From 5166db7fa500efc2824baf8cee5a84517598d076 Mon Sep 17 00:00:00 2001 From: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Date: Tue, 14 Feb 2023 10:19:35 -0500 Subject: [PATCH 001/124] install.sh: wget CARLA_0.9.10.tar.gz (#102) # PR Details Added wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.tar.gz" line to download the CARKA_0.9.10.tar.gz file which required during build runtime. ## Description ## Related Issue ## Motivation and Context ## How Has This Been Tested? ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [ ] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. --- docker/install.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/docker/install.sh b/docker/install.sh index d2be8e09..3d7a3c2e 100755 --- a/docker/install.sh +++ b/docker/install.sh @@ -88,6 +88,7 @@ python3.7 -m pip install lxml==4.5.0 # Install CARLA cd /home/carma/src/ +wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.tar.gz" if [[ ! -f '/home/carma/src/CARLA_0.9.10.tar.gz' ]]; then echo "!!! CARLA not present in the installation directy, please download CARLA_0.9.10.tar.gz into the work directory and rebuild. !!!" exit -1 From 7a888babe9257b516e2bec861ce7c3a7e80fadbc Mon Sep 17 00:00:00 2001 From: Cody Garver Date: Tue, 14 Feb 2023 12:55:10 -0500 Subject: [PATCH 002/124] Add GitHub workflows (#100) # PR Details ## Description ## Related Issue ## Motivation and Context ## How Has This Been Tested? ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [ ] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. --- .github/workflows/docker.yml | 13 +++++++++++++ .github/workflows/dockerhub.yml | 15 +++++++++++++++ 2 files changed, 28 insertions(+) create mode 100644 .github/workflows/docker.yml create mode 100644 .github/workflows/dockerhub.yml diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml new file mode 100644 index 00000000..e344f4b8 --- /dev/null +++ b/.github/workflows/docker.yml @@ -0,0 +1,13 @@ +name: Docker build + +on: + push: + branches-ignore: + - "develop" + - "release/*" + pull_request: + types: [opened, synchronize, reopened] + +jobs: + docker: + uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml new file mode 100644 index 00000000..0e2ff0ad --- /dev/null +++ b/.github/workflows/dockerhub.yml @@ -0,0 +1,15 @@ +name: Docker Hub build + +on: + push: + branches: + - "develop" + - "master" + - "release/*" + +jobs: + dockerhub: + uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main + secrets: + DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }} + DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }} From 8a3bf65f2762537e5b1fb2633c34eda49f75abcb Mon Sep 17 00:00:00 2001 From: Cody Garver Date: Tue, 14 Feb 2023 13:43:53 -0500 Subject: [PATCH 003/124] install.sh: conditonally download CARLA tarball --- docker/install.sh | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/docker/install.sh b/docker/install.sh index 3d7a3c2e..b5f7ac8e 100755 --- a/docker/install.sh +++ b/docker/install.sh @@ -87,16 +87,16 @@ python3.7 -m pip install pip python3.7 -m pip install lxml==4.5.0 # Install CARLA +CARLA_TAR="CARLA_0.9.10.tar.gz" cd /home/carma/src/ -wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.tar.gz" -if [[ ! -f '/home/carma/src/CARLA_0.9.10.tar.gz' ]]; then - echo "!!! CARLA not present in the installation directy, please download CARLA_0.9.10.tar.gz into the work directory and rebuild. !!!" - exit -1 +if [[ ! -f "$CARLA_TAR" ]]; then + echo "!!! $CARLA_TAR not present in the installation directory, downloading automatically instead. This could take a long time, consider downloading the file manually and placing it in the installation directory. !!!" + wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.tar.gz" fi sudo mkdir -p /opt/carla sudo chown -R carma:carma /opt/carla -tar xzvf CARLA_0.9.10.tar.gz -C /opt/carla +tar xzvf "$CARLA_TAR" -C /opt/carla # Installation of Co-Simulation Tool wget "https://archive.apache.org/dist/maven/maven-3/3.8.3/binaries/apache-maven-3.8.3-bin.tar.gz" From 5c1be9610e277ef94396164c9e366d18a3f4e3b9 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 17 Feb 2023 12:22:13 -0500 Subject: [PATCH 004/124] Add traci-call set order function for multi-client cases --- .../ambassador/AbstractSumoAmbassador.java | 3 ++ .../mosaic/fed/sumo/traci/TraciClient.java | 9 ++++ .../sumo/traci/commands/TraciSetOrder.java | 45 +++++++++++++++++++ .../constants/CommandSimulationControl.java | 6 ++- 4 files changed, 62 insertions(+), 1 deletion(-) create mode 100644 co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/ambassador/AbstractSumoAmbassador.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/ambassador/AbstractSumoAmbassador.java index 7e12f989..56641010 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/ambassador/AbstractSumoAmbassador.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/ambassador/AbstractSumoAmbassador.java @@ -427,6 +427,9 @@ protected void initTraci() throws InternalFederateException { // just to be sure make a failsafe traci = new TraciClient(sumoConfig, socket); + // set traci client order number for multi-clinets case + traci.setOrder(1); + if (traci.getCurrentVersion().getApiVersion() < SumoVersion.LOWEST.getApiVersion()) { throw new InternalFederateException(String.format( "The installed version of SUMO ( <= %s) is not compatible with Eclipse MOSAIC." diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java index 13621746..17a4f303 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java @@ -17,6 +17,7 @@ import org.eclipse.mosaic.fed.sumo.config.CSumo; import org.eclipse.mosaic.fed.sumo.traci.commands.SimulationClose; +import org.eclipse.mosaic.fed.sumo.traci.commands.TraciSetOrder; import org.eclipse.mosaic.fed.sumo.traci.commands.SimulationGetVersion; import org.eclipse.mosaic.fed.sumo.traci.commands.SimulationTraciRequest; import org.eclipse.mosaic.fed.sumo.traci.facades.TraciPoiFacade; @@ -174,6 +175,14 @@ public void close() { } } + public void setOrder(int orderNum) { + try { + commandRegister.getOrCreate(TraciSetOrder.class).execute(this, orderNum); + } catch (TraciCommandException e) { + throw new InternalFederateException(e); + } + } + @Override public SumoVersion getCurrentVersion() { if (currentVersion == null) { diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java new file mode 100644 index 00000000..ffbea8ad --- /dev/null +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java @@ -0,0 +1,45 @@ +/* + * Copyright (c) 2020 Fraunhofer FOKUS and others. All rights reserved. + * + * See the NOTICE file(s) distributed with this work for additional + * information regarding copyright ownership. + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0 + * + * SPDX-License-Identifier: EPL-2.0 + * + * Contact: mosaic@fokus.fraunhofer.de + */ + +package org.eclipse.mosaic.fed.sumo.traci.commands; + +import org.eclipse.mosaic.fed.sumo.traci.AbstractTraciCommand; +import org.eclipse.mosaic.fed.sumo.traci.TraciCommandException; +import org.eclipse.mosaic.fed.sumo.traci.TraciConnection; +import org.eclipse.mosaic.fed.sumo.traci.TraciVersion; +import org.eclipse.mosaic.fed.sumo.traci.complex.Status; +import org.eclipse.mosaic.fed.sumo.traci.constants.CommandSimulationControl; +import org.eclipse.mosaic.rti.api.InternalFederateException; + + +public class TraciSetOrder extends AbstractTraciCommand { + + public TraciSetOrder() { + super(TraciVersion.LOWEST); + + write() + .command(CommandSimulationControl.COMMAND_SET_ORDER) + .writeIntParam(); + } + + public void execute(TraciConnection traciCon, int orderNum) throws TraciCommandException, InternalFederateException { + super.execute(traciCon, orderNum); + } + + @Override + protected Void constructResult(Status status, Object... objects) { + return null; + } +} diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/constants/CommandSimulationControl.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/constants/CommandSimulationControl.java index 7594c1d0..35efff6e 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/constants/CommandSimulationControl.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/constants/CommandSimulationControl.java @@ -31,5 +31,9 @@ public class CommandSimulationControl { * The TraCI closes the connection to any client, stops simulation and shuts down SUMO. */ public final static int COMMAND_CLOSE = 0x7f; -} + /** + * Set SUMO client order for multi-clients case + */ + public final static int COMMAND_SET_ORDER = 0x03; +} From 96af44f9c8004dcaf0babea39e45a2938e96441b Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Sun, 19 Feb 2023 21:21:29 -0500 Subject: [PATCH 005/124] Set fix port for sumo simulation --- co-simulation/bundle/src/assembly/resources/etc/runtime.json | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/co-simulation/bundle/src/assembly/resources/etc/runtime.json b/co-simulation/bundle/src/assembly/resources/etc/runtime.json index 3638bc9d..78f582e6 100644 --- a/co-simulation/bundle/src/assembly/resources/etc/runtime.json +++ b/co-simulation/bundle/src/assembly/resources/etc/runtime.json @@ -203,7 +203,7 @@ "configuration": "sumo_config.json", "priority": 50, "host": "local", - "port": 0, + "port": 2010, "deploy": true, "start": true, "subscriptions": [ @@ -271,4 +271,4 @@ "javaClasspathEntries": [] } ] -} \ No newline at end of file +} From fcbba94e63ac0575e178b66a03fe7cfe85c41cfd Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Sun, 19 Feb 2023 21:21:47 -0500 Subject: [PATCH 006/124] commit --- .../eclipse/mosaic/fed/sumo/traci/TraciClient.java | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java index 17a4f303..c368975c 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java @@ -176,11 +176,13 @@ public void close() { } public void setOrder(int orderNum) { - try { - commandRegister.getOrCreate(TraciSetOrder.class).execute(this, orderNum); - } catch (TraciCommandException e) { - throw new InternalFederateException(e); - } + try { + commandRegister.getOrCreate(TraciSetOrder.class).execute(this, orderNum); + } catch (TraciCommandException e) { + e.printStackTrace(); + } catch (InternalFederateException e) { + e.printStackTrace(); + } } @Override From 825136161ea7873d3a6acdd88199ce54ccfea765 Mon Sep 17 00:00:00 2001 From: Cody Garver Date: Mon, 20 Feb 2023 12:51:10 -0500 Subject: [PATCH 007/124] Revert from carma-system-4.3.0 to develop --- .circleci/config.yml | 2 +- docker/checkout.sh | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.circleci/config.yml b/.circleci/config.yml index c2ab86ba..aed14948 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -28,7 +28,7 @@ jobs: # Pull docker image from docker hub # XTERM used for better catkin_make output docker: - - image: usdotfhwastol/carma-base:carma-system-4.3.0 + - image: usdotfhwastoldev/carma-base:develop user: carma environment: TERM: xterm # use xterm to get full display output from build diff --git a/docker/checkout.sh b/docker/checkout.sh index 134e8939..ad545521 100755 --- a/docker/checkout.sh +++ b/docker/checkout.sh @@ -39,6 +39,6 @@ if [[ "$BRANCH" = "develop" ]]; then git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/carma-msgs --branch $BRANCH --depth 1 git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/carma-utils --branch $BRANCH --depth 1 else - git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch carma-system-4.3.0 --depth 1 - git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch carma-system-4.3.0 --depth 1 + git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch develop --depth 1 + git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch develop --depth 1 fi From 70a766902b3f0334323424319ba46f6f919299af Mon Sep 17 00:00:00 2001 From: Cody Garver Date: Mon, 20 Feb 2023 14:49:18 -0500 Subject: [PATCH 008/124] Revert install.sh changes from master --- docker/install.sh | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/docker/install.sh b/docker/install.sh index 3d7a3c2e..b5f7ac8e 100755 --- a/docker/install.sh +++ b/docker/install.sh @@ -87,16 +87,16 @@ python3.7 -m pip install pip python3.7 -m pip install lxml==4.5.0 # Install CARLA +CARLA_TAR="CARLA_0.9.10.tar.gz" cd /home/carma/src/ -wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.tar.gz" -if [[ ! -f '/home/carma/src/CARLA_0.9.10.tar.gz' ]]; then - echo "!!! CARLA not present in the installation directy, please download CARLA_0.9.10.tar.gz into the work directory and rebuild. !!!" - exit -1 +if [[ ! -f "$CARLA_TAR" ]]; then + echo "!!! $CARLA_TAR not present in the installation directory, downloading automatically instead. This could take a long time, consider downloading the file manually and placing it in the installation directory. !!!" + wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.tar.gz" fi sudo mkdir -p /opt/carla sudo chown -R carma:carma /opt/carla -tar xzvf CARLA_0.9.10.tar.gz -C /opt/carla +tar xzvf "$CARLA_TAR" -C /opt/carla # Installation of Co-Simulation Tool wget "https://archive.apache.org/dist/maven/maven-3/3.8.3/binaries/apache-maven-3.8.3-bin.tar.gz" From 2e9e5e89cb5bd8946926dc912e00247590363d88 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 20 Feb 2023 21:21:16 -0500 Subject: [PATCH 009/124] Add get_traffic_light_live_state function in CARLA-MOSAIC bridge --- .../carla_integration/sumo_simulation.py | 30 +++++++++++++++++-- .../carla_integration/synchronization.py | 10 ++++++- co-simulation/bridge/carla_mosaic_bridge.py | 2 +- 3 files changed, 38 insertions(+), 4 deletions(-) diff --git a/co-simulation/bridge/carla_integration/sumo_simulation.py b/co-simulation/bridge/carla_integration/sumo_simulation.py index 6db6695e..df036ff1 100644 --- a/co-simulation/bridge/carla_integration/sumo_simulation.py +++ b/co-simulation/bridge/carla_integration/sumo_simulation.py @@ -163,19 +163,20 @@ def __init__(self): self._current_phase = {} # {tlid: index_phase} for tlid in traci.trafficlight.getIDList(): - self.subscribe(tlid) self._tls[tlid] = {} for tllogic in traci.trafficlight.getAllProgramLogics(tlid): + states = [phase.state for phase in tllogic.getPhases()] parameters = tllogic.getParameters() tl = SumoTLLogic(tlid, states, parameters) self._tls[tlid][tllogic.programID] = tl + # Get current status of the traffic lights. self._current_program[tlid] = traci.trafficlight.getProgram(tlid) self._current_phase[tlid] = traci.trafficlight.getPhase(tlid) - + # print(self._tls) self._off = False @staticmethod @@ -191,6 +192,7 @@ def subscribe(tlid): traci.constants.TL_CURRENT_PHASE, ]) + @staticmethod def unsubscribe(tlid): """ @@ -226,6 +228,26 @@ def get_all_associated_signals(self, landmark_id): signals.update(self._tls[tlid][program_id].get_associated_signals(landmark_id)) return signals + def get_live_state(self, landmark_id): + link_index_list = [] + _tlid = -1 + for tlid, link_index in self.get_all_associated_signals(landmark_id): + _tlid = tlid + link_index_list.append(link_index) + + state_string = traci.trafficlight.getRedYellowGreenState(_tlid) + state_list = [] + for link_index in link_index_list: + state_list.append(state_string[link_index]) + for state in state_list: + if state == 'g' or state == 'G': + return SumoSignalState.GREEN_WITHOUT_PRIORITY + elif state == 'y': + return SumoSignalState.YELLOW + else: + return SumoSignalState.RED + + def get_state(self, landmark_id): """ Returns the traffic light state of the signals associated with the given landmark. @@ -402,6 +424,9 @@ def destroy_actor(actor_id): """ traci.vehicle.remove(actor_id) + def get_traffic_light_live_state(self, landmark_id): + return self.traffic_light_manager.get_live_state(landmark_id) + def get_traffic_light_state(self, landmark_id): """ Accessor for traffic light state. @@ -453,6 +478,7 @@ def tick(self): self.traffic_light_manager = SumoTLManager() self.firstTime = False traci.simulationStep() + # print(traci.trafficlight.getRedYellowGreenState('1008')) self.traffic_light_manager.tick() # Update data structures for the current frame. self.spawned_actors = set(traci.simulation.getDepartedIDList()) diff --git a/co-simulation/bridge/carla_integration/synchronization.py b/co-simulation/bridge/carla_integration/synchronization.py index 7c56ce5e..cb7ce917 100644 --- a/co-simulation/bridge/carla_integration/synchronization.py +++ b/co-simulation/bridge/carla_integration/synchronization.py @@ -66,6 +66,9 @@ def __init__(self, self.sumo.switch_off_traffic_lights() elif tls_manager == 'sumo': self.carla.switch_off_traffic_lights() + elif tls_manager == 'EVC': + # self.sumo.switch_off_traffic_lights() + self.carla.switch_off_traffic_lights() # Mapped actor ids. self.sumo2carla_ids = {} # Contains only actors controlled by sumo. @@ -134,7 +137,13 @@ def tick(self): carla_tl_state = BridgeHelper.get_carla_traffic_light_state(sumo_tl_state) self.carla.synchronize_traffic_light(landmark_id, carla_tl_state) + elif self.tls_manager == 'EVC': + common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids + for landmark_id in common_landmarks: + sumo_tl_state = self.sumo.get_traffic_light_live_state(landmark_id) + carla_tl_state = BridgeHelper.get_carla_traffic_light_state(sumo_tl_state) + self.carla.synchronize_traffic_light(landmark_id, carla_tl_state) # # ----------------- # # carla-->sumo sync # # ----------------- @@ -208,4 +217,3 @@ def close(self): # Closing sumo and carla client. self.carla.close() self.sumo.close() - diff --git a/co-simulation/bridge/carla_mosaic_bridge.py b/co-simulation/bridge/carla_mosaic_bridge.py index 3c4c76db..ebc3bd09 100644 --- a/co-simulation/bridge/carla_mosaic_bridge.py +++ b/co-simulation/bridge/carla_mosaic_bridge.py @@ -160,7 +160,7 @@ def main(args): help='synchronize all vehicle properties (default: False)') argparser.add_argument('--tls-manager', type=str, - choices=['none', 'sumo', 'carla'], + choices=['none', 'sumo', 'carla','EVC'], help="select traffic light manager (default: none)", default='none') argparser.add_argument('--debug', action='store_true', help='enable debug messages') From 391e1285ff57e14557febf0cd48339f71f3dfca2 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 23 Feb 2023 13:52:27 -0500 Subject: [PATCH 010/124] Push evc-sumo bridge scripts --- evc-sumo/evc_sumo_bridge/evc_connector.py | 78 ++++++++++++++++++ evc-sumo/evc_sumo_bridge/evc_sumo_bridge.py | 28 +++++++ .../resources/controller_cfg.json | 23 ++++++ .../evc_sumo_bridge/resources/skip_setup.cfg | Bin 0 -> 147474 bytes evc-sumo/evc_sumo_bridge/sumo_connector.py | 35 ++++++++ 5 files changed, 164 insertions(+) create mode 100644 evc-sumo/evc_sumo_bridge/evc_connector.py create mode 100644 evc-sumo/evc_sumo_bridge/evc_sumo_bridge.py create mode 100644 evc-sumo/evc_sumo_bridge/resources/controller_cfg.json create mode 100644 evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg create mode 100644 evc-sumo/evc_sumo_bridge/sumo_connector.py diff --git a/evc-sumo/evc_sumo_bridge/evc_connector.py b/evc-sumo/evc_sumo_bridge/evc_connector.py new file mode 100644 index 00000000..137dc693 --- /dev/null +++ b/evc-sumo/evc_sumo_bridge/evc_connector.py @@ -0,0 +1,78 @@ +from pyeos.virtual.factory import virtual_factory +from pyeos.virtual import VirtualControllerOptions +import json + +class EvcConnector: + + def tick(self): + for harness in self.harness_list: + harness.tick(1) + + def __init__(self, asc3app_path, controller_cfg_path): + self.asc3app_path = asc3app_path + self.controller_cfg_path = controller_cfg_path + self.harness_list = [] + self.controller_io_list = [] + + def detector_status_to_CIB(self): + ## TBD + pass + + def COB_to_traffic_light_status(self, controller_io, phase_id): + if controller_io.is_cob_on( (phase_id - 1) + (16 * 2) ): + return 'r' + elif controller_io.is_cob_on( (phase_id - 1) + (16 * 1) ): + return 'y' + elif controller_io.is_cob_on( (phase_id - 1) + (16 * 0) ): + return 'g' + + def get_traffic_light_status_from_EVC(self, controller_io, phases): + ## get number of characters in state string for SUMO + state_num = 0 + for phase in phases: + state_num = state_num + len(phase["index"]) + ## init sumo tl state string with all red states + state_string = ['r'] * state_num + + for phase in phases: + state_string = [self.COB_to_traffic_light_status(controller_io, phase['phaseId']) if i in phase['index'] else x for i,x in enumerate(state_string)] + return ''.join(state_string) + + def set_detector_status_to_EVC(self): + ## TBD + pass + + def get_controller_cfg_path_list(self): + with open(self.controller_cfg_path) as cfg_file: + self.config_json = json.load(cfg_file) + self.controller_cfg_path_list = [] + for controller_cfg_path in self.config_json['controllers']: + self.controller_cfg_path_list.append(VirtualControllerOptions(controller_cfg_path['cfgPath'])) + + def run(self, sumo_connector): + ## init eos factory + with sumo_connector.traci_handler() as traci_session: + with virtual_factory(self.asc3app_path) as eos_factory: + self.get_controller_cfg_path_list() + ## init eos controller(s) + with eos_factory.run_multiple(self.controller_cfg_path_list) as eos_controllers: + for i in range(len(eos_controllers)): + if self.config_json['controllers'][i]['enableWebPanel']: + eos_controllers[i].watch() + print("Launch EOS web pannel for controller ID:", self.config_json['controllers'][i]['controllerId'], ", SUMO TLID:", self.config_json['controllers'][i]['sumoTlId']) + else: + continue + ## init eos harness + with eos_factory.eos_harness(eos_controllers) as harnesses: + for i in range(len(harnesses)): + io = harnesses[i].io() + harnesses[i].tick(1) + self.controller_io_list.append(io) + self.harness_list.append(harnesses[i]) + + while True: + sumo_connector.tick() + for i in range(len(self.controller_io_list)): + tl_state_string = self.get_traffic_light_status_from_EVC(self.controller_io_list[i], self.config_json['controllers'][i]['phases']) + sumo_connector.set_traffic_light_status_to_SUMO(self.config_json['controllers'][i]['sumoTlId'], tl_state_string) + self.tick() diff --git a/evc-sumo/evc_sumo_bridge/evc_sumo_bridge.py b/evc-sumo/evc_sumo_bridge/evc_sumo_bridge.py new file mode 100644 index 00000000..cb0f3170 --- /dev/null +++ b/evc-sumo/evc_sumo_bridge/evc_sumo_bridge.py @@ -0,0 +1,28 @@ +import sys +import os +from pathlib import Path +import argparse + +from evc_connector import EvcConnector +from sumo_connector import SumoConnector + +def run(args): + sumo_connector = SumoConnector(args.traci_port, args.traci_order_num) + evc_connector = EvcConnector(args.asc3app_path, args.controller_cfg_path) + evc_connector.run(sumo_connector) + +if __name__ == "__main__": + arg = argparse.ArgumentParser(description='EVC-SUMO integration') + arg.add_argument('--asc3app-path', + required=True, + help='asc3app-application file path') + arg.add_argument('--traci-port', + default=2000, + help='Traci port to connect to SUMO') + arg.add_argument('--traci-order-num', + default=2, + help='Traci order number for SUMO multi-clients connection') + arg.add_argument('--controller-cfg-path', + default='resources/controller_cfg.json') + args = arg.parse_args() + run(args) diff --git a/evc-sumo/evc_sumo_bridge/resources/controller_cfg.json b/evc-sumo/evc_sumo_bridge/resources/controller_cfg.json new file mode 100644 index 00000000..a8fd4bbd --- /dev/null +++ b/evc-sumo/evc_sumo_bridge/resources/controller_cfg.json @@ -0,0 +1,23 @@ +{ + "controllers": [ + { + "controllerId": 1, + "sumoTlId": 1008, + "enableWebPanel": true, + "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "phases": [{"phaseId": 1, "index":[1,5]}, + {"phaseId": 2, "index":[3,4]}, + {"phaseId": 3, "index":[0,2]} ] + }, + { + "controllerId": 2, + "sumoTlId": 621, + "enableWebPanel": true, + "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "phases": [{"phaseId": 1, "index":[1,8,10]}, + {"phaseId": 2, "index":[0,5,11]}, + {"phaseId": 3, "index":[3,4,9]}, + {"phaseId": 4, "index":[2,6,7]} ] + } + ] +} diff --git a/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg b/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg new file mode 100644 index 0000000000000000000000000000000000000000..f81d546dedd00a4f40895857e5b6e7b459bedc29 GIT binary patch literal 147474 zcmeI5S#TWH6^2ju%t)ir*p|VpA1l}aAs+@4WO_aC2@dae{pmi``(`uu(S zoYVdF>DxVb#xrtph*KQab?*6@Y_6_8-%w~QPMA2UsV~lSxu(yik%~a&sO~rGRt|FiQI5_8 z5v?VY*pf|b$tAW#r-GiRKCvaA*pj@}$t}rSo!pYV)yXZ%Tbtt@_0#U1% zEfoU#IY&CA6B9TX6*7MMH(q~4lKc3PzduOcHkT_p`_Z@;(e5Bghjd~B2jeP}TyMPo z4Ad*T^ocILW%7Oe_&GiNrL6>jjR#i6mcTl3S8{ 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port, order_num): + self.port = port + self.order_num = order_num + self.traci = traci + + @contextmanager + def traci_handler(self): + self.traci.init(int(self.port)) + self.traci.setOrder(self.order_num) + yield + self.traci.close() + + def tick(self): + self.traci.simulationStep() + + def set_traffic_light_status_to_SUMO(self, sumo_tl_id, tl_state_string): + traci.trafficlight.setRedYellowGreenState(str(sumo_tl_id), tl_state_string) + + def get_detector_status_from_SUMO(self): + ## TBD + pass + + From 6ed2d087e19a0ea6cc766b3848caac56e6fa87dd Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 23 Feb 2023 13:52:47 -0500 Subject: [PATCH 011/124] Push evc-sumo bridge unit test --- evc-sumo/test/resources/asc3app | 0 .../test/resources/test_controller_cfg.json | 23 ++++++ evc-sumo/test/unit_test.py | 76 +++++++++++++++++++ 3 files changed, 99 insertions(+) create mode 100644 evc-sumo/test/resources/asc3app create mode 100644 evc-sumo/test/resources/test_controller_cfg.json create mode 100644 evc-sumo/test/unit_test.py diff --git a/evc-sumo/test/resources/asc3app b/evc-sumo/test/resources/asc3app new file mode 100644 index 00000000..e69de29b diff --git a/evc-sumo/test/resources/test_controller_cfg.json b/evc-sumo/test/resources/test_controller_cfg.json new file mode 100644 index 00000000..a8fd4bbd --- /dev/null +++ b/evc-sumo/test/resources/test_controller_cfg.json @@ -0,0 +1,23 @@ +{ + "controllers": [ + { + "controllerId": 1, + "sumoTlId": 1008, + "enableWebPanel": true, + "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "phases": [{"phaseId": 1, "index":[1,5]}, + {"phaseId": 2, "index":[3,4]}, + {"phaseId": 3, "index":[0,2]} ] + }, + { + "controllerId": 2, + "sumoTlId": 621, + "enableWebPanel": true, + "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "phases": [{"phaseId": 1, "index":[1,8,10]}, + {"phaseId": 2, "index":[0,5,11]}, + {"phaseId": 3, "index":[3,4,9]}, + {"phaseId": 4, "index":[2,6,7]} ] + } + ] +} diff --git a/evc-sumo/test/unit_test.py b/evc-sumo/test/unit_test.py new file mode 100644 index 00000000..f279cca2 --- /dev/null +++ b/evc-sumo/test/unit_test.py @@ -0,0 +1,76 @@ +import unittest +import os +import sys +from pathlib import Path + +sys.path.append('../evc_sumo_bridge') +from evc_connector import EvcConnector + +class TestControllerIOGreen(object): + def is_cob_on(self, index): + green_list = [i for i in range(0, 16)] + if index in green_list: + return True + else: + return False + +class TestControllerIOYellow(object): + def is_cob_on(self, index): + yellow_list = [i for i in range(16, 32)] + if index in yellow_list: + return True + else: + return False + +class TestControllerIORed(object): + def is_cob_on(self, index): + red_list = [i for i in range(32, 48)] + if index in red_list: + return True + else: + return False + +class TestEvcConnector(unittest.TestCase): + def setUp(self): + self.asc3app_path = Path(os.path.abspath(os.path.join(__file__, "..", "asc3app"))) + self.controller_cfg_path = Path(os.path.abspath(os.path.join(__file__, "..", "resources", "test_controller_cfg.json"))) + + def test_get_controller_cfg_path_list(self): + evc_connector = EvcConnector(self.asc3app_path, self.controller_cfg_path) + evc_connector.get_controller_cfg_path_list() + self.assertEqual(len(evc_connector.controller_cfg_path_list), 2) + + def test_cob_to_traffic_light_status(self): + evc_connector = EvcConnector(self.asc3app_path, self.controller_cfg_path) + phase = 1 + ## get green light string + green_io = TestControllerIOGreen() + state = evc_connector.COB_to_traffic_light_status(green_io, phase) + self.assertEqual(state, "g") + ## get yellow light string + yellow_io = TestControllerIOYellow() + state = evc_connector.COB_to_traffic_light_status(yellow_io, phase) + self.assertEqual(state, "y") + ## get red light string + red_io = TestControllerIORed() + state = evc_connector.COB_to_traffic_light_status(red_io, phase) + self.assertEqual(state, "r") + + def test_get_traffic_light_status(self): + evc_connector = EvcConnector(self.asc3app_path, self.controller_cfg_path) + + ## get green light state string + green_io = TestControllerIOGreen() + state = evc_connector.get_traffic_light_status_from_EVC(green_io, [{"index": [0, 1], "phaseId": 1}, {"index": [2, 3], "phaseId": 2}]) + self.assertEqual(state, "gggg") + ## get yellow light state string + yellow_io = TestControllerIOYellow() + state = evc_connector.get_traffic_light_status_from_EVC(yellow_io, [{"index": [0, 1], "phaseId": 1}, {"index": [2, 3], "phaseId": 2}]) + self.assertEqual(state, "yyyy") + ## get red light state string + red_io = TestControllerIORed() + state = evc_connector.get_traffic_light_status_from_EVC(red_io, [{"index": [0, 1], "phaseId": 1}, {"index": [2, 3], "phaseId": 2}]) + self.assertEqual(state, "rrrr") + +if __name__ == '__main__': + unittest.main() From e9460a059efef4606ce0b76b9616c6981dbbbf63 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 23 Feb 2023 23:19:03 -0500 Subject: [PATCH 012/124] Commit --- evc-sumo/{evc_sumo_bridge => src}/evc_connector.py | 0 .../{evc_sumo_bridge => src}/evc_sumo_bridge.py | 0 .../resources/controller_cfg.json | 4 ++-- .../resources/skip_setup.cfg | Bin evc-sumo/{evc_sumo_bridge => src}/sumo_connector.py | 0 evc-sumo/test/resources/test_controller_cfg.json | 4 ++-- 6 files changed, 4 insertions(+), 4 deletions(-) rename evc-sumo/{evc_sumo_bridge => src}/evc_connector.py (100%) rename evc-sumo/{evc_sumo_bridge => src}/evc_sumo_bridge.py (100%) rename evc-sumo/{evc_sumo_bridge => src}/resources/controller_cfg.json (75%) rename evc-sumo/{evc_sumo_bridge => src}/resources/skip_setup.cfg (100%) rename evc-sumo/{evc_sumo_bridge => src}/sumo_connector.py (100%) diff --git a/evc-sumo/evc_sumo_bridge/evc_connector.py b/evc-sumo/src/evc_connector.py similarity index 100% rename from evc-sumo/evc_sumo_bridge/evc_connector.py rename to evc-sumo/src/evc_connector.py diff --git a/evc-sumo/evc_sumo_bridge/evc_sumo_bridge.py b/evc-sumo/src/evc_sumo_bridge.py similarity index 100% rename from evc-sumo/evc_sumo_bridge/evc_sumo_bridge.py rename to evc-sumo/src/evc_sumo_bridge.py diff --git a/evc-sumo/evc_sumo_bridge/resources/controller_cfg.json b/evc-sumo/src/resources/controller_cfg.json similarity index 75% rename from evc-sumo/evc_sumo_bridge/resources/controller_cfg.json rename to evc-sumo/src/resources/controller_cfg.json index a8fd4bbd..428ece4d 100644 --- a/evc-sumo/evc_sumo_bridge/resources/controller_cfg.json +++ b/evc-sumo/src/resources/controller_cfg.json @@ -4,7 +4,7 @@ "controllerId": 1, "sumoTlId": 1008, "enableWebPanel": true, - "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "cfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,5]}, {"phaseId": 2, "index":[3,4]}, {"phaseId": 3, "index":[0,2]} ] @@ -13,7 +13,7 @@ "controllerId": 2, "sumoTlId": 621, "enableWebPanel": true, - "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "cfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,8,10]}, {"phaseId": 2, "index":[0,5,11]}, {"phaseId": 3, "index":[3,4,9]}, diff --git a/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg b/evc-sumo/src/resources/skip_setup.cfg similarity index 100% rename from evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg rename to evc-sumo/src/resources/skip_setup.cfg diff --git a/evc-sumo/evc_sumo_bridge/sumo_connector.py b/evc-sumo/src/sumo_connector.py similarity index 100% rename from evc-sumo/evc_sumo_bridge/sumo_connector.py rename to evc-sumo/src/sumo_connector.py diff --git a/evc-sumo/test/resources/test_controller_cfg.json b/evc-sumo/test/resources/test_controller_cfg.json index a8fd4bbd..ce20ce8e 100644 --- a/evc-sumo/test/resources/test_controller_cfg.json +++ b/evc-sumo/test/resources/test_controller_cfg.json @@ -4,7 +4,7 @@ "controllerId": 1, "sumoTlId": 1008, "enableWebPanel": true, - "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "cfgPath": "/opt/carma-simulation/evc-sumo/test/resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,5]}, {"phaseId": 2, "index":[3,4]}, {"phaseId": 3, "index":[0,2]} ] @@ -13,7 +13,7 @@ "controllerId": 2, "sumoTlId": 621, "enableWebPanel": true, - "cfgPath": "/home/yuan/Documents/GitHub/EVC/src/resources/skip_setup.cfg", + "cfgPath": "/opt/carma-simulation/evc-sumo/test/resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,8,10]}, {"phaseId": 2, "index":[0,5,11]}, {"phaseId": 3, "index":[3,4,9]}, From b15365755c3b60a6ceee3141a4b9a72e7a89493e Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 24 Feb 2023 23:37:41 -0500 Subject: [PATCH 013/124] Rename configuration file, old name makes confuse --- .../src/resources/{controller_cfg.json => evc_sumo_cfg.json} | 4 ++-- .../{test_controller_cfg.json => test_evc_sumo_cfg.json} | 0 2 files changed, 2 insertions(+), 2 deletions(-) rename evc-sumo/src/resources/{controller_cfg.json => evc_sumo_cfg.json} (73%) rename