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CARMA Messenger Integration Test #231

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merged 17 commits into from
Jan 6, 2025
Merged

CARMA Messenger Integration Test #231

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6c2f4b0
Add a scenario for CARMA Messenger Integration
chengyuan0124 Dec 3, 2024
694c72c
Update Town04.sumocfg
chengyuan0124 Dec 3, 2024
86caed5
Update scenario_config.json
chengyuan0124 Dec 3, 2024
f539912
test updates
EricChen-Lei Dec 4, 2024
2c72e0a
CARMA vehicle runnable
EricChen-Lei Dec 5, 2024
ad5bd90
fix car disappear issue
EricChen-Lei Dec 6, 2024
01327a5
Update log and parameter name for getting traffic event
chengyuan0124 Dec 6, 2024
6abaa63
Update CommonInstanceManager.java
chengyuan0124 Dec 6, 2024
b847897
Revert "Update log and parameter name for getting traffic event"
chengyuan0124 Dec 6, 2024
da1b989
Revert "Update CommonInstanceManager.java"
chengyuan0124 Dec 6, 2024
daba826
fix vehicle pos issue
EricChen-Lei Dec 12, 2024
f622f48
proj fixed
EricChen-Lei Dec 13, 2024
5e16614
update lane
EricChen-Lei Dec 13, 2024
56151bb
change distance
EricChen-Lei Dec 13, 2024
680726c
Update config setting for msger vehicle
chengyuan0124 Dec 19, 2024
e3fb4a0
Update msger_veh_cfg.json
chengyuan0124 Dec 23, 2024
ff27387
changes add into config
EricChen-Lei Jan 6, 2025
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13 changes: 9 additions & 4 deletions carma_messenger_vehicle_plugin/src/move_over_law.py
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Expand Up @@ -31,9 +31,13 @@ def __init__(self, sumo_connector, veh_id):
self._stop_route = config.get('Settings', 'stop_route')
self._stop_pos = config.get('Settings', 'stop_pos')
self._start_lane = config.get('Settings', 'start_lane')
self._stop_lane = config.get('Settings', 'stop_lane')
self._stop_dist_msger = config.get('Settings', 'stop_dist_msger')
self.sumo_connector = sumo_connector
self.sumo_connector.create_stop_veh(self._target_veh_id, self._stop_pos, self._stop_route)
self.first_time_two_vehicles = True
self.is_get_closer = False
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@kjrush kjrush Dec 26, 2024 •
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Not advocating for any kind of change, but wanted to point out some thoughts for future cases like this:

Generally at a design level, this is where something like a state machine would be good to consider. Right now you've got two variables is_get_closer and is_stopped (and possibly others here) that are really representing a single underlying state of the algorithm. The key is that these two variables are mutually exclusive, as far as I can tell, that the is_get_closer should never be true while is_stopped is true, and vice-versa. So they really encode an aspect of a single actual piece of information, having them as two separate variables like this doesn't really enforce or communicate that relationship between them.

A state machine implementation for something like this could be as simple as identifying the states of the algorithm and then defining an enum with a value per state:

class MoveOverLawState(Enum):
  INIT = 1
  GET_CLOSER = 2
  STOPPING = 3
  STOPPED = 4
  DEPART = 5

and then tracking it as a single self.state variable. This way you represent that there is really only one state value at a time (rather than two truly independent variables) and represented the total possible state space within that one variable. You could then design the class in a way that uses a switch statement or different methods per state, define transition conditions for each possible transition within the state space, etc.

def process():
  if self.state == INIT:
    do_init()
    if should_transition_to_approaching(): 
      self.state = APPROACHING
  elif self.state == APPROACHING:
    do_approaching()
    if should_transition_to_stopping();
      self.state = STOPPING
  #etc, etc.

The value of that depends on how complex the design is, probably not necessary for this particular example.

self.is_stopped = False

def close_lane(self):
#send lane closure message
Expand All @@ -44,7 +48,8 @@ def park_messenger(self):
target_lane = self.sumo_connector.get_veh_lane(self._target_veh_id)
target_lane_index = int(target_lane.split('_')[-1])
self.sumo_connector.move_veh_lane(self._veh_id, target_lane_index)
self.sumo_connector.stop_veh(self._veh_id)
self.sumo_connector.stop_veh(self._veh_id, self._stop_lane, self._stop_dist_msger)
self.is_stopped = True
return

def get_closer(self):
Expand All @@ -64,10 +69,10 @@ def move_over(self):
veh_pos = self.sumo_connector.get_veh_pos(self._veh_id)
target_pos = self.sumo_connector.get_veh_pos(self._target_veh_id)
distance = self.sumo_connector.cal_distance(veh_pos, target_pos)
print("Distance: " + str(distance))

