       "      <td>6</td>\n",
       "      <td>571545870_02</td>\n",
       "      <td>571510153_01</td>\n",
       "      <td>grrrgGGrgrrrrrgrr</td>\n",
       "      <td>straight</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no node_id  phase_no ring_type  move_no    inc_edge_id   out_edge_id  \\\n",
       "0       175      i0         1         A        8  -571542797_02  571500487_01   \n",
       "1       175      i0         1         B        4  -571500487_01  571542797_02   \n",
       "2       175      i0         2         A        7  -571500487_01  571545870_01   \n",
       "3       175      i0         2         B        3  -571542797_02  571510153_01   \n",
       "4       175      i0         3         A        6   571545870_02  571510153_01   \n",
       "\n",
       "               state turn_type  \n",
       "0  grrrgrrrgGGGGrgrr  straight  \n",
       "1  gGGrgrrrgrrrrrgrr  straight  \n",
       "2  grrGgrrrgrrrrrgrr      left  \n",
       "3  grrrgrrrgrrrrGgrr      left  \n",
       "4  grrrgGGrgrrrrrgrr  straight  "
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 신호배정\n",
    "self.match6.head()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
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       "      <th>2</th>\n",
       "      <td>175</td>\n",
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       "      <td>-571542797_02</td>\n",
       "      <td>571510153_01</td>\n",
       "      <td>grrrgrrrgrrrrGgrr</td>\n",
       "      <td>left</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>3</th>\n",
       "      <td>175</td>\n",
       "      <td>i0</td>\n",
       "      <td>4</td>\n",
       "      <td>-571500487_01</td>\n",
       "      <td>571542797_02</td>\n",
       "      <td>gGGrgrrrgrrrrrgrr</td>\n",
       "      <td>straight</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>175</td>\n",
       "      <td>i0</td>\n",
       "      <td>5</td>\n",
       "      <td>571510153_02</td>\n",
       "      <td>571500487_01</td>\n",
       "      <td>grrrgrrrgrrrrrgrG</td>\n",
       "      <td>left</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n",
       "</div>"
      ],
      "text/plain": [
       "   inter_no node_id  move_no    inc_edge_id   out_edge_id              state  \\\n",
       "0       175      i0        1   571545870_02  571542797_02  grrrgrrGgrrrrrgrr   \n",
       "1       175      i0        2   571510153_02  571545870_01  grrrgrrrgrrrrrgGr   \n",
       "2       175      i0        3  -571542797_02  571510153_01  grrrgrrrgrrrrGgrr   \n",
       "3       175      i0        4  -571500487_01  571542797_02  gGGrgrrrgrrrrrgrr   \n",
       "4       175      i0        5   571510153_02  571500487_01  grrrgrrrgrrrrrgrG   \n",
       "\n",
       "  turn_type  \n",
       "0      left  \n",
       "1  straight  \n",
       "2      left  \n",
       "3  straight  \n",
       "4      left  "
      ]
     },
     "execution_count": 15,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# 신호배정\n",
    "self.matching.head()"
   ]
  }
 ],
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