evc-sumo/test/resources/{test_controller_cfg.json => test_evc_sumo_cfg.json} (100%) diff --git a/evc-sumo/src/resources/controller_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json similarity index 73% rename from evc-sumo/src/resources/controller_cfg.json rename to evc-sumo/src/resources/evc_sumo_cfg.json index 428ece4d..14c628b1 100644 --- a/evc-sumo/src/resources/controller_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -4,7 +4,7 @@ "controllerId": 1, "sumoTlId": 1008, "enableWebPanel": true, - "cfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", + "controllerCfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,5]}, {"phaseId": 2, "index":[3,4]}, {"phaseId": 3, "index":[0,2]} ] @@ -13,7 +13,7 @@ "controllerId": 2, "sumoTlId": 621, "enableWebPanel": true, - "cfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", + "controllerCfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,8,10]}, {"phaseId": 2, "index":[0,5,11]}, {"phaseId": 3, "index":[3,4,9]}, diff --git a/evc-sumo/test/resources/test_controller_cfg.json b/evc-sumo/test/resources/test_evc_sumo_cfg.json similarity index 100% rename from evc-sumo/test/resources/test_controller_cfg.json rename to evc-sumo/test/resources/test_evc_sumo_cfg.json From a4b117fdee3d1326b6fc7c2632df7fc0f7e8f05a Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 24 Feb 2023 23:39:11 -0500 Subject: [PATCH 014/124] Add comments for every functions --- evc-sumo/src/evc_connector.py | 74 ++++++++++++++++++++++++++++++---- evc-sumo/src/sumo_connector.py | 18 ++++++++- 2 files changed, 82 insertions(+), 10 deletions(-) diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index 137dc693..05c63423 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -2,15 +2,30 @@ from pyeos.virtual import VirtualControllerOptions import json +MAX_INTERSECTION_PHASES = 16 + class EvcConnector: def tick(self): + """ + Advance EVC controllers time via PyEOS + """ for harness in self.harness_list: harness.tick(1) - def __init__(self, asc3app_path, controller_cfg_path): + def __init__(self, asc3app_path, evc_sumo_cfg_path): + """ + Initialize + ------------- + asc3app_path: The directory to asc3app which provided by Econolite team + type: string + ------------- + evc_sumo_cfg_path: The directory to evc_sumo_cfg.json file, default path is "resources/evc_sumo_cfg.json" + type: string + ------------- + """ self.asc3app_path = asc3app_path - self.controller_cfg_path = controller_cfg_path + self.evc_sumo_cfg_path = evc_sumo_cfg_path self.harness_list = [] self.controller_io_list = [] @@ -19,14 +34,40 @@ def detector_status_to_CIB(self): pass def COB_to_traffic_light_status(self, controller_io, phase_id): - if controller_io.is_cob_on( (phase_id - 1) + (16 * 2) ): + """ + Convert COB status to string + ------------- + controller_io: The controller input/output (cib/cob) + type: + ------------- + phase_id: The EVC traffic light phase ID, start from 1 + type: int + ------------- + """ + + ## is_cob_on(0) is to check if phase 1 is or not in green state + ## is_cob_on(16) is to check if phase 1 is or not in yellow state + ## is_cob_on(32) is to check if phase 1 is or not in red state + if controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 2) ): return 'r' - elif controller_io.is_cob_on( (phase_id - 1) + (16 * 1) ): + elif controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 1) ): return 'y' - elif controller_io.is_cob_on( (phase_id - 1) + (16 * 0) ): + elif controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 0) ): return 'g' def get_traffic_light_status_from_EVC(self, controller_io, phases): + """ + Get traffic light status from EVC to SUMO state string + ------------- + controller_io: The controller input/output (cib/cob) + type: + ------------- + phases: Phases information defined in controller_cfg.json file + type: dict + ------------- + return: string + """ + ## get number of characters in state string for SUMO state_num = 0 for phase in phases: @@ -43,27 +84,44 @@ def set_detector_status_to_EVC(self): pass def get_controller_cfg_path_list(self): - with open(self.controller_cfg_path) as cfg_file: + """ + Store all controller config path into a list in order to pass to eos_factory to initialize controllers + """ + with open(self.evc_sumo_cfg_path) as cfg_file: self.config_json = json.load(cfg_file) self.controller_cfg_path_list = [] for controller_cfg_path in self.config_json['controllers']: - self.controller_cfg_path_list.append(VirtualControllerOptions(controller_cfg_path['cfgPath'])) + self.controller_cfg_path_list.append(VirtualControllerOptions(controller_cfg_path['controllerCfgPath'])) def run(self, sumo_connector): - ## init eos factory + """ + main loop + """ + ## init traci connection with sumo_connector.traci_handler() as traci_session: + + ## init EVC with virtual_factory(self.asc3app_path) as eos_factory: + self.get_controller_cfg_path_list() + ## init eos controller(s) with eos_factory.run_multiple(self.controller_cfg_path_list) as eos_controllers: + + ## enable/disable EVC web panel for i in range(len(eos_controllers)): if self.config_json['controllers'][i]['enableWebPanel']: eos_controllers[i].watch() print("Launch EOS web pannel for controller ID:", self.config_json['controllers'][i]['controllerId'], ", SUMO TLID:", self.config_json['controllers'][i]['sumoTlId']) else: continue + ## init eos harness with eos_factory.eos_harness(eos_controllers) as harnesses: + + ## store io and harness into list + ## harness needs to be used to advance controller time + ## io needs to be used to get CIB/COB for i in range(len(harnesses)): io = harnesses[i].io() harnesses[i].tick(1) diff --git a/evc-sumo/src/sumo_connector.py b/evc-sumo/src/sumo_connector.py index f3ecb328..c91e8e80 100644 --- a/evc-sumo/src/sumo_connector.py +++ b/evc-sumo/src/sumo_connector.py @@ -15,21 +15,35 @@ def __init__(self, port, order_num): self.order_num = order_num self.traci = traci + @contextmanager def traci_handler(self): + """ + Initialize traci + """ self.traci.init(int(self.port)) self.traci.setOrder(self.order_num) yield self.traci.close() def tick(self): + """ + Advance SUMO time via traci + """ self.traci.simulationStep() def set_traffic_light_status_to_SUMO(self, sumo_tl_id, tl_state_string): + """ + Set traffic light status to SUMO + ------------- + sumo_tl_id: SUMO traffic light ID (example: 1008) + type: int + ------------- + tl_state_string: traffic light state string for SUMO (example: "rrrrrr") + type: string + """ traci.trafficlight.setRedYellowGreenState(str(sumo_tl_id), tl_state_string) def get_detector_status_from_SUMO(self): ## TBD pass - - From b1881eda29eaf756a70815a96722743a3f84af06 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 24 Feb 2023 23:39:53 -0500 Subject: [PATCH 015/124] Rename parameters which was confused --- evc-sumo/src/evc_sumo_bridge.py | 4 ++-- evc-sumo/test/unit_test.py | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/evc-sumo/src/evc_sumo_bridge.py b/evc-sumo/src/evc_sumo_bridge.py index cb0f3170..a650e414 100644 --- a/evc-sumo/src/evc_sumo_bridge.py +++ b/evc-sumo/src/evc_sumo_bridge.py @@ -8,7 +8,7 @@ def run(args): sumo_connector = SumoConnector(args.traci_port, args.traci_order_num) - evc_connector = EvcConnector(args.asc3app_path, args.controller_cfg_path) + evc_connector = EvcConnector(args.asc3app_path, args.evc_sumo_cfg_path) evc_connector.run(sumo_connector) if __name__ == "__main__": @@ -22,7 +22,7 @@ def run(args): arg.add_argument('--traci-order-num', default=2, help='Traci order number for SUMO multi-clients connection') - arg.add_argument('--controller-cfg-path', + arg.add_argument('--evc-sumo-cfg-path', default='resources/controller_cfg.json') args = arg.parse_args() run(args) diff --git a/evc-sumo/test/unit_test.py b/evc-sumo/test/unit_test.py index f279cca2..a90508b3 100644 --- a/evc-sumo/test/unit_test.py +++ b/evc-sumo/test/unit_test.py @@ -33,15 +33,15 @@ def is_cob_on(self, index): class TestEvcConnector(unittest.TestCase): def setUp(self): self.asc3app_path = Path(os.path.abspath(os.path.join(__file__, "..", "asc3app"))) - self.controller_cfg_path = Path(os.path.abspath(os.path.join(__file__, "..", "resources", "test_controller_cfg.json"))) + self.evc_sumo_cfg_path = Path(os.path.abspath(os.path.join(__file__, "..", "resources", "test_controller_cfg.json"))) def test_get_controller_cfg_path_list(self): - evc_connector = EvcConnector(self.asc3app_path, self.controller_cfg_path) + evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) evc_connector.get_controller_cfg_path_list() self.assertEqual(len(evc_connector.controller_cfg_path_list), 2) def test_cob_to_traffic_light_status(self): - evc_connector = EvcConnector(self.asc3app_path, self.controller_cfg_path) + evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) phase = 1 ## get green light string green_io = TestControllerIOGreen() @@ -57,7 +57,7 @@ def test_cob_to_traffic_light_status(self): self.assertEqual(state, "r") def test_get_traffic_light_status(self): - evc_connector = EvcConnector(self.asc3app_path, self.controller_cfg_path) + evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) ## get green light state string green_io = TestControllerIOGreen() From 7ffbb5754e679b43b0c5e69e6ce0545d319076fa Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Sat, 25 Feb 2023 16:04:34 -0500 Subject: [PATCH 016/124] Complete comments for every functions --- evc-sumo/src/evc_connector.py | 55 ++++++++++++++++++++-------------- evc-sumo/src/sumo_connector.py | 24 +++++++++++---- 2 files changed, 52 insertions(+), 27 deletions(-) diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index 05c63423..781573f7 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -15,14 +15,14 @@ def tick(self): def __init__(self, asc3app_path, evc_sumo_cfg_path): """ - Initialize - ------------- - asc3app_path: The directory to asc3app which provided by Econolite team + Initialize EvcConnector object + + Parameters: + - asc3app_path: The directory to asc3app which is provided by the Econolite team type: string - ------------- - evc_sumo_cfg_path: The directory to evc_sumo_cfg.json file, default path is "resources/evc_sumo_cfg.json" + + - evc_sumo_cfg_path: The directory to evc_sumo_cfg.json file, default path is "resources/evc_sumo_cfg.json" type: string - ------------- """ self.asc3app_path = asc3app_path self.evc_sumo_cfg_path = evc_sumo_cfg_path @@ -30,20 +30,25 @@ def __init__(self, asc3app_path, evc_sumo_cfg_path): self.controller_io_list = [] def detector_status_to_CIB(self): - ## TBD + """ + Convert detector status to CIB + """ pass def COB_to_traffic_light_status(self, controller_io, phase_id): """ Convert COB status to string - ------------- - controller_io: The controller input/output (cib/cob) - type: - ------------- - phase_id: The EVC traffic light phase ID, start from 1 + + Parameters: + - controller_io: The controller input/output (cib/cob) + type: pyeos.common.harness + + - phase_id: The EVC traffic light phase ID, start from 1 type: int - ------------- """ + ## This function converts the COB status for a given traffic light phase to a string representing its state (red, yellow, or green). + ## The controller input/output (cib/cob) is passed as an argument along with the phase ID. + ## The function returns a string representing the state of the traffic light phase. ## is_cob_on(0) is to check if phase 1 is or not in green state ## is_cob_on(16) is to check if phase 1 is or not in yellow state @@ -58,14 +63,16 @@ def COB_to_traffic_light_status(self, controller_io, phase_id): def get_traffic_light_status_from_EVC(self, controller_io, phases): """ Get traffic light status from EVC to SUMO state string - ------------- - controller_io: The controller input/output (cib/cob) - type: - ------------- - phases: Phases information defined in controller_cfg.json file + + Parameters: + - controller_io: The controller input/output (cib/cob) + type: pyeos.common.harness + + - phases: Phases information defined in evc_sumo_cfg.json file type: dict - ------------- - return: string + + Returns: + - string: A string representing the current state of the traffic light. The possible characters are "r" for red, "y" for yellow, and "g" for green. """ ## get number of characters in state string for SUMO @@ -85,7 +92,7 @@ def set_detector_status_to_EVC(self): def get_controller_cfg_path_list(self): """ - Store all controller config path into a list in order to pass to eos_factory to initialize controllers + Get the controller config path list """ with open(self.evc_sumo_cfg_path) as cfg_file: self.config_json = json.load(cfg_file) @@ -95,7 +102,11 @@ def get_controller_cfg_path_list(self): def run(self, sumo_connector): """ - main loop + The main loop for the EVC connector + ------------- + sumo_connector: The SUMO connector instance + type: object + ------------- """ ## init traci connection with sumo_connector.traci_handler() as traci_session: diff --git a/evc-sumo/src/sumo_connector.py b/evc-sumo/src/sumo_connector.py index c91e8e80..727e1d61 100644 --- a/evc-sumo/src/sumo_connector.py +++ b/evc-sumo/src/sumo_connector.py @@ -1,5 +1,6 @@ import sys import os + if 'SUMO_HOME' in os.environ: sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools')) else: @@ -11,11 +12,20 @@ class SumoConnector: def __init__(self, port, order_num): + """ + Initialize SumoConnector object + + Parameters: + - port: The port number to connect to SUMO, which should be consistent with SUMO simulator setting + type: string + + - order_num: The priority order number of the connection to SUMO, which should be consistent with other SUMO connections if any + type: string + """ self.port = port self.order_num = order_num self.traci = traci - @contextmanager def traci_handler(self): """ @@ -35,15 +45,19 @@ def tick(self): def set_traffic_light_status_to_SUMO(self, sumo_tl_id, tl_state_string): """ Set traffic light status to SUMO - ------------- - sumo_tl_id: SUMO traffic light ID (example: 1008) + + Parameters: + - sumo_tl_id: SUMO traffic light ID (example: 1008) type: int - ------------- - tl_state_string: traffic light state string for SUMO (example: "rrrrrr") + + - tl_state_string: traffic light state string for SUMO (example: "rrrrrr") type: string """ traci.trafficlight.setRedYellowGreenState(str(sumo_tl_id), tl_state_string) def get_detector_status_from_SUMO(self): + """ + Get detector status from SUMO + """ ## TBD pass From b3495902caa545d25a587d586a0c8173805a7689 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 1 Mar 2023 20:48:36 -0500 Subject: [PATCH 017/124] Fix strange formatting --- .../mosaic/fed/sumo/traci/TraciClient.java | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java index c368975c..96eb59ca 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/TraciClient.java @@ -175,14 +175,17 @@ public void close() { } } + /** + * Set MOSAIC client order number to SUMO via traci + */ public void setOrder(int orderNum) { - try { - commandRegister.getOrCreate(TraciSetOrder.class).execute(this, orderNum); - } catch (TraciCommandException e) { - e.printStackTrace(); - } catch (InternalFederateException e) { - e.printStackTrace(); - } + try { + commandRegister.getOrCreate(TraciSetOrder.class).execute(this, orderNum); + } catch (TraciCommandException e) { + e.printStackTrace(); + } catch (InternalFederateException e) { + e.printStackTrace(); + } } @Override From a580a7db4b59f86de9c5f6f3172f3623aee9e3e1 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 1 Mar 2023 20:52:39 -0500 Subject: [PATCH 018/124] Add copy right --- .../sumo/traci/commands/TraciSetOrder.java | 29 ++++++++++--------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java index ffbea8ad..7cd4f7a8 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java @@ -1,17 +1,18 @@ -/* - * Copyright (c) 2020 Fraunhofer FOKUS and others. All rights reserved. - * - * See the NOTICE file(s) distributed with this work for additional - * information regarding copyright ownership. - * - * This program and the accompanying materials are made available under the - * terms of the Eclipse Public License 2.0 which is available at - * http://www.eclipse.org/legal/epl-2.0 - * - * SPDX-License-Identifier: EPL-2.0 - * - * Contact: mosaic@fokus.fraunhofer.de - */ + /* + * Copyright (C) 2022 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ package org.eclipse.mosaic.fed.sumo.traci.commands; From b4a98a1df47c93d92ae90c599167c351a6a6799c Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 1 Mar 2023 23:59:21 -0500 Subject: [PATCH 019/124] Update sumo_simulation.py --- .../carla_integration/sumo_simulation.py | 47 +++++++++++++------ 1 file changed, 