if distance < 30:
if distance < 30 and not self.is_stopped:
self.park_messenger()
self.close_lane()
elif distance < 250:
elif distance < 250 and not self.is_get_closer:
self.is_get_closer = True
self.get_closer()
2 changes: 1 addition & 1 deletion carma_messenger_vehicle_plugin/src/msger_veh_wrapper.py
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Expand Up @@ -81,7 +81,7 @@ def run(args):
parser = argparse.ArgumentParser(description='Script to manage messenger vehicles in a SUMO simulation.')
parser.add_argument('--traci-ip', default="localhost", help='IP address for Traci to connect to SUMO.')
parser.add_argument('--traci-port', default=2010, help='Port number for Traci to connect to SUMO.')
parser.add_argument('--traci-order-num', default=2, help='Traci connection order number for SUMO multi-client setup.')
parser.add_argument('--traci-order-num', default=3, help='Traci connection order number for SUMO multi-client setup.')
parser.add_argument('--msger-veh-cfg-path', default="resources/msger_veh_cfg.json", help='Path to the messenger vehicle configuration JSON file.')
parser.add_argument('--log-level', default='INFO', choices=['DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'],
help='Set the logging level')
Expand Down
10 changes: 6 additions & 4 deletions carma_messenger_vehicle_plugin/src/resources/move_over_law_cfg.ini
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Original file line number Diff line number Diff line change
@@ -1,9 +1,11 @@
[Settings]
closure_uptrack:50
closure_downtrack:50
closure_uptrack:5
closure_downtrack:5
target_id:target1
min_gap:5
advisory_speed_limit:10.0
stop_route:stop1
stop_pos:298
start_lane:-50_4
stop_pos:78
start_lane:-43_4
stop_lane:2
stop_dist_msger:70
5 changes: 3 additions & 2 deletions carma_messenger_vehicle_plugin/src/resources/msger_veh_cfg.json
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Expand Up @@ -3,11 +3,12 @@
[
{
"id": "msger_1",
"route": ["-50","-43"],
"route": [ "-43",
"-36"],
"speed": 10,
"departureTime": 5,
"lcm" : 0,
"cfm" : "MoveOverLaw"
}
]
}
}
14 changes: 12 additions & 2 deletions carma_messenger_vehicle_plugin/src/sumo_connector.py
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Expand Up @@ -16,6 +16,7 @@
import os
import logging
import math
import time

if 'SUMO_HOME' in os.environ:
tools_path = os.path.join(os.environ['SUMO_HOME'], 'tools')
Expand Down Expand Up @@ -209,17 +210,26 @@ def cal_distance(self, pos_1, pos_2):
"""
try:
distance = math.sqrt((pos_1[0] - pos_2[0])**2 + (pos_1[1] - pos_2[1])**2)
logging.debug("Distance to target: " + str(distance))
return distance
except Exception as e:
logging.error(f"Failed to calculate vehicle distance ")
raise

def stop_veh(self, veh_id):
def stop_veh(self, veh_id, stop_lane, stop_dist):
"""
stops vehicle at current place in SUMO
"""
try:
traci.vehicle.setSpeed(veh_id, 0)
traci.vehicle.setStop(
vehID=veh_id, # Vehicle ID
edgeID=traci.vehicle.getRoadID(veh_id), # Edge ID where the vehicle stops
pos=70, # Position (meters) on the edge
laneIndex=stop_lane, # Lane index (e.g., 0 for the first lane)
duration=stop_dist, # Duration (in seconds) the vehicle stays stopped
flags=0 # Flags (optional, can be left as 0)
)

except Exception as e:
logging.error(f"Failed to stop vehicle for vehicle ID '{veh_id}': {e}")
Expand Down Expand Up @@ -257,7 +267,7 @@ def get_veh_pos(self, veh_id):

def create_stop_veh(self, veh_id, end_pos, stop_route):
try:
traci.vehicle.add(vehID = veh_id, routeID=stop_route, typeID="car", depart=0, departPos=end_pos)
traci.vehicle.add(vehID = veh_id, routeID=stop_route, typeID="car", depart=0, departPos=end_pos, departLane='2')
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Same as comment above re hard-coding

traci.vehicle.setSpeed(veh_id, 0)
except Exception as e:
logging.error(f"Failed to create stopped vehicle for vehicle ID '{veh_id}': {e}")
Expand Down
Binary file added ...tion/bundle/src/assembly/resources/scenarios/Town04_carma_messenger/application/Town04.db
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6 changes: 6 additions & 0 deletions co-simulation/bundle/src/assembly/resources/scenarios/Town04_carma_messenger/carla/bridge.sh
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@@ -0,0 +1,6 @@
#!/bin/bash