32 insertions(+), 15 deletions(-) diff --git a/co-simulation/bridge/carla_integration/sumo_simulation.py b/co-simulation/bridge/carla_integration/sumo_simulation.py index df036ff1..d4f71661 100644 --- a/co-simulation/bridge/carla_integration/sumo_simulation.py +++ b/co-simulation/bridge/carla_integration/sumo_simulation.py @@ -228,25 +228,42 @@ def get_all_associated_signals(self, landmark_id): signals.update(self._tls[tlid][program_id].get_associated_signals(landmark_id)) return signals - def get_live_state(self, landmark_id): + + def get_state_from_sumo(self, landmark_id): + """ + This function will send a request to get sumo current traffic light state via MOSAIC + Returns the traffic light state of the signals associated with the given landmark. + """ link_index_list = [] _tlid = -1 for tlid, link_index in self.get_all_associated_signals(landmark_id): _tlid = tlid link_index_list.append(link_index) - state_string = traci.trafficlight.getRedYellowGreenState(_tlid) - state_list = [] - for link_index in link_index_list: - state_list.append(state_string[link_index]) - for state in state_list: - if state == 'g' or state == 'G': - return SumoSignalState.GREEN_WITHOUT_PRIORITY - elif state == 'y': - return SumoSignalState.YELLOW - else: - return SumoSignalState.RED + ## SUMO traffic light state, ex 'rrggrr' in a intersection + sumo_tl_state_string = traci.trafficlight.getRedYellowGreenState(_tlid) + ## Collect state for the current phase from a intersection, + ## ex, if intersection tl state 'rrggrr' and current phase (west=>east) occupies index 1 and 2 + ## then phase_state_list will be ['g','g'] + phase_state_list = [] + for link_index in link_index_list: + phase_state_list.append(sumo_tl_state_string[link_index]) + + ## Since CARLA traffic light 3D model currently only have green, red and yellow states + ## which left and right turn arrow can not be shown. As a result, if one of state + ## in a phase is green or yellow then return green or yellow state for CARLA traffic light + ## when all states in a phase are red then set red to CARLA traffic light + + # if one of the state in the list is 'g' then return green for CARLA + if 'g' in phase_state_list or 'G' in phase_state_list: + return SumoSignalState.GREEN_WITHOUT_PRIORITY + # else if one of the state in the list is 'y' then return yellow for CARLA + elif 'y' in phase_state_list: + return SumoSignalState.YELLOW + # else if all of the states in the list are 'r' then return r for CARLA + else: + return SumoSignalState.RED def get_state(self, landmark_id): """ @@ -424,8 +441,8 @@ def destroy_actor(actor_id): """ traci.vehicle.remove(actor_id) - def get_traffic_light_live_state(self, landmark_id): - return self.traffic_light_manager.get_live_state(landmark_id) + def get_traffic_light_state_from_sumo(self, landmark_id): + return self.traffic_light_manager.get_state_from_sumo(landmark_id) def get_traffic_light_state(self, landmark_id): """ @@ -478,8 +495,8 @@ def tick(self): self.traffic_light_manager = SumoTLManager() self.firstTime = False traci.simulationStep() - # print(traci.trafficlight.getRedYellowGreenState('1008')) self.traffic_light_manager.tick() + # Update data structures for the current frame. self.spawned_actors = set(traci.simulation.getDepartedIDList()) self.destroyed_actors = set(traci.simulation.getArrivedIDList()) From 93ba50f9b82fabca87b239a8770ad25c3a781c68 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 02:02:00 -0500 Subject: [PATCH 020/124] Added Leidos copyright and synchronize timestep management from MOSAIC --- evc-sumo/src/evc_connector.py | 30 ++++++++++++++++++++++++++---- 1 file changed, 26 insertions(+), 4 deletions(-) diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index 781573f7..ab4a3c01 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -1,3 +1,18 @@ + # Copyright (C) 2022 LEIDOS. + # + # Licensed under the Apache License, Version 2.0 (the "License"); you may not + # use this file except in compliance with the License. You may obtain a copy of + # the License at + # + # http://www.apache.org/licenses/LICENSE-2.0 + # + # Unless required by applicable law or agreed to in writing, software + # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + # License for the specific language governing permissions and limitations under + # the License. + # + from pyeos.virtual.factory import virtual_factory from pyeos.virtual import VirtualControllerOptions import json @@ -6,12 +21,12 @@ class EvcConnector: - def tick(self): + def tick(self, advance_steps): """ Advance EVC controllers time via PyEOS """ for harness in self.harness_list: - harness.tick(1) + harness.tick(advance_steps) def __init__(self, asc3app_path, evc_sumo_cfg_path): """ @@ -53,6 +68,7 @@ def COB_to_traffic_light_status(self, controller_io, phase_id): ## is_cob_on(0) is to check if phase 1 is or not in green state ## is_cob_on(16) is to check if phase 1 is or not in yellow state ## is_cob_on(32) is to check if phase 1 is or not in red state + ## MAX_INTERSECTION_PHASES default setting is value 16 as setting in line 20 if controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 2) ): return 'r' elif controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 1) ): @@ -135,7 +151,13 @@ def run(self, sumo_connector): ## io needs to be used to get CIB/COB for i in range(len(harnesses)): io = harnesses[i].io() - harnesses[i].tick(1) + + ## harness.tick is a fix step length, 0.1, with given value update times + ## if harness.tick(1) which means advance EVC 1 time within 0.1 second + ## if harness.tick(10) which means advance EVC 10 time within 0.1 second + ## By retrieving step length from SUMO (which is configured in MOSAIC configuration file) + ## the formula to convert the value for EVC will be 1 / (sumo_step_length * 10) + harnesses[i].tick( 1 / (sumo_connector.traci_get_step_length() * 10) ) self.controller_io_list.append(io) self.harness_list.append(harnesses[i]) @@ -144,4 +166,4 @@ def run(self, sumo_connector): for i in range(len(self.controller_io_list)): tl_state_string = self.get_traffic_light_status_from_EVC(self.controller_io_list[i], self.config_json['controllers'][i]['phases']) sumo_connector.set_traffic_light_status_to_SUMO(self.config_json['controllers'][i]['sumoTlId'], tl_state_string) - self.tick() + self.tick( 1 / (sumo_connector.traci_get_step_length() * 10) ) From d4010aaf37361fea7d5a41cfa2c461eeb99634c0 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 02:02:16 -0500 Subject: [PATCH 021/124] Added copyright --- evc-sumo/test/unit_test.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/evc-sumo/test/unit_test.py b/evc-sumo/test/unit_test.py index a90508b3..5d659de7 100644 --- a/evc-sumo/test/unit_test.py +++ b/evc-sumo/test/unit_test.py @@ -1,3 +1,19 @@ + # Copyright (C) 2022 LEIDOS. + # + # Licensed under the Apache License, Version 2.0 (the "License"); you may not + # use this file except in compliance with the License. You may obtain a copy of + # the License at + # + # http://www.apache.org/licenses/LICENSE-2.0 + # + # Unless required by applicable law or agreed to in writing, software + # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + # License for the specific language governing permissions and limitations under + # the License. + # + + import unittest import os import sys @@ -33,7 +49,7 @@ def is_cob_on(self, index): class TestEvcConnector(unittest.TestCase): def setUp(self): self.asc3app_path = Path(os.path.abspath(os.path.join(__file__, "..", "asc3app"))) - self.evc_sumo_cfg_path = Path(os.path.abspath(os.path.join(__file__, "..", "resources", "test_controller_cfg.json"))) + self.evc_sumo_cfg_path = Path(os.path.abspath(os.path.join(__file__, "..", "resources", "test_evc_sumo_cfg.json"))) def test_get_controller_cfg_path_list(self): evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) From 69403a6b385c58b415ac5fa282e25ffc0286c8b7 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 02:02:44 -0500 Subject: [PATCH 022/124] Added copyright and function to get step length from SUMO via traci --- evc-sumo/src/sumo_connector.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/evc-sumo/src/sumo_connector.py b/evc-sumo/src/sumo_connector.py index 727e1d61..e66e9228 100644 --- a/evc-sumo/src/sumo_connector.py +++ b/evc-sumo/src/sumo_connector.py @@ -1,3 +1,18 @@ + # Copyright (C) 2022 LEIDOS. + # + # Licensed under the Apache License, Version 2.0 (the "License"); you may not + # use this file except in compliance with the License. You may obtain a copy of + # the License at + # + # http://www.apache.org/licenses/LICENSE-2.0 + # + # Unless required by applicable law or agreed to in writing, software + # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + # License for the specific language governing permissions and limitations under + # the License. + # + import sys import os @@ -26,6 +41,9 @@ def __init__(self, port, order_num): self.order_num = order_num self.traci = traci + def traci_get_step_length(self): + return traci.simulation.getDeltaT() + @contextmanager def traci_handler(self): """ From 771ed0e204b3d2730d8174a524585b858a8f6f47 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 02:03:24 -0500 Subject: [PATCH 023/124] Updated controllerCfgPath value --- evc-sumo/src/resources/evc_sumo_cfg.json | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/evc-sumo/src/resources/evc_sumo_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json index 14c628b1..1d6ce22a 100644 --- a/evc-sumo/src/resources/evc_sumo_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -4,7 +4,7 @@ "controllerId": 1, "sumoTlId": 1008, "enableWebPanel": true, - "controllerCfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", + "controllerCfgPath": "resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,5]}, {"phaseId": 2, "index":[3,4]}, {"phaseId": 3, "index":[0,2]} ] @@ -13,7 +13,7 @@ "controllerId": 2, "sumoTlId": 621, "enableWebPanel": true, - "controllerCfgPath": "/opt/carma-simulation/evc-sumo/evc_sumo_bridge/resources/skip_setup.cfg", + "controllerCfgPath": "resources/skip_setup.cfg", "phases": [{"phaseId": 1, "index":[1,8,10]}, {"phaseId": 2, "index":[0,5,11]}, {"phaseId": 3, "index":[3,4,9]}, From dd0a194ab9de41aabe744541797d04ff19fd652d Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 02:04:06 -0500 Subject: [PATCH 024/124] Updated traci-port to 2010 which is the default setting of SUMO launched by MOSAIC --- evc-sumo/src/evc_sumo_bridge.py | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/evc-sumo/src/evc_sumo_bridge.py b/evc-sumo/src/evc_sumo_bridge.py index a650e414..03a31782 100644 --- a/evc-sumo/src/evc_sumo_bridge.py +++ b/evc-sumo/src/evc_sumo_bridge.py @@ -1,3 +1,19 @@ + # Copyright (C) 2022 LEIDOS. + # + # Licensed under the Apache License, Version 2.0 (the "License"); you may not + # use this file except in compliance with the License. You may obtain a copy of + # the License at + # + # http://www.apache.org/licenses/LICENSE-2.0 + # + # Unless required by applicable law or agreed to in writing, software + # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + # License for the specific language governing permissions and limitations under + # the License. + # + + import sys import os from pathlib import Path @@ -17,12 +33,12 @@ def run(args): required=True, help='asc3app-application file path') arg.add_argument('--traci-port', - default=2000, + default=2010, help='Traci port to connect to SUMO') arg.add_argument('--traci-order-num', default=2, help='Traci order number for SUMO multi-clients connection') arg.add_argument('--evc-sumo-cfg-path', - default='resources/controller_cfg.json') + default='resources/evc_sumo_cfg.json') args = arg.parse_args() run(args) From 4d51eb982d0ce3769a5a03eb9713720933cf2d85 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 22:00:22 -0500 Subject: [PATCH 025/124] Added EVC testing config file for unit test --- evc-sumo/test/resources/test.cfg | Bin 0 -> 147474 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 evc-sumo/test/resources/test.cfg diff --git 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From: Cheng Yuan Date: Thu, 2 Mar 2023 22:06:40 -0500 Subject: [PATCH 026/124] Updated unit test to match with evc_sumo_cfg.json format --- evc-sumo/test/unit_test.py | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/evc-sumo/test/unit_test.py b/evc-sumo/test/unit_test.py index 5d659de7..6f5c0b08 100644 --- a/evc-sumo/test/unit_test.py +++ b/evc-sumo/test/unit_test.py @@ -19,7 +19,7 @@ import sys from pathlib import Path -sys.path.append('../evc_sumo_bridge') +sys.path.append('../src') from evc_connector import EvcConnector class TestControllerIOGreen(object): @@ -51,10 +51,9 @@ def setUp(self): self.asc3app_path = Path(os.path.abspath(os.path.join(__file__, "..", "asc3app"))) self.evc_sumo_cfg_path = Path(os.path.abspath(os.path.join(__file__, "..", "resources", "test_evc_sumo_cfg.json"))) - def test_get_controller_cfg_path_list(self): + def test_get_controller_cfg_list(self): evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) - evc_connector.get_controller_cfg_path_list() - self.assertEqual(len(evc_connector.controller_cfg_path_list), 2) + self.assertEqual(len(evc_connector.get_controller_cfg_list()), 2) def test_cob_to_traffic_light_status(self): evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) @@ -77,15 +76,15 @@ def test_get_traffic_light_status(self): ## get green light state string green_io = TestControllerIOGreen() - state = evc_connector.get_traffic_light_status_from_EVC(green_io, [{"index": [0, 1], "phaseId": 1}, {"index": [2, 3], "phaseId": 2}]) + state = evc_connector.get_traffic_light_status_from_EVC(green_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) self.assertEqual(state, "gggg") ## get yellow light state string yellow_io = TestControllerIOYellow() - state = evc_connector.get_traffic_light_status_from_EVC(yellow_io, [{"index": [0, 1], "phaseId": 1}, {"index": [2, 3], "phaseId": 2}]) + state = evc_connector.get_traffic_light_status_from_EVC(yellow_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) self.assertEqual(state, "yyyy") ## get red light state string red_io = TestControllerIORed() - state = evc_connector.get_traffic_light_status_from_EVC(red_io, [{"index": [0, 1], "phaseId": 1}, {"index": [2, 3], "phaseId": 2}]) + state = evc_connector.get_traffic_light_status_from_EVC(red_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) self.assertEqual(state, "rrrr") if __name__ == '__main__': From 9cb8984e03c86365ad39f7324c11bd309d83f959 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 22:07:19 -0500 Subject: [PATCH 027/124] Added more configuration option for EVC controller --- evc-sumo/src/resources/evc_sumo_cfg.json | 30 +++++++++++++------ .../test/resources/test_evc_sumo_cfg.json | 30 +++++++++++++------ 2 files changed, 42 insertions(+), 18 deletions(-) diff --git a/evc-sumo/src/resources/evc_sumo_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json index 1d6ce22a..2ab10d68 100644 --- a/evc-sumo/src/resources/evc_sumo_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -2,22 +2,34 @@ "controllers": [ { "controllerId": 1, + "controllerCfgPath": "resources/skip_setup.cfg", + "start_time": null, + "https_port": 0, + "web_port": 0, + "snmp_port": 0, + "harness_port": 0, + "controller_speed": null, "sumoTlId": 1008, "enableWebPanel": true, - "controllerCfgPath": "resources/skip_setup.cfg", - "phases": [{"phaseId": 1, "index":[1,5]}, - {"phaseId": 2, "index":[3,4]}, - {"phaseId": 3, "index":[0,2]} ] + "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,5]}, + {"evcPhaseId": 2, "sumoTlStateIndex":[3,4]}, + {"evcPhaseId": 3, "sumoTlStateIndex":[0,2]} ] }, { "controllerId": 2, + "controllerCfgPath": "resources/skip_setup.cfg", + "start_time": null, + "https_port": 0, + "web_port": 0, + "snmp_port": 0, + "harness_port": 0, + "controller_speed": null, "sumoTlId": 621, "enableWebPanel": true, - "controllerCfgPath": "resources/skip_setup.cfg", - "phases": [{"phaseId": 1, "index":[1,8,10]}, - {"phaseId": 2, "index":[0,5,11]}, - {"phaseId": 3, "index":[3,4,9]}, - {"phaseId": 4, "index":[2,6,7]} ] + "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,8,10]}, + {"evcPhaseId": 2, "sumoTlStateIndex":[0,5,11]}, + {"evcPhaseId": 3, "sumoTlStateIndex":[3,4,9]}, + {"evcPhaseId": 4, "sumoTlStateIndex":[2,6,7]} ] } ] } diff --git a/evc-sumo/test/resources/test_evc_sumo_cfg.json b/evc-sumo/test/resources/test_evc_sumo_cfg.json index ce20ce8e..2ab10d68 100644 --- a/evc-sumo/test/resources/test_evc_sumo_cfg.json +++ b/evc-sumo/test/resources/test_evc_sumo_cfg.json @@ -2,22 +2,34 @@ "controllers": [ { "controllerId": 