#x-terminal-emulator
cd /opt/carma-simulation/bridge

x-terminal-emulator -e python3.7 carla_mosaic_bridge.py --bridge-server-port 8913 -m Town04 /opt/carma-simulation/scenarios/Town04_carma_messenger/sumo/Town04.net.xml --step-length 0.1 --tls-manager EVC
7 changes: 7 additions & 0 deletions ...on/bundle/src/assembly/resources/scenarios/Town04_carma_messenger/carla/carla_config.json
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@@ -0,0 +1,7 @@
{
"updateInterval": 100,
"carlaUE4Path": "/opt/carla/",
"bridgePath": "/opt/carma-simulation/scenarios/Town04_carma_messenger/carla; bridge.sh",
"carlaConnectionPort": 8913,
"carlaCDASimAdapterUrl":"http://172.2.0.5:8000/RPC2"
}
3 changes: 3 additions & 0 deletions ...c/assembly/resources/scenarios/Town04_carma_messenger/carma-cloud/carma-cloud_config.json
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@@ -0,0 +1,3 @@
{
"updateInterval": 100
}
4 changes: 4 additions & 0 deletions ...on/bundle/src/assembly/resources/scenarios/Town04_carma_messenger/carma/carma_config.json
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@@ -0,0 +1,4 @@
{
"updateInterval": 100,
"carmaVehicles": []
}
3 changes: 3 additions & 0 deletions ...mbly/resources/scenarios/Town04_carma_messenger/infrastructure/infrastructure_config.json
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{
"updateInterval": 100
}
6 changes: 6 additions & 0 deletions ...undle/src/assembly/resources/scenarios/Town04_carma_messenger/mapping/mapping_config.json
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@@ -0,0 +1,6 @@
{
"prototypes": [],
"chargingStations": [],
"vehicles": [
]
}
20 changes: 20 additions & 0 deletions ...lation/bundle/src/assembly/resources/scenarios/Town04_carma_messenger/ns3/ns3_config.json
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@@ -0,0 +1,20 @@
{
"messages": {
"destinationType": {
"AD_HOC_GEOCAST": true,
"AD_HOC_TOPOCAST": false,
"CELL_GEOCAST": false,
"CELL_GEOCAST_MBMS": false,
"CELL_TOPOCAST": false
},
"destinationAddress": {
"ipv4UnicastAddress": false,
"ipv4BroadcastAddress": true,
"ipv4AnycastAddress" : false
},
"protocolType": {
"UDP": true,
"TCP": false
}
}
}
93 changes: 93 additions & 0 deletions ...undle/src/assembly/resources/scenarios/Town04_carma_messenger/ns3/ns3_federate_config.xml
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@@ -0,0 +1,93 @@
<?xml version="1.0" encoding="UTF-8"?>
<ns3>
<LogLevel>
<!-- for name, refer to corresponding ns3 model -->
<!-- possible level values: error warn debug info function logic all * -->
<!-- including higher levels: level_error level_warn level_debug level_info level_function level_logic level_all ** -->
<!-- possible prefix values: func time node level prefix_func prefix_time prefix_node prefix_level prefix_all -->
<component name="*" value="prefix_level|prefix_time"/>

<component name="MosaicStarter" value="warn|error|debug|info"/>
<component name="MosaicSimulatorImpl" value="warn|error|debug|info"/>
<component name="MosaicNs3Server" value="warn|error|debug|info"/>
<component name="MosaicNodeManager" value="warn|error|debug|info"/>
<component name="MosaicProxyApp" value="warn|error|debug|info|function|func"/>

<component name="UdpSocketImpl" value="warn|error|info"/>
<component name="UdpL4Protocol" value="warn|error|info"/>
<component name="Ipv4L3Protocol" value="warn|error|info"/>
<component name="Ipv4Interface" value="warn|error|info"/>
<component name="TrafficControlLayer" value="warn|error|info"/>

<component name="PropagationLossModel" value="warn|error|info"/>
<component name="YansWifiPhy" value="warn|error|info"/>
<component name="WaveNetDevice" value="warn|error|info"/>
<component name="YansWifiChannel" value="warn|error|info"/>
<component name="InterferenceHelper" value="warn|error|info"/>
<!-- List can be extendy by other components to set logging for -->
</LogLevel>