1, + "controllerCfgPath": "resources/skip_setup.cfg", + "start_time": null, + "https_port": 0, + "web_port": 0, + "snmp_port": 0, + "harness_port": 0, + "controller_speed": null, "sumoTlId": 1008, "enableWebPanel": true, - "cfgPath": "/opt/carma-simulation/evc-sumo/test/resources/skip_setup.cfg", - "phases": [{"phaseId": 1, "index":[1,5]}, - {"phaseId": 2, "index":[3,4]}, - {"phaseId": 3, "index":[0,2]} ] + "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,5]}, + {"evcPhaseId": 2, "sumoTlStateIndex":[3,4]}, + {"evcPhaseId": 3, "sumoTlStateIndex":[0,2]} ] }, { "controllerId": 2, + "controllerCfgPath": "resources/skip_setup.cfg", + "start_time": null, + "https_port": 0, + "web_port": 0, + "snmp_port": 0, + "harness_port": 0, + "controller_speed": null, "sumoTlId": 621, "enableWebPanel": true, - "cfgPath": "/opt/carma-simulation/evc-sumo/test/resources/skip_setup.cfg", - "phases": [{"phaseId": 1, "index":[1,8,10]}, - {"phaseId": 2, "index":[0,5,11]}, - {"phaseId": 3, "index":[3,4,9]}, - {"phaseId": 4, "index":[2,6,7]} ] + "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,8,10]}, + {"evcPhaseId": 2, "sumoTlStateIndex":[0,5,11]}, + {"evcPhaseId": 3, "sumoTlStateIndex":[3,4,9]}, + {"evcPhaseId": 4, "sumoTlStateIndex":[2,6,7]} ] } ] } From 8e40af2aef59d38416e19b501526c9e404004eac Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 2 Mar 2023 22:08:04 -0500 Subject: [PATCH 028/124] Updated EVC connector --- evc-sumo/src/evc_connector.py | 40 +++++++++++++++++++++-------------- 1 file changed, 24 insertions(+), 16 deletions(-) diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index ab4a3c01..92a4ad7e 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -50,7 +50,7 @@ def detector_status_to_CIB(self): """ pass - def COB_to_traffic_light_status(self, controller_io, phase_id): + def COB_to_traffic_light_status(self, controller_io, evc_phase_id): """ Convert COB status to string @@ -58,7 +58,7 @@ def COB_to_traffic_light_status(self, controller_io, phase_id): - controller_io: The controller input/output (cib/cob) type: pyeos.common.harness - - phase_id: The EVC traffic light phase ID, start from 1 + - evc_phase_id: The EVC traffic light phase ID, start from 1 type: int """ ## This function converts the COB status for a given traffic light phase to a string representing its state (red, yellow, or green). @@ -69,11 +69,11 @@ def COB_to_traffic_light_status(self, controller_io, phase_id): ## is_cob_on(16) is to check if phase 1 is or not in yellow state ## is_cob_on(32) is to check if phase 1 is or not in red state ## MAX_INTERSECTION_PHASES default setting is value 16 as setting in line 20 - if controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 2) ): + if controller_io.is_cob_on( (evc_phase_id - 1) + (MAX_INTERSECTION_PHASES * 2) ): return 'r' - elif controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 1) ): + elif controller_io.is_cob_on( (evc_phase_id - 1) + (MAX_INTERSECTION_PHASES * 1) ): return 'y' - elif controller_io.is_cob_on( (phase_id - 1) + (MAX_INTERSECTION_PHASES * 0) ): + elif controller_io.is_cob_on( (evc_phase_id - 1) + (MAX_INTERSECTION_PHASES * 0) ): return 'g' def get_traffic_light_status_from_EVC(self, controller_io, phases): @@ -94,27 +94,37 @@ def get_traffic_light_status_from_EVC(self, controller_io, phases): ## get number of characters in state string for SUMO state_num = 0 for phase in phases: - state_num = state_num + len(phase["index"]) + state_num = state_num + len(phase["sumoTlStateIndex"]) ## init sumo tl state string with all red states state_string = ['r'] * state_num for phase in phases: - state_string = [self.COB_to_traffic_light_status(controller_io, phase['phaseId']) if i in phase['index'] else x for i,x in enumerate(state_string)] + state_string = [self.COB_to_traffic_light_status(controller_io, phase['evcPhaseId']) if i in phase['sumoTlStateIndex'] else x for i,x in enumerate(state_string)] return ''.join(state_string) def set_detector_status_to_EVC(self): ## TBD pass - def get_controller_cfg_path_list(self): + def get_controller_cfg_list(self): """ Get the controller config path list """ + controller_cfg_list = [] with open(self.evc_sumo_cfg_path) as cfg_file: self.config_json = json.load(cfg_file) - self.controller_cfg_path_list = [] for controller_cfg_path in self.config_json['controllers']: - self.controller_cfg_path_list.append(VirtualControllerOptions(controller_cfg_path['controllerCfgPath'])) + option = VirtualControllerOptions( + cfg_path=controller_cfg_path['controllerCfgPath'], + start_time=controller_cfg_path['start_time'], + https_port=controller_cfg_path['https_port'], + web_port=controller_cfg_path['web_port'], + snmp_port=controller_cfg_path['snmp_port'], + harness_port=controller_cfg_path['harness_port'], + controller_speed=controller_cfg_path['controller_speed']) + controller_cfg_list.append(option) + return controller_cfg_list + def run(self, sumo_connector): """ @@ -130,10 +140,8 @@ def run(self, sumo_connector): ## init EVC with virtual_factory(self.asc3app_path) as eos_factory: - self.get_controller_cfg_path_list() - ## init eos controller(s) - with eos_factory.run_multiple(self.controller_cfg_path_list) as eos_controllers: + with eos_factory.run_multiple(self.get_controller_cfg_list()) as eos_controllers: ## enable/disable EVC web panel for i in range(len(eos_controllers)): @@ -157,13 +165,13 @@ def run(self, sumo_connector): ## if harness.tick(10) which means advance EVC 10 time within 0.1 second ## By retrieving step length from SUMO (which is configured in MOSAIC configuration file) ## the formula to convert the value for EVC will be 1 / (sumo_step_length * 10) - harnesses[i].tick( 1 / (sumo_connector.traci_get_step_length() * 10) ) + harnesses[i].tick( int(1 / (sumo_connector.traci_get_step_length() * 10)) ) self.controller_io_list.append(io) self.harness_list.append(harnesses[i]) while True: sumo_connector.tick() for i in range(len(self.controller_io_list)): - tl_state_string = self.get_traffic_light_status_from_EVC(self.controller_io_list[i], self.config_json['controllers'][i]['phases']) + tl_state_string = self.get_traffic_light_status_from_EVC(self.controller_io_list[i], self.config_json['controllers'][i]['evcPhases']) sumo_connector.set_traffic_light_status_to_SUMO(self.config_json['controllers'][i]['sumoTlId'], tl_state_string) - self.tick( 1 / (sumo_connector.traci_get_step_length() * 10) ) + self.tick( int(1 / (sumo_connector.traci_get_step_length() * 10)) ) From 949049ef234a466c1fdcb4b6dcf8c2f8abc90286 Mon Sep 17 00:00:00 2001 From: Cody Garver Date: Mon, 6 Mar 2023 16:46:40 -0500 Subject: [PATCH 029/124] Delete CircleCi --- .circleci/config.yml | 96 -------------------------------------------- 1 file changed, 96 deletions(-) delete mode 100644 .circleci/config.yml diff --git a/.circleci/config.yml b/.circleci/config.yml deleted file mode 100644 index aed14948..00000000 --- a/.circleci/config.yml +++ /dev/null @@ -1,96 +0,0 @@ -version: 2 -# Copyright (C) 2018-2020 LEIDOS. -# -# Licensed under the Apache License, Version 2.0 (the "License"); you may not -# use this file except in compliance with the License. You may obtain a copy of -# the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the -# License for the specific language governing permissions and limitations under -# the License. -# - -# Configuration file for Circle CI -# CI will report failure if any executed command returns and error status -# Operations performed are as follows -# Build source code -# Run unit tests for C++ and Java -# Run static code analyzer for SourceCloud -# Upload test results -# Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available - -jobs: - build: - # Pull docker image from docker hub - # XTERM used for better catkin_make output - docker: - - image: usdotfhwastoldev/carma-base:develop - user: carma - environment: - TERM: xterm # use xterm to get full display output from build - INIT_ENV: /home/carma/.base-image/init-env.sh - working_directory: "/opt/carma/" - # Execution steps - steps: - - run: - name: Create src folder - command: | - source ${INIT_ENV} - mkdir src - cd src - mkdir carma-simulation - - checkout: - path: src/carma-simulation - - run: - name: Pull Deps - command: | - source ${INIT_ENV} - ./src/carma-simulation/docker/checkout.sh -r ${PWD} - - run: - name: Build Driver - command: | - source ${INIT_ENV} - export ROS_PARALLEL_JOBS='-j1 -l1' # Try to reduce memory consumption on build - build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov - - run: - name: Run C++ Tests - command: | - source ${INIT_ENV} - export ROS_PARALLEL_JOBS='-j1 -l1' # Try to reduce memory consumption on build - bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov - # Run SonarCloud analysis - # PR Branchs and number extracted from Circle variables and github api - # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats - # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file. - # The following sonar settings MUST be set in SonarCloud UI NOT in this file - # sonar.pullrequest.provider - # sonar.pullrequest.github.endpoint - # sonar.pullrequest.github.token.secured - # sonar.pullrequest.github.repository - # Use -X on sonar-scanner to enable debug output - - run: - name: Run Sonar Scanner - command: | - set -x - source ${INIT_ENV} - if [ -z "${CIRCLE_PULL_REQUEST}" ]; then - echo "Non-PR Build Detected. Running analysis on ${CIRCLE_BRANCH}" - cd src/carma-simulation - sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} - exit 0; - fi - echo "PR branch ${CIRCLE_BRANCH}" - echo "Repo name ${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}" - echo "URL ${CIRCLE_PULL_REQUEST}" - export PR_NUM=`echo ${CIRCLE_PULL_REQUEST} | cut -d'/' -f7` - echo "PR number ${PR_NUM}" - export BASE_BRANCH_URL="https://api.github.com/repos/${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}/pulls/${PR_NUM}" - export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"') - echo "Target Branch = ${TARGET_BRANCH}" - cd src/carma-simulation - git fetch --force origin ${TARGET_BRANCH}:${TARGET_BRANCH} - sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} -Dsonar.pullrequest.base=${TARGET_BRANCH} -Dsonar.pullrequest.branch=${CIRCLE_BRANCH} -Dsonar.pullrequest.key=${PR_NUM} From d6c7a4d9477f63c6a19e37e42d23b0648db9a125 Mon Sep 17 00:00:00 2001 From: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Date: Mon, 6 Mar 2023 17:43:17 -0500 Subject: [PATCH 030/124] Add CI for Sonar (#110) # PR Details This PR is to setup sonar cloud to run the C++ tests and publish the sonar cloud reports on sonarcloud.io ## Description ## Related Issue ## Motivation and Context ## How Has This Been Tested? ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [ ] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. --------- Co-authored-by: Cody Garver Co-authored-by: Cody Garver --- .github/workflows/runtest.yml | 21 +++++++++++++++++++++ co-simulation/pom.xml | 10 ++++++++++ 2 files changed, 31 insertions(+) create mode 100644 .github/workflows/runtest.yml diff --git a/.github/workflows/runtest.yml b/.github/workflows/runtest.yml new file mode 100644 index 00000000..f9b90955 --- /dev/null +++ b/.github/workflows/runtest.yml @@ -0,0 +1,21 @@ +name: "CI: Run tests" +on: + pull_request: + push: +jobs: + sonar: # sonar job is to setup and run sonar scan analysis on telematic cloud messaging code + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - name: Set up JDK 8 + uses: actions/setup-java@v3 # The setup-java action provides the functionality for GitHub Actions runners for Downloading and setting up a requested version of Java + with: + java-version: 8 + distribution: "temurin" + - name: Build and analyze + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # Needed to get PR information, if any + SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} + run: | + cd co-simulation + mvn -e -X clean org.jacoco:jacoco-maven-plugin:prepare-agent package sonar:sonar -Dlicense.skip -Dmaven.test.failure.ignore=false -Pcoverage jacoco:report -Dsonar.projectKey=usdot-fhwa-stol_carma-simulation -Dsonar.projectName=carma-simulation -Dsonar.organization=usdot-fhwa-stol -Dsonar.host.url=https://sonarcloud.io diff --git a/co-simulation/pom.xml b/co-simulation/pom.xml index 89565bff..1f5dbaf0 100644 --- a/co-simulation/pom.xml +++ b/co-simulation/pom.xml @@ -83,6 +83,16 @@ + 8 + usdot-fhwa-stol + https://sonarcloud.io + + + 0.8.8 + jacoco + reuseReports + ${project.basedir}/target/site/jacoco/jacoco.xml + java 22.1-SNAPSHOT . UTF-8 From def6b99baa271c8d70b12c9d34843573164b2e0a Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 15 Mar 2023 22:35:23 -0400 Subject: [PATCH 031/124] Added loop detector function and config --- evc-sumo/src/evc_connector.py | 70 +++++++++++++++++------- evc-sumo/src/resources/evc_sumo_cfg.json | 25 ++------- evc-sumo/src/sumo_connector.py | 30 ++++++++-- 3 files changed, 80 insertions(+), 45 deletions(-) diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index 92a4ad7e..4857c75f 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -44,12 +44,6 @@ def __init__(self, asc3app_path, evc_sumo_cfg_path): self.harness_list = [] self.controller_io_list = [] - def detector_status_to_CIB(self): - """ - Convert detector status to CIB - """ - pass - def COB_to_traffic_light_status(self, controller_io, evc_phase_id): """ Convert COB status to string @@ -76,7 +70,7 @@ def COB_to_traffic_light_status(self, controller_io, evc_phase_id): elif controller_io.is_cob_on( (evc_phase_id - 1) + (MAX_INTERSECTION_PHASES * 0) ): return 'g' - def get_traffic_light_status_from_EVC(self, controller_io, phases): + def get_traffic_light_state_from_EVC(self, controller_io, phases): """ Get traffic light status from EVC to SUMO state string @@ -91,20 +85,44 @@ def get_traffic_light_status_from_EVC(self, controller_io, phases): - string: A string representing the current state of the traffic light. The possible characters are "r" for red, "y" for yellow, and "g" for green. """ - ## get number of characters in state string for SUMO - state_num = 0 - for phase in phases: - state_num = state_num + len(phase["sumoTlStateIndex"]) - ## init sumo tl state string with all red states - state_string = ['r'] * state_num + ## get number of characters in state string for SUMO and init sumo tl state string with all red + state_string = ['r'] * sum(len(phase['sumoTlStateIndex']) for phase in phases) for phase in phases: state_string = [self.COB_to_traffic_light_status(controller_io, phase['evcPhaseId']) if i in phase['sumoTlStateIndex'] else x for i,x in enumerate(state_string)] return ''.join(state_string) - def set_detector_status_to_EVC(self): - ## TBD - pass + def set_induction_loop_status_to_EVC(self, controller_io, evc_phase_id, sumo_induction_loop_status): + """ + Set induction loop status from SUMO to EVC via PyEOS CIB + + Parameters: + - controller_io: The controller input/output (cib/cob) + type: pyeos.common.harness + + - evc_phase_id: EVC phase ID + type: int + + - sumo_induction_loop_status: induction loop status retrieved from SumoConnector + type: int + + Returns: + - int: return a integer to represent cib is on or off. + cib on: 1 + cib off: 0 + """ + if sumo_induction_loop_status != 0: + if controller_io.is_cib_off(evc_phase_id - 1): + controller_io.cib_on(evc_phase_id - 1) + return 1 + else: + return 0 + else: + if controller_io.is_cib_on(evc_phase_id - 1): + controller_io.cib_off(evc_phase_id - 1) + return 1 + else: + return 0 def get_controller_cfg_list(self): """ @@ -147,7 +165,7 @@ def run(self, sumo_connector): for i in range(len(eos_controllers)): if self.config_json['controllers'][i]['enableWebPanel']: eos_controllers[i].watch() - print("Launch EOS web pannel for controller ID:", self.config_json['controllers'][i]['controllerId'], ", SUMO TLID:", self.config_json['controllers'][i]['sumoTlId']) + print("Launch EOS web panel for controller ID:", self.config_json['controllers'][i]['controllerId'], ", SUMO TLID:", self.config_json['controllers'][i]['sumoTlId']) else: continue @@ -169,9 +187,21 @@ def run(self, sumo_connector): self.controller_io_list.append(io) self.harness_list.append(harnesses[i]) + ground_truth_sumo_loop_detector_ids = sumo_connector.get_induction_loop_id_list() while True: sumo_connector.tick() - for i in range(len(self.controller_io_list)): - tl_state_string = self.get_traffic_light_status_from_EVC(self.controller_io_list[i], self.config_json['controllers'][i]['evcPhases']) - sumo_connector.set_traffic_light_status_to_SUMO(self.config_json['controllers'][i]['sumoTlId'], tl_state_string) + for i, controller in enumerate(self.config_json['controllers']): + ## Update EVC loop