<!-- Mosaic Federate settings -->
<default name="ns3::MosaicProxyApp::Port" value="8010"/>
<default name="ns3::MosaicNodeManager::DelayModel" value="ns3::ConstantSpeedPropagationDelayModel"/>
<default name="ns3::MosaicNodeManager::LossModel" value="ns3::FriisPropagationLossModel"/>


<!-- NS3 model settings -->
<default name="ns3::RandomPropagationDelayModel::Variable" value="ns3::UniformRandomVariable"/>
<default name="ns3::ConstantSpeedPropagationDelayModel::Speed" value="2.99792e+08"/>

<default name="ns3::RandomPropagationLossModel::Variable" value="ns3::ConstantRandomVariable[Constant=1.0]"/>

<default name="ns3::FriisPropagationLossModel::Frequency" value="5900000000"/>
<default name="ns3::FriisPropagationLossModel::SystemLoss" value="1"/>
<default name="ns3::FriisPropagationLossModel::MinLoss" value="0"/>

<default name="ns3::TwoRayGroundPropagationLossModel::Frequency" value="5900000000"/>
<default name="ns3::TwoRayGroundPropagationLossModel::SystemLoss" value="1"/>
<default name="ns3::TwoRayGroundPropagationLossModel::MinDistance" value="1"/>
<default name="ns3::TwoRayGroundPropagationLossModel::HeightAboveZ" value="2"/>

<default name="ns3::LogDistancePropagationLossModel::Exponent" value="2.0"/>
<default name="ns3::LogDistancePropagationLossModel::ReferenceDistance" value="1"/>
<default name="ns3::LogDistancePropagationLossModel::ReferenceLoss" value="47.85704"/>

<default name="ns3::WifiPhy::EnergyDetectionThreshold" value="-81.02"/>
<default name="ns3::WifiPhy::CcaMode1Threshold" value="-99.0"/>
<default name="ns3::WifiPhy::TxGain" value="0.0"/>
<default name="ns3::WifiPhy::RxGain" value="0.0"/>
<default name="ns3::WifiPhy::TxPowerLevels" value="1"/>
<default name="ns3::WifiPhy::TxPowerEnd" value="17"/>
<default name="ns3::WifiPhy::TxPowerStart" value="17"/>
<default name="ns3::WifiPhy::RxNoiseFigure" value="0"/>
<default name="ns3::WifiPhy::ChannelSwitchDelay" value="+250000.0ns"/>
<default name="ns3::WifiPhy::ChannelNumber" value="178"/>
<default name="ns3::WifiPhy::Frequency" value="5900"/>
<default name="ns3::WifiPhy::Antennas" value="1"/>
<default name="ns3::WifiPhy::ShortGuardEnabled" value="false"/>
<default name="ns3::WifiPhy::LdpcEnabled" value="false"/>
<default name="ns3::WifiPhy::STBCEnabled" value="false"/>
<default name="ns3::WifiPhy::GreenfieldEnabled" value="false"/>
<default name="ns3::WifiPhy::ShortPlcpPreambleSupported" value="false"/>
<default name="ns3::WifiPhy::ChannelWidth" value="10"/>

<default name="ns3::ConstantRateWifiManager::DataMode" value="OfdmRate6Mbps"/>
<default name="ns3::ConstantRateWifiManager::ControlMode" value="OfdmRate6Mbps"/>

<default name="ns3::QueueBase::MaxPackets" value="400"/>
<default name="ns3::WifiMacQueue::MaxDelay" value="+500000000.0ns"/>
<default name="ns3::WifiNetDevice::Mtu" value="2296"/>

<default name="ns3::WifiMac::CtsTimeout" value="+75000.0ns"/>
<default name="ns3::WifiMac::AckTimeout" value="+75000.0ns"/>
<default name="ns3::WifiMac::BasicBlockAckTimeout" value="+281000.0ns"/>
<default name="ns3::WifiMac::CompressedBlockAckTimeout" value="+107000.0ns"/>
<default name="ns3::WifiMac::Sifs" value="+16000.0ns"/>
<default name="ns3::WifiMac::EifsNoDifs" value="+60000.0ns"/>
<default name="ns3::WifiMac::Slot" value="+9000.0ns"/>
<default name="ns3::WifiMac::Pifs" value="+25000.0ns"/>
<default name="ns3::WifiMac::Rifs" value="+2000.0ns"/>
<default name="ns3::WifiMac::MaxPropagationDelay" value="+3333.0ns"/>
<default name="ns3::WifiMac::Ssid" value="default"/>
<global name="RngSeed" value="1"/>
</ns3>
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