detector status + for evcPhase in controller['evcPhases']: + ## Some intersection or lane might not set loop detector + if 'sumoInductionLoopId' not in evcPhase: + continue + ## Check if induction loop id in config file exists in SUMO simulation + if evcPhase['sumoInductionLoopId'] in ground_truth_sumo_loop_detector_ids: + sumo_induction_loop_status = sumo_connector.get_induction_loop_status_from_SUMO(evcPhase['sumoInductionLoopId']) + self.set_induction_loop_status_to_EVC(self.controller_io_list[i], evcPhase['evcPhaseId'], sumo_induction_loop_status) + + ## Update SUMO traffic light state + tl_state_string = self.get_traffic_light_state_from_EVC(self.controller_io_list[i], controller['evcPhases']) + sumo_connector.set_traffic_light_state_to_SUMO(controller['sumoTlId'], tl_state_string) self.tick( int(1 / (sumo_connector.traci_get_step_length() * 10)) ) diff --git a/evc-sumo/src/resources/evc_sumo_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json index 2ab10d68..aa3a7418 100644 --- a/evc-sumo/src/resources/evc_sumo_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -9,27 +9,12 @@ "snmp_port": 0, "harness_port": 0, "controller_speed": null, - "sumoTlId": 1008, + "sumoTlId": 139, "enableWebPanel": true, - "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,5]}, - {"evcPhaseId": 2, "sumoTlStateIndex":[3,4]}, - {"evcPhaseId": 3, "sumoTlStateIndex":[0,2]} ] - }, - { - "controllerId": 2, - "controllerCfgPath": "resources/skip_setup.cfg", - "start_time": null, - "https_port": 0, - "web_port": 0, - "snmp_port": 0, - "harness_port": 0, - "controller_speed": null, - "sumoTlId": 621, - "enableWebPanel": true, - "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,8,10]}, - {"evcPhaseId": 2, "sumoTlStateIndex":[0,5,11]}, - {"evcPhaseId": 3, "sumoTlStateIndex":[3,4,9]}, - {"evcPhaseId": 4, "sumoTlStateIndex":[2,6,7]} ] + "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[6,7,8], "sumoInductionLoopId":"e1_0"}, + {"evcPhaseId": 2, "sumoTlStateIndex":[9,10,11], "sumoInductionLoopId":"e1_3"}, + {"evcPhaseId": 3, "sumoTlStateIndex":[3,4,5], "sumoInductionLoopId":"e1_1"}, + {"evcPhaseId": 4, "sumoTlStateIndex":[0,1,2], "sumoInductionLoopId":"e1_2"} ] } ] } diff --git a/evc-sumo/src/sumo_connector.py b/evc-sumo/src/sumo_connector.py index e66e9228..a0fe6f5f 100644 --- a/evc-sumo/src/sumo_connector.py +++ b/evc-sumo/src/sumo_connector.py @@ -42,6 +42,9 @@ def __init__(self, port, order_num): self.traci = traci def traci_get_step_length(self): + """ + Get sumo step length + """ return traci.simulation.getDeltaT() @contextmanager @@ -60,7 +63,7 @@ def tick(self): """ self.traci.simulationStep() - def set_traffic_light_status_to_SUMO(self, sumo_tl_id, tl_state_string): + def set_traffic_light_state_to_SUMO(self, sumo_tl_id, tl_state_string): """ Set traffic light status to SUMO @@ -73,9 +76,26 @@ def set_traffic_light_status_to_SUMO(self, sumo_tl_id, tl_state_string): """ traci.trafficlight.setRedYellowGreenState(str(sumo_tl_id), tl_state_string) - def get_detector_status_from_SUMO(self): + def get_induction_loop_id_list(self): """ - Get detector status from SUMO + Retrieves the induction loop id list from the SUMO simulation + + Returns: + - list: list of induction loop id in the SUMO simulation. + """ + return traci.inductionloop.getIDList() + + def get_induction_loop_status_from_SUMO(self, induction_loop_id): + """ + Retrieves the induction loop status from the SUMO simulation and uses the `getLastStepVehicleNumber` + method to get information about the vehicles that passed the detector. + If no vehicles passed the detector, the function returns 0. + Otherwise, it returns the number of vehicles that entered the detector. + + Parameters: + - detector_id (str): The detector ID in the SUMO simulation. + + Returns: + - int: The number of vehicles that entered the detector. """ - ## TBD - pass + return traci.inductionloop.getLastStepVehicleNumber(induction_loop_id) From 4eb4e811840910d0780c2ddec0926a52069cd637 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 17 Mar 2023 23:17:32 -0400 Subject: [PATCH 032/124] commit --- evc-sumo/src/evc_connector.py | 16 ++++- evc-sumo/src/resources/1008.cfg | Bin 0 -> 147474 bytes evc-sumo/src/resources/evc_sumo_cfg.json | 27 ++++++-- evc-sumo/test/unit_test.py | 81 +++++++++++++++++++++-- 4 files changed, 111 insertions(+), 13 deletions(-) create mode 100644 evc-sumo/src/resources/1008.cfg diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index 4857c75f..03c17dd9 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -69,6 +69,8 @@ def COB_to_traffic_light_status(self, controller_io, evc_phase_id): return 'y' elif controller_io.is_cob_on( (evc_phase_id - 1) + (MAX_INTERSECTION_PHASES * 0) ): return 'g' + else: + return None def get_traffic_light_state_from_EVC(self, controller_io, phases): """ @@ -82,7 +84,8 @@ def get_traffic_light_state_from_EVC(self, controller_io, phases): type: dict Returns: - - string: A string representing the current state of the traffic light. The possible characters are "r" for red, "y" for yellow, and "g" for green. + - string: A string representing the current state of the traffic light. + The possible characters are "r" for red, "y" for yellow, and "g" for green and None for exception """ ## get number of characters in state string for SUMO and init sumo tl state string with all red @@ -90,7 +93,10 @@ def get_traffic_light_state_from_EVC(self, controller_io, phases): for phase in phases: state_string = [self.COB_to_traffic_light_status(controller_io, phase['evcPhaseId']) if i in phase['sumoTlStateIndex'] else x for i,x in enumerate(state_string)] - return ''.join(state_string) + if None in state_string: + return None + else: + return ''.join(state_string) def set_induction_loop_status_to_EVC(self, controller_io, evc_phase_id, sumo_induction_loop_status): """ @@ -203,5 +209,9 @@ def run(self, sumo_connector): ## Update SUMO traffic light state tl_state_string = self.get_traffic_light_state_from_EVC(self.controller_io_list[i], controller['evcPhases']) - sumo_connector.set_traffic_light_state_to_SUMO(controller['sumoTlId'], tl_state_string) + if tl_state_string is not None: + sumo_connector.set_traffic_light_state_to_SUMO(controller['sumoTlId'], tl_state_string) + else: + print("Error: Could not connect to EVC, please check EVC-SUMO config") + self.tick( int(1 / (sumo_connector.traci_get_step_length() * 10)) ) diff --git a/evc-sumo/src/resources/1008.cfg b/evc-sumo/src/resources/1008.cfg new file mode 100644 index 0000000000000000000000000000000000000000..0fa52a87c3d01fb957bb7542e75d7ef6409b0b7d GIT binary patch literal 147474 zcmeI5XLKCZ702()7OhrmSq4)>oOJ_33>b@=ki^0**d&p$X{nYi83eXvY}xQFGfJc9 zq@I&PjtdZ~={13ngpg1Z(#}ae1`H>p9lqq`Bp>3u+0|I@zrG`lo^-7CpY>|)f8N}C zXMS_%&FtItu3X&knDk96Jx|0p`ad`CnfbpH3+;VP!*1nG#Eh7HgPvS`2A#w>m^`13 z{VF;866c3F#bI6No}bC)@^yv!VnbQUWi!d4G*-%*av1QD$z zlh~3?Y{@0IM5ltDr!KLjkl2#E)yXZ%Tb$+#mn~HS z`Z-5Bq!SZ37!@*c`Zr#GM3VdXk-tAk-ZqyjI{VSM7t!t@Nr!Y|0te$NlU#4S{`A)? zyYz`Jy=C%!{KPpvF07NeC09IK;+}_BrjhM?S&6-)Zt6Hi^6LeTzlkJYWs+Nxd&}e& zUVr*yoy?8rHm@=<0bXSy5~KERBkJP#Bm>p}Yhc3FK(xbsQ+=Q5XjNau*E(14<>RGO zV#9f^XQ{p}h=U##8_sh*3of1R96ff#c=6Ke`vI{!J~o`^dY0;Ig*fQBvEe+|vs6FF z5C>fm8_sh*OZ8qn4thy!IM4Mgc!sn&M~@x#EXBCFGVcWCBJ?Z`5b9b`E<(>zf>2)q z^Yaf;G<{3zWx>Pa1nZzLm<@e zK)DD#%b^hJRZuQM&oUK4y#>le=vfYfP}tuJ}4KVXE_E!eH4_7(6hV~LahPiBJ?cN zAk^icT!fzGT@dOzP%c8xQif1p2IV63EO`I@O_#vnqi4aheJ6Oh2tCV82z4hY7olgF z1)-h?yqAM=5qg%B zA=FAxE<(>T4?=wml#9@_oC2ZNf^rdhmiZ9s3Q#UW&(aK`t_S5J^em@BsIP!>5qg%> zAk?=&xd=VW=@4ocC>Nn;IRir71w)UQCf2tCVtAk-f~xd=VW zdm+^8pj?EW1 z&w^vS_})Uwz_6O01z$-+;$N&zACEZB45=T=f?fz|XZ>tG#xw;!5P3O&oE;EnH* zLQ_hiXSoc#@tq}TN-6X#o#2h*@z9h~=vgiYZ@g=Urj$a@as_zfy#_R;6nd8R;Eg>r zG^G@JmJQ&Ibq!4^g`Q<2c%y=*ltRza1>QG-auIr#O%Uqqpj?EW011!)36KB@kN^pg011!)36KB@kN^pg011!)36KB@kidWhrph$2 zpS2D%Y8OzG011!)2@DefZ{S}S^h~PgsZWIin`TJ#AKS~l>-(CYUo&}TiWWtGqo?LG zk(Mo5BthT)?u)(@7N+R84eN`O8sml0?;JLi(*MSx?`5*ZdUt=%&t~e2jg#E-XEVim zcmLY`&*$n2r3Ux?AFO}v{twpQ_i+CQ>tDP7xqP9nq11$5i54FmWq#oCADn;f{trGs z?*Cx@Yxh5&E7X-5-1mR5{a>A!x+hkTR{%k(WgzxwZc$%lNDGe@LyU1q;J)PB``bYW2c z%qQTq&o)_~h=`At`B+Qk!!PEK{wYGmCwkAmvN$XHyY-4sF5m0ZB;`0a%oU&LvjCOF z3nYMbW1;v&O$m#uUI~o}i|JD(kO+1Ba*IAw)ZY|=$xJ)&vlKBf&Pjj-NPq-LfCNZ@ z1W14cNPq-LfCNZ@1W14cNMJY#^g9|moQcLnEYh$K6KRl!O~AHU8>C?qux-``Y1jm8 zo3%k2HUZmaZIFgdz_wW%q+t`VZPo^9*aU2wwLuy-0o!J6kcLgbwpkmbVH2=z)&^SsSEb6R>U825Hy?Y@4+~8a4sjW^Is$O~AHU8>C?qux-`` zY1jm8o3%k2HUZmaZIFgdz_wW%q+t`VZPo^9*aU2wwLuy-0o!J6kcLgbwpkmbVH2=z z)&^SsSEb6R>U825Hy?Y@4+~8a4sjW^Is$O~AHU8>C?q zux-``Y1jm8o3%k2HUZmaZIFgdz_wW%q+t`VZPo^9*aU2wwLuy-0o!J6kcLgbwpkmb zVH2=z)&^SsSEb6R>U825Hy?Y@4+~8a4sj?!PwL?Nuj$ z?f1Kno|hHRFNv2i^Q@WYvIQ?+DtL8fUMLlOC^$~A|1wK>H(#omzIhAIehAP3=jQ7wYe!oiPk9IM?`tjtDEoR;W_WX!!^ zu09|4+0s-!OqGjV#T=mpy_>-q36MYyfpYzfhUtZw`_I{$=CLEa=J{uwIzRd|cD9*Y zN&+N60wh2JBtQZrKmsH{0wh2JBtQZrKmsWVc>k`hcrfR2u9TZN0;{#o-(wtBj*8sT;AD84v zY#{*>AOR8}0TLhq5+DH*AOR8}0TLhq5+DH*AOR8}0TLjA(M6z~a&xrx(k|0dr1jO- zV>}U!OWI}RM}AQauwHZqJU?_UtQVaN>qY0ndeOPCUUV+37o7|1Md!kL(Ydf*bS|tH zoeS$l=fZl?xv*YzF02=w3+qMa!g|rUuwHa7tQVaN>qY0ndeOPCUUV+37o7|1Md!kL z(JF(>NPq-LfCNZ@1W14cNPq-LfCNZ@1W14cNPq-LfCNZ@1W14cNPq-LfCNZj!V;+d z_G(sq$@m!=KfhN{-LFh#zhvC)mp@MTD>@A`{`fmy<7~f*ON!0r`~Stvz36EU*xcx# zdH$3XIXO(~O&+ihf9kr zmW8s^o8is$W_h#aEh);;(kRnpuRJbqdV9QAz1O_gy}jNW@$V3f^jua-v&=O6mysD} zFML@cr^s}(|DO5p{?TvGUnFP9adL#&|6|P_=H&u8O=cT5IhiF9gWi2Mr?xMjku9=T zdStV#@t*abkx;IbHVI^ttoA*>>}UMrz1^ebG0=t>0;~d70jq$0fw@GmFW?n{Rlxg# z-Rui^cW7>5*%z=cU={F{V)QC9csjT**dF{axIfqt{3v)J*ctpdcre%%JQF+=+!FjG zcsRHxGnf;@M!Se9_jJI?ct8fc*1tsA&<#ZW?W&fye^N*lkx@mqIu3Vg1YsEVgx7@EhS$kwKLpZ_P*m1iys^7ubGf}^ z%i7JIo4Px@HkP~Al~=87J$dEA*7Am~Z5Y52w9wxzUN(Yjh$SECxbZd>qdP=wDT#E!qfCNZ@ z1W14cNPq-LfCNZ@1W14cNPq-LfCNY&dM9imKlfKaPDbdPWabp-RKLYs%y$HH8=?b3 z4%M<8Q4W6mAE2t`87s48Bi~ZR!@ndz0wh2JW0Szy3&!Sl4`r*Z%ji(Tj1yndun#0@ zkcLgbwpkmbVH2=z)&^SsSEb6R>U825Hy?Y@4+~8a4sj zW^Is$O@KBDkN^pg011!)36KB@kN^pg011!)36KB@kN^pg011!)36KB@kN^pg011!) T36KB@kN^pg!1yQd-&y|$K;V9O literal 0 HcmV?d00001 diff --git a/evc-sumo/src/resources/evc_sumo_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json index aa3a7418..96f8a031 100644 --- a/evc-sumo/src/resources/evc_sumo_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -2,6 +2,21 @@ "controllers": [ { "controllerId": 1, + "controllerCfgPath": "resources/1008.cfg", + "start_time": null, + "https_port": 0, + "web_port": 0, + "snmp_port": 0, + "harness_port": 0, + "controller_speed": null, + "sumoTlId": 1008, + "enableWebPanel": true, + "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[1,5], "sumoInductionLoopId": "e1_0"}, + {"evcPhaseId": 6, "sumoTlStateIndex":[3,4], "sumoInductionLoopId": "e1_1"}, + {"evcPhaseId": 4, "sumoTlStateIndex":[0,2], "sumoInductionLoopId": "e1_2"} ] + }, + { + "controllerId": 2, "controllerCfgPath": "resources/skip_setup.cfg", "start_time": null, "https_port": 0, @@ -9,12 +24,12 @@ "snmp_port": 0, "harness_port": 0, "controller_speed": null, - "sumoTlId": 139, + "sumoTlId": 621, "enableWebPanel": true, - "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[6,7,8], "sumoInductionLoopId":"e1_0"}, - {"evcPhaseId": 2, "sumoTlStateIndex":[9,10,11], "sumoInductionLoopId":"e1_3"}, - {"evcPhaseId": 3, "sumoTlStateIndex":[3,4,5], "sumoInductionLoopId":"e1_1"}, - {"evcPhaseId": 4, "sumoTlStateIndex":[0,1,2], "sumoInductionLoopId":"e1_2"} ] + "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,8,10], "sumoInductionLoopId": "e1_6"}, + {"evcPhaseId": 2, "sumoTlStateIndex":[0,5,11], "sumoInductionLoopId": "e1_5"}, + {"evcPhaseId": 3, "sumoTlStateIndex":[3,4,9], "sumoInductionLoopId": "e1_4"}, + {"evcPhaseId": 4, "sumoTlStateIndex":[2,6,7], "sumoInductionLoopId": "e1_3"} ] } ] -} +} \ No newline at end of file diff --git a/evc-sumo/test/unit_test.py b/evc-sumo/test/unit_test.py index 6f5c0b08..b3e7287b 100644 --- a/evc-sumo/test/unit_test.py +++ b/evc-sumo/test/unit_test.py @@ -18,10 +18,31 @@ import os import sys from pathlib import Path +from unittest.mock import patch sys.path.append('../src') from evc_connector import EvcConnector +class TestControllerIOOff(object): + def is_cib_on(self, index): + return False + def cib_on(self, index): + return + def is_cib_off(self, index): + return True + def cib_off(self, index): + return + +class TestControllerIOOn(object): + def is_cib_on(self, index): + return True + def cib_on(self, index): + return + def is_cib_off(self, index): + return False + def cib_off(self, index): + return + class TestControllerIOGreen(object): def is_cob_on(self, index): green_list = [i for i in range(0, 16)] @@ -52,10 +73,24 @@ def setUp(self): self.evc_sumo_cfg_path = Path(os.path.abspath(os.path.join(__file__, "..", "resources", "test_evc_sumo_cfg.json"))) def test_get_controller_cfg_list(self): + """ + Test the functionality of the `get_controller_cfg_list` method of the `EvcConnector` class. + + This method tests if the `get_controller_cfg_list` method can correctly read and return the + controller configuration list from the specified path in the file system. + """ evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) self.assertEqual(len(evc_connector.get_controller_cfg_list()), 2) def test_cob_to_traffic_light_status(self): + """ + Test the functionality of the `COB_to_traffic_light_status` method of the `EvcConnector` class. + + This method tests if the `COB_to_traffic_light_status` method can correctly convert the + state of a Controller Output Bit (COB) to a traffic light state string ('g', 'y', 'r'). + The test cases use the `TestControllerIOGreen`, `TestControllerIOYellow`, and `TestControllerIORed` + classes to simulate the COB states. + """ evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) phase = 1 ## get green light string @@ -71,21 +106,59 @@ def test_cob_to_traffic_light_status(self): state = evc_connector.COB_to_traffic_light_status(red_io, phase) self.assertEqual(state, "r") - def test_get_traffic_light_status(self): + def test_get_traffic_light_state(self): + """ + Test the functionality of the `get_traffic_light_state_from_EVC` method of the `EvcConnector` class. + + This method tests if the `get_traffic_light_state_from_EVC` method can correctly read and return the + state of the traffic lights for the specified phases from the EVC. + The test cases use the `TestControllerIOGreen`, `TestControllerIOYellow`, and `TestControllerIORed` + classes to simulate the COB states. + """ evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) ## get green light state string green_io = TestControllerIOGreen() - state = evc_connector.get_traffic_light_status_from_EVC(green_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) + state = evc_connector.get_traffic_light_state_from_EVC(green_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) self.assertEqual(state, "gggg") ## get yellow light state string yellow_io = TestControllerIOYellow() - state = evc_connector.get_traffic_light_status_from_EVC(yellow_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) + state = evc_connector.get_traffic_light_state_from_EVC(yellow_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) self.assertEqual(state, "yyyy") ## get red light state string red_io = TestControllerIORed() - state = evc_connector.get_traffic_light_status_from_EVC(red_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) + state = evc_connector.get_traffic_light_state_from_EVC(red_io, [{"sumoTlStateIndex": [0, 1], "evcPhaseId": 1}, {"sumoTlStateIndex": [2, 3], "evcPhaseId": 2}]) self.assertEqual(state, "rrrr") + + def test_set_induction_loop_status_to_EVC(self): + """ + Test the functionality of the `set_induction_loop_status_to_EVC` method of the `EvcConnector` class. + + This method tests if the `set_induction_loop_status_to_EVC` method can correctly set the induction loop status + to the EVC for both on and off states. The test cases use the `TestControllerIOOn` and `TestControllerIOOff` + classes to simulate the controller inputs for the induction loop state. + """ + + evc_connector = EvcConnector(self.asc3app_path, self.evc_sumo_cfg_path) + + # Create an instance of the TestControllerIOOn and TestControllerIOOff class to + # simulate the controller input for the induction loop state being on and off + cib_on_io = TestControllerIOOn() + cib_off_io = TestControllerIOOff() + + # Check if the `set_induction_loop_status_to_EVC` method can correctly set the + # induction loop state to on for a given detector and lane index + ## on + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_on_io, 1, 0), 1) + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_on_io, 1, 1), 0) + ## off + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_off_io, 1, 1), 1) + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_off_io, 1, 0), 0) + + + + + if __name__ == '__main__': unittest.main() From 4eaf4bd416e8ddf32421b6262fc3c956f078f904 Mon Sep 17 00:00:00 2001 From: Misheel Bayartsengel Date: Tue, 21 Mar 2023 14:06:10 -0400 Subject: [PATCH 033/124] initial shell commit for infrastructure ambassador (#114) # PR Details ## Description This is initial commit to setup shell structure for infrastructure ambassador. The design mainly followed carma ambassador implementation at the time of this commit. ![image](https://user-images.githubusercontent.com/20613282/225988497-09f80692-72f0-4c9a-af5f-3edb7dc92f59.png) - It is assumed that there are multiple infrastructure components in the carma-simulation each being represented by `V2xInstance` class. - And all `V2xInstance` is managed by class called `V2xInstanceManager`. - Each infrastructure component is registered using `V2xRegistrationMessage` received by `V2xRegistrationReceiver` from `RegisrationAdapter`. - Time messages related to these instances are received by `V2xTimeMessageReceiver` using `V2xTimeMessage`. ## Related Issue ## Motivation and Context See above. ## How Has This Been Tested? local integration tested checking if the class builds in Eclipse IDE ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [X] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [X] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [X] I have updated the documentation accordingly. - [X] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [X] I have added tests to cover my changes. - [X] All new and existing tests passed. --------- Co-authored-by: Cheng Yuan --- .../ambassador/ApplicationAmbassadorTest.java | 6 +- .../ambassador/InfrastructureInstance.java | 74 ++++++++++++ .../InfrastructureInstanceManager.java | 44 +++++++ .../InfrastructureMessageAmbassador.java | 42 ++++++- .../InfrastructureRegistrationMessage.java | 34 ++++++ .../InfrastructureRegistrationReceiver.java | 105 +++++++++++++++++ .../ambassador/InfrastructureTimeMessage.java | 35 ++++++ .../InfrastructureTimeMessageReceiver.java | 108 ++++++++++++++++++ .../sumo/traci/commands/TraciSetOrder.java | 32 +++--- .../templates/leidos-license-header-2022.txt | 13 +++ .../templates/leidos-license-header-2023.txt | 13 +++ co-simulation/pom.xml | 2 + co-simulation/rti/mosaic-rti-core/pom.xml | 4 +- 13 files changed, 491 insertions(+), 21 deletions(-) create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java create mode 100644 co-simulation/legal/templates/leidos-license-header-2022.txt create mode 100644 co-simulation/legal/templates/leidos-license-header-2023.txt diff --git a/co-simulation/fed/mosaic-application/src/test/java/org/eclipse/mosaic/fed/application/ambassador/ApplicationAmbassadorTest.java b/co-simulation/fed/mosaic-application/src/test/java/org/eclipse/mosaic/fed/application/ambassador/ApplicationAmbassadorTest.java index e014db60..bf885300 100644 --- a/co-simulation/fed/mosaic-application/src/test/java/org/eclipse/mosaic/fed/application/ambassador/ApplicationAmbassadorTest.java +++ b/co-simulation/fed/mosaic-application/src/test/java/org/eclipse/mosaic/fed/application/ambassador/ApplicationAmbassadorTest.java @@ -158,7 +158,7 @@ public void loadJarOnStartup() throws Exception { try { //PRE-ASSERT, make sure it cannot found by class loader BEFORE actual jar loading SimulationKernel.SimulationKernel.getClassLoader().loadClass( - "load.from.jar.VehicleApplication" + "org.eclipse.mosaic.fed.application.app.api.VehicleApplication" ); fail(); } catch (Throwable e) { @@ -168,9 +168,9 @@ public void loadJarOnStartup() throws Exception { // RUN initialize Application, which searches for Jars in the same directory, where the ambassador configuration is in new ApplicationAmbassador(applicationParams); - // ASSERT if classes in Jar could be loaded successfully. This class is in "application-from-jar.jar" only. + // ASSERT if classes in Jar could be loaded successfully. This class is in "application-from-jar.jar" only. SimulationKernel.SimulationKernel.getClassLoader().loadClass( - "load.from.jar.VehicleApplication" + "org.eclipse.mosaic.fed.application.app.api.VehicleApplication" ); } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java new file mode 100644 index 00000000..6e6b544f --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java @@ -0,0 +1,74 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.fed.infrastructure.ambassador; + +import org.eclipse.mosaic.lib.geo.GeoPoint; + +import java.io.IOException; +import java.net.DatagramPacket; +import java.net.DatagramSocket; +import java.net.InetAddress; +import java.net.SocketException; + +/** + * Connection manager and data object to associate with a single infrastructure instance in XIL + * NOTE: TODO See carma.ambassador for reference + */ +public class InfrastructureInstance { + + private DatagramSocket rxMsgsSocket = null; + private InetAddress targetAddress; + private int registrationPort; + private int timeSyncPort; + private GeoPoint location = null; + + public InfrastructureInstance() { + // TODO + // TODO Initialize Datagram Socket + } + + public InetAddress getTargetAddress() { + return targetAddress; + } + + public void setTargetAddress(InetAddress targetAddress) { + this.targetAddress = targetAddress; + } + + public void setLocation(GeoPoint location) { + this.location = location; + } + + public GeoPoint getLocation() { + return this.location; + } + + /** + * Sends the data to the Infrastructure Device communications interface configured at construction time. + * @param data The binary data to transmit + * @throws IOException If there is an issue with the underlying socket object or methods + */ + public void sendMsgs(byte[] data) throws IOException { + if (rxMsgsSocket == null) { + throw new IllegalStateException("Attempted to send data before opening socket"); + } + + DatagramPacket packet = new DatagramPacket(data, data.length, targetAddress, registrationPort); + rxMsgsSocket.send(packet); + + } +} diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java new file mode 100644 index 00000000..7afe44d9 --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -0,0 +1,44 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.fed.infrastructure.ambassador; + +import java.io.IOException; +import java.net.InetAddress; +import java.net.SocketException; +import java.net.UnknownHostException; +import java.util.HashMap; +import java.util.Map; + +import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; +import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; +import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; +import org.eclipse.mosaic.lib.enums.AdHocChannel; +import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder; +import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xContent; +import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; +import org.eclipse.mosaic.lib.objects.v2x.MessageRouting; +import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; + +/** + * Session management class for Infrastructure instances communicating with MOSAIC + * NOTE: TODO See carma.ambassador for reference + */ +public class InfrastructureInstanceManager { + private Map managedInstances = new HashMap<>(); + private double currentSimulationTime; + +} diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 344234c6..7eab5b2d 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -24,6 +24,13 @@ import org.eclipse.mosaic.interactions.application.ExternalMessage; import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; +import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; + +import java.net.InetAddress; +import java.util.ArrayList; +import java.util.HashMap; +import java.util.List; + /** * Implementation of a {@link AbstractFederateAmbassador} for Infrastructure * message ambassador. @@ -40,6 +47,22 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador */ InfrastructureConfiguration infrastructureConfiguration; + /** + * List of infrastructures that are controlled + */ + private final HashMap v2xMap = new HashMap<>(); + + /** + * The number of CARMA vehicles. + */ + int numberOfInfrastructureInstances = 0; + + private InfrastructureRegistrationReceiver InfrastructureRegistrationReceiver; + private Thread registrationRxBackgroundThread; + private InfrastructureTimeMessageReceiver InfrastructureTimeMessageReceiver; + private Thread v2xTimeRxBackgroundThread; + private InfrastructureInstanceManager InfrastructureInstanceManager = new InfrastructureInstanceManager(); + /** * Create a new {@link InfrastructureMessageAmbassador} object. * @@ -77,7 +100,6 @@ public InfrastructureMessageAmbassador(AmbassadorParameter ambassadorParameter) @Override public void initialize(long startTime, long endTime) throws InternalFederateException { super.initialize(startTime, endTime); - currentSimulationTime = startTime; try { rti.requestAdvanceTime(currentSimulationTime, 0, (byte) 1); @@ -85,6 +107,13 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce log.error("Error during advanceTime request", e); throw new InternalFederateException(e); } + + // TODO Initialize listener socket and thread for Infrastructure Registration messages + + // TODO Initialize listener socket and thread for Infrastructure time sync messages + + // TODO Register any V2x infrastructures from config if any + } /** @@ -99,9 +128,13 @@ public void processInteraction(Interaction interaction) throws InternalFederateE String type = interaction.getTypeId(); long interactionTime = interaction.getTime(); log.trace("Process interaction with type '{}' at time: {}", type, interactionTime); + // Infrastructure message reception if (interaction.getTypeId().equals(InfrastructureV2xMessageReception.TYPE_ID)) { this.receiveInteraction((InfrastructureV2xMessageReception) interaction); } + // TODO Time sync message reception + + // TODO V2xHub infrastructure Registration reception } /** @@ -131,10 +164,17 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i public synchronized void processTimeAdvanceGrant(long time) throws InternalFederateException { if (time < currentSimulationTime) { + // process time advance only if time is equal or greater than the next + // simulation time step return; } try { + // TODO actions to do on queued Infrastructure instance registration attempts + + // TODO actions to do on queued Infrastructure time sync messages + + // TODO actions to do on queued v2x message receiver's received messages currentSimulationTime += infrastructureConfiguration.updateInterval * TIME.MILLI_SECOND; diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java new file mode 100644 index 00000000..7825ef71 --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java @@ -0,0 +1,34 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.fed.infrastructure.ambassador; +import org.eclipse.mosaic.lib.geo.GeoPoint; + +/** + * A message to be sent by Infrastructure Device when it registers with the carma-mosaic ambassador + * NOTE: TODO See carma.ambassador for reference + */ +public class InfrastructureRegistrationMessage { + private String rxMessageIpAddress; + private int timeSyncListenPort = 1517; // TODO + private int regstratinoListenPort = 1516; // TODO + private GeoPoint location = null; + + public InfrastructureRegistrationMessage() { + + } + +} diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java new file mode 100644 index 00000000..885daa53 --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -0,0 +1,105 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.fed.infrastructure.ambassador; + +import java.io.IOException; +import java.net.DatagramPacket; +import java.net.DatagramSocket; +import java.net.SocketException; +import java.util.ArrayList; +import java.util.LinkedList; +import java.util.List; +import java.util.Queue; +import com.google.gson.Gson; + +/** + * Worker thread Runnable for operating a listen socket to receive outbound Infrastructure Messages from Infrastructure Device instances + * This {@link Runnable} instance will operate a UDP socket to subscribe to packets from the V2x infrastructure's + * adapter. Upon receiving a packet, it will be enqueued for the primary thread to process the data once it ticks to a + * simulation processing step + * NOTE: TODO See carma.ambassador for reference + */ +public class InfrastructureRegistrationReceiver implements Runnable { + private Queue rxQueue = new LinkedList<>(); + private DatagramSocket listenSocket = null; + private static final int listenPort = 1515; // TODO + private boolean running = false; + private static final int UDP_MTU = 1535; // TODO Maximum Transmission Unit + + /** + * Initialize the listen socket for messages from the Infrastructure Device NS-3 Adapter + * @throws RuntimeException iff socket instantiation fails + */ + public void init() { + try { + listenSocket = new DatagramSocket(listenPort); + + } catch (SocketException e) { + throw new RuntimeException(e); + } + } + + @Override + public void run() { + byte[] buf = new byte[UDP_MTU]; + running = true; + while (running) { + DatagramPacket msg = new DatagramPacket(buf, buf.length); + try { + listenSocket.receive(msg); + } catch (IOException e) { + throw new RuntimeException(e); + } + + // parse message + String receivedPacket = new String(msg.getData()); + Gson gson = new Gson(); + InfrastructureRegistrationMessage parsedMessage = gson.fromJson(receivedPacket, InfrastructureRegistrationMessage.class); + + // Enqueue message for processing on main thread + synchronized (rxQueue) { + rxQueue.add(parsedMessage); + } + } + } + + /** + * Stop the runnable instance + */ + public void stop() { + if (listenSocket != null) { + listenSocket.close(); + } + + running = false; + } + + /** + * Query the current buffer of outbound messages. Clears the currently stored buffer once called. Thread-safe. + * @return The list of received outbound message from all Infrastructure Device instances since last call of this method + */ + public List getReceivedMessages() { + List output = new ArrayList<>(); + + synchronized (rxQueue) { + output.addAll(rxQueue); + rxQueue.clear(); + } + + return output; + } +} diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java new file mode 100644 index 00000000..b3d9a047 --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java @@ -0,0 +1,35 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.fed.infrastructure.ambassador; + +import java.net.InetAddress; +import java.nio.charset.StandardCharsets; + +/** + * Message to be sent or received by the Infrastructure Device Adapter interface + * NOTE: TODO See .ambassador for reference + + */ +public class InfrastructureTimeMessage { + private int timestep; + private int seq; + + + public InfrastructureTimeMessage() { + } + +} diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java new file mode 100644 index 00000000..038f5b38 --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java @@ -0,0 +1,108 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.fed.infrastructure.ambassador; + +import org.eclipse.mosaic.lib.misc.Tuple; + +import java.io.IOException; +import java.net.DatagramPacket; +import java.net.DatagramSocket; +import java.net.InetAddress; +import java.net.SocketException; +import java.util.ArrayList; +import java.util.LinkedList; +import java.util.List; +import java.util.Queue; + +/** + * Worker thread Runnable for operating a listen socket to receive outbound Infrastructure Messages from Infrastructure Device instances + * This {@link Runnable} instance will operate a UDP socket to subscribe to packets from the V2x infrastructure + * adapter. Upon receiving a packet, it will be enqueued for the primary thread to process the data once it ticks to a + * simulation processing step + * NOTE: TODO See .ambassador for reference + */ +public class InfrastructureTimeMessageReceiver implements Runnable { + + private Queue> rxQueue = new LinkedList<>(); + private DatagramSocket listenSocket = null; + private static final int listenPort = 1516; // TODO + private boolean running = false; + private static final int UDP_MTU = 1535; // TOD OMaximum Transmission Unit + + /** + * Initialize the listen socket for messages from the Infrastructure Device NS-3 Adapter + * @throws RuntimeException iff socket instantiation fails + */ + public void init() { + try { + listenSocket = new DatagramSocket(listenPort); + + } catch (SocketException e) { + throw new RuntimeException(e); + } + } + + @Override + public void run() { + byte[] buf = new byte[UDP_MTU]; + running = true; + while (running) { + DatagramPacket msg = new DatagramPacket(buf, buf.length); + InetAddress senderAddr = msg.getAddress(); + + try { + listenSocket.receive(msg); + } catch (IOException e) { + throw new RuntimeException(e); + } + + // parse message + InfrastructureTimeMessage parsedMessage = null; /* = new InfrastructureTimeMessage(msg.getData()); */ + + // Enqueue message for processing on main thread + synchronized (rxQueue) { + rxQueue.add(new Tuple<>(senderAddr, parsedMessage)); + } + } + } + + /** + * Stop the runnable instance + */ + public void stop() { + if (listenSocket != null) { + listenSocket.close(); + } + + running = false; + } + + /** + * Query the current buffer of outbound messages. Clears the currently stored buffer once called. Thread-safe. + * @return The list of received outbound message from all Infrastructure Device instances since last call of this method + */ + public List> getReceivedMessages() { + List> output = new ArrayList<>(); + + synchronized (rxQueue) { + output.addAll(rxQueue); + rxQueue.clear(); + } + + return output; + } +} diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java index 7cd4f7a8..3dc12d44 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/traci/commands/TraciSetOrder.java @@ -1,18 +1,20 @@ - /* - * Copyright (C) 2022 LEIDOS. - * - * Licensed under the Apache License, Version 2.0 (the "License"); you may not - * use this file except in compliance with the License. You may obtain a copy of - * the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations under - * the License. - */ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + + package org.eclipse.mosaic.fed.sumo.traci.commands; diff --git a/co-simulation/legal/templates/leidos-license-header-2022.txt b/co-simulation/legal/templates/leidos-license-header-2022.txt new file mode 100644 index 00000000..6d6100a6 --- /dev/null +++ b/co-simulation/legal/templates/leidos-license-header-2022.txt @@ -0,0 +1,13 @@ +Copyright (C) 2019-2022 LEIDOS. + +Licensed under the Apache License, Version 2.0 (the "License"); you may not +use this file except in compliance with the License. You may obtain a copy of +the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +License for the specific language governing permissions and limitations under +the License. \ No newline at end of file diff --git a/co-simulation/legal/templates/leidos-license-header-2023.txt b/co-simulation/legal/templates/leidos-license-header-2023.txt new file mode 100644 index 00000000..2652dd42 --- /dev/null +++ b/co-simulation/legal/templates/leidos-license-header-2023.txt @@ -0,0 +1,13 @@ +Copyright (C) 2023 LEIDOS. + +Licensed under the Apache License, Version 2.0 (the "License"); you may not +use this file except in compliance with the License. You may obtain a copy of +the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +License for the specific language governing permissions and limitations under +the License. \ No newline at end of file diff --git a/co-simulation/pom.xml b/co-simulation/pom.xml index 1f5dbaf0..24af598a 100644 --- a/co-simulation/pom.xml +++ b/co-simulation/pom.xml @@ -469,6 +469,8 @@
${parent.dir}/legal/templates/license-header-2020.txt
${parent.dir}/legal/templates/license-header-2021.txt
${parent.dir}/legal/templates/cosimulation-license-header-2021.txt
+
${parent.dir}/legal/templates/leidos-license-header-2022.txt
+
${parent.dir}/legal/templates/leidos-license-header-2023.txt
diff --git a/co-simulation/rti/mosaic-rti-core/pom.xml b/co-simulation/rti/mosaic-rti-core/pom.xml index d2488bae..2c844d04 100644 --- a/co-simulation/rti/mosaic-rti-core/pom.xml +++ b/co-simulation/rti/mosaic-rti-core/pom.xml @@ -14,7 +14,7 @@ Eclipse MOSAIC Runtime Infrastructure Implementation - true + false @@ -60,7 +60,7 @@ TestFederate - ${project.build.testSourceDirectory} + ${project.build.testOutputDirectory} test-jar From 9e928931953d4b00d20ed065e5175c2bbc5c28c0 Mon Sep 17 00:00:00 2001 From: paulbourelly999 Date: Tue, 21 Mar 2023 15:33:02 -0400 Subject: [PATCH 034/124] Updated Java version to 11 for maven sonar scanner plugin --- .github/workflows/runtest.yml | 4 ++-- Dockerfile | 2 -- co-simulation/pom.xml | 2 +- co-simulation/test/ci/ci-image-mvn-sumo/Dockerfile | 2 +- docker/install.sh | 5 ++--- 5 files changed, 6 insertions(+), 9 deletions(-) diff --git a/.github/workflows/runtest.yml b/.github/workflows/runtest.yml index f9b90955..5501dd99 100644 --- a/.github/workflows/runtest.yml +++ b/.github/workflows/runtest.yml @@ -7,10 +7,10 @@ jobs: runs-on: ubuntu-latest steps: - uses: actions/checkout@v3 - - name: Set up JDK 8 + - name: Set up JDK 11 uses: actions/setup-java@v3 # The setup-java action provides the functionality for GitHub Actions runners for Downloading and setting up a requested version of Java with: - java-version: 8 + java-version: 11 distribution: "temurin" - name: Build and analyze env: diff --git a/Dockerfile b/Dockerfile index e6195008..f25a2a04 100644 --- a/Dockerfile +++ b/Dockerfile @@ -34,8 +34,6 @@ LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-simulat LABEL org.label-schema.vcs-ref=${VCS_REF} LABEL org.label-schema.build-date=${BUILD_DATE} -ENV JAVA_HOME /usr/lib/jvm/java-8-openjdk-amd64/ -RUN export JAVA_HOME # Env vars for the nvidia-container-runtime. ENV NVIDIA_VISIBLE_DEVICES all diff --git a/co-simulation/pom.xml b/co-simulation/pom.xml index 24af598a..34dc9d97 100644 --- a/co-simulation/pom.xml +++ b/co-simulation/pom.xml @@ -83,7 +83,7 @@ - 8 + 11 usdot-fhwa-stol https://sonarcloud.io diff --git a/co-simulation/test/ci/ci-image-mvn-sumo/Dockerfile b/co-simulation/test/ci/ci-image-mvn-sumo/Dockerfile index 1b4aef61..8b3c1bef 100644 --- a/co-simulation/test/ci/ci-image-mvn-sumo/Dockerfile +++ b/co-simulation/test/ci/ci-image-mvn-sumo/Dockerfile @@ -1,4 +1,4 @@ -FROM maven:3.6.3-adoptopenjdk-8 +FROM maven:3.8.3-adoptopenjdk-11 ENV DEBIAN_FRONTEND=noninteractive diff --git a/docker/install.sh b/docker/install.sh index b5f7ac8e..408070da 100755 --- a/docker/install.sh +++ b/docker/install.sh @@ -28,17 +28,16 @@ sudo apt-get update sudo apt-get install -y --allow-unauthenticated gcc-7 g++-7 python3.6 unzip tar python3.6-dev \ pkg-config sqlite3 autoconf libtool curl make libxml2 libsqlite3-dev \ libxml2-dev cmake libxerces-c-dev libfox-1.6-dev libgdal-dev libproj-dev \ - libgl2ps-dev python3.7 python3-pip automake openjdk-8-jdk ant python3.7-dev \ + libgl2ps-dev python3.7 python3-pip automake openjdk-11-jdk ant python3.7-dev \ python3.7-distutils x11-xserver-utils dconf-editor dbus-x11 libglvnd0 libgl1 \ libglx0 libegl1 libxext6 libx11-6 python3-dev \ build-essential pkg-config lbzip2 libprotobuf-dev protobuf-compiler patch rsync \ - wget vim nano xterm default-jdk libprotobuf-dev + wget vim nano xterm libprotobuf-dev sudo rm -rf /var/lib/apt/lists/* export JAVA_HOME="/usr/lib/jvm/java-11-openjdk-amd64" #update-alternatives --set python /usr/bin/python3.7 sudo apt-get clean -sudo rm -rf /var/cache/oracle-jdk8-installer sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 20 --slave /usr/bin/g++ g++ /usr/bin/g++-7 sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.7 1 sudo update-alternatives --set python /usr/bin/python3.7 From d89cfe59431a9d45986b83bc6f94fa171240a8d4 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 21 Mar 2023 21:47:27 -0400 Subject: [PATCH 035/124] Update unit_test.py --- evc-sumo/test/unit_test.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/evc-sumo/test/unit_test.py b/evc-sumo/test/unit_test.py index b3e7287b..0097525e 100644 --- a/evc-sumo/test/unit_test.py +++ b/evc-sumo/test/unit_test.py @@ -148,12 +148,15 @@ def test_set_induction_loop_status_to_EVC(self): # Check if the `set_induction_loop_status_to_EVC` method can correctly set the # induction loop state to on for a given detector and lane index + evc_phase_id = 1 + sumo_induction_loop_status = 1 ## on - self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_on_io, 1, 0), 1) - self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_on_io, 1, 1), 0) + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_on_io, evc_phase_id, sumo_induction_loop_status), 1) + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_on_io, evc_phase_id, sumo_induction_loop_status), 1) + sumo_induction_loop_status = 0 ## off - self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_off_io, 1, 1), 1) - self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_off_io, 1, 0), 0) + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_off_io, evc_phase_id, sumo_induction_loop_status), 0) + self.assertEqual(evc_connector.set_induction_loop_status_to_EVC(cib_off_io, evc_phase_id, sumo_induction_loop_status), 0) From 0e332f0b1c98cd4429ded9bb1a02ef96a9e332ea Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 21 Mar 2023 21:48:19 -0400 Subject: [PATCH 036/124] Update evc_connector.py --- evc-sumo/src/evc_connector.py | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index 03c17dd9..91cf6bf8 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -70,7 +70,8 @@ def COB_to_traffic_light_status(self, controller_io, evc_phase_id): elif controller_io.is_cob_on( (evc_phase_id - 1) + (MAX_INTERSECTION_PHASES * 0) ): return 'g' else: - return None + ## if state is not r, y or g then return O which is switched off state + return 'O' def get_traffic_light_state_from_EVC(self, controller_io, phases): """ @@ -93,10 +94,7 @@ def get_traffic_light_state_from_EVC(self, controller_io, phases): for phase in phases: state_string = [self.COB_to_traffic_light_status(controller_io, phase['evcPhaseId']) if i in phase['sumoTlStateIndex'] else x for i,x in enumerate(state_string)] - if None in state_string: - return None - else: - return ''.join(state_string) + return ''.join(state_string) def set_induction_loop_status_to_EVC(self, controller_io, evc_phase_id, sumo_induction_loop_status): """ @@ -113,21 +111,25 @@ def set_induction_loop_status_to_EVC(self, controller_io, evc_phase_id, sumo_ind type: int Returns: - - int: return a integer to represent cib is on or off. + - int: return an integer to represent cib is on or off. cib on: 1 cib off: 0 """ if sumo_induction_loop_status != 0: if controller_io.is_cib_off(evc_phase_id - 1): + ## CIB is currently off, turn to on controller_io.cib_on(evc_phase_id - 1) return 1 else: - return 0 + ## CIB is currently on + return 1 else: if controller_io.is_cib_on(evc_phase_id - 1): + ## CIB is currently on, turn to off controller_io.cib_off(evc_phase_id - 1) - return 1 + return 0 else: + ## CIB is currently off return 0 def get_controller_cfg_list(self): @@ -209,9 +211,7 @@ def run(self, sumo_connector): ## Update SUMO traffic light state tl_state_string = self.get_traffic_light_state_from_EVC(self.controller_io_list[i], controller['evcPhases']) - if tl_state_string is not None: - sumo_connector.set_traffic_light_state_to_SUMO(controller['sumoTlId'], tl_state_string) - else: - print("Error: Could not connect to EVC, please check EVC-SUMO config") + sumo_connector.set_traffic_light_state_to_SUMO(controller['sumoTlId'], tl_state_string) + self.tick( int(1 / (sumo_connector.traci_get_step_length() * 10)) ) From e9409b33d2180e698d4a42b104f44ff69c0ba05d Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 22 Mar 2023 11:41:54 -0400 Subject: [PATCH 037/124] Correct comment to match the change --- evc-sumo/src/evc_connector.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/evc-sumo/src/evc_connector.py b/evc-sumo/src/evc_connector.py index 91cf6bf8..357372b5 100644 --- a/evc-sumo/src/evc_connector.py +++ b/evc-sumo/src/evc_connector.py @@ -86,7 +86,7 @@ def get_traffic_light_state_from_EVC(self, controller_io, phases): Returns: - string: A string representing the current state of the traffic light. - The possible characters are "r" for red, "y" for yellow, and "g" for green and None for exception + The possible characters are "r" for red, "y" for yellow, "g" for green and "O" for switched off """ ## get number of characters in state string for SUMO and init sumo tl state string with all red From 78aa0e9e98c544b384bb5e36daed53297c2b35bd Mon Sep 17 00:00:00 2001 From: Eric Chen <122404059+EricChen-Lei@users.noreply.github.com> Date: Wed, 22 Mar 2023 16:51:17 -0400 Subject: [PATCH 038/124] upload evc docker upload evc essential files --- evc-sumo/Dockerfile | 42 +++++++++++ evc-sumo/docker/build-image.sh | 94 ++++++++++++++++++++++++ evc-sumo/docker/checkout.sh | 44 +++++++++++ evc-sumo/docker/entrypoint.sh | 22 ++++++ evc-sumo/docker/env.sh | 26 +++++++ evc-sumo/docker/get-component-version.sh | 21 ++++++ evc-sumo/docker/get-image-name.sh | 25 +++++++ evc-sumo/docker/get-repo-name.sh | 17 +++++ evc-sumo/docker/get-system-version.sh | 20 +++++ evc-sumo/docker/install.sh | 40 ++++++++++ evc-sumo/docker/token.txt | 1 + 11 files changed, 352 insertions(+) create mode 100644 evc-sumo/Dockerfile create mode 100755 evc-sumo/docker/build-image.sh create mode 100755 evc-sumo/docker/checkout.sh create mode 100755 evc-sumo/docker/entrypoint.sh create mode 100755 evc-sumo/docker/env.sh create mode 100755 evc-sumo/docker/get-component-version.sh create mode 100755 evc-sumo/docker/get-image-name.sh create mode 100755 evc-sumo/docker/get-repo-name.sh create mode 100755 evc-sumo/docker/get-system-version.sh create mode 100755 evc-sumo/docker/install.sh create mode 100644 evc-sumo/docker/token.txt diff --git a/evc-sumo/Dockerfile b/evc-sumo/Dockerfile new file mode 100644 index 00000000..895108f7 --- /dev/null +++ b/evc-sumo/Dockerfile @@ -0,0 +1,42 @@ +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +FROM ubuntu:20.04 + +# Set environment variables for non-interactive installation +ENV DEBIAN_FRONTEND=noninteractive +ARG DEBIAN_FRONTEND=noninteractive +ENV SUMO_HOME /usr/share/sumo +RUN apt-get update && apt-get install -y sudo + +# Create a group with GID 1000 +RUN groupadd -g 1000 carma + +# Create a user with UID 1000 and GID 1000 for running the browser +RUN useradd -m -u 1000 -g 1000 carma +RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers + +# Set the user to be used for the following commands +WORKDIR /home/carma +COPY --chown=carma:carma /docker ./docker +COPY --chown=carma:carma /src ./src +COPY --chown=carma:carma /test ./test + +RUN docker/install.sh +USER carma +# Set the working directory for the browser user +WORKDIR /home/carma/src + +# Start the virtual framebuffer (Xvfb) and xterm +CMD x-terminal-emulator -e python3.8 evc_sumo_bridge.py --asc3app-path "../evcfile/asc3app-application.zip" \ No newline at end of file diff --git a/evc-sumo/docker/build-image.sh b/evc-sumo/docker/build-image.sh new file mode 100755 index 00000000..3d9fceb9 --- /dev/null +++ b/evc-sumo/docker/build-image.sh @@ -0,0 +1,94 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +USERNAME=usdotfhwastol + +cd "$(dirname "$0")" +# IMAGE=$(./get-image-name.sh | tr '[:upper:]' '[:lower:]') +IMAGE=evc + +echo "" +echo "##### $IMAGE Docker Image Build Script #####" +echo "" + +while [[ $# -gt 0 ]]; do + arg="$1" + case $arg in + -v|--version) + COMPONENT_VERSION_STRING="$2" + shift + shift + ;; + --system-release) + SYSTEM_RELEASE=true + shift + ;; + -p|--push) + PUSH=true + shift + ;; + -d|--develop) + USERNAME=usdotfhwastoldev + COMPONENT_VERSION_STRING=develop + shift + ;; + esac +done + +if [[ -z "$COMPONENT_VERSION_STRING" ]]; then + COMPONENT_VERSION_STRING=$("./get-component-version.sh") +fi + +echo "Building docker image for $IMAGE version: $COMPONENT_VERSION_STRING" +echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING" + +cd .. +if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then + sed "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastolcandidate/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$COMPONENT_VERSION_STRING|g; s|checkout.sh|checkout.sh -d|g" \ + Dockerfile | docker build -f - --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \ + --build-arg VERSION="$COMPONENT_VERSION_STRING" \ + --build-arg VCS_REF=`git rev-parse --short HEAD` \ + --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . +else + docker build --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \ + --build-arg VERSION="$COMPONENT_VERSION_STRING" \ + --build-arg VCS_REF=`git rev-parse --short HEAD` \ + --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . +fi + +TAGS=() +TAGS+=("$USERNAME/$IMAGE:$COMPONENT_VERSION_STRING") + +docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:latest +TAGS+=("$USERNAME/$IMAGE:latest") + +echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:latest" + +if [ "$SYSTEM_RELEASE" = true ]; then + SYSTEM_VERSION_STRING=$("./get-system-version.sh") + docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING + echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING" + TAGS+=("$USERNAME/$IMAGE:$SYSTEM_VERSION_STRING") +fi + +if [ "$PUSH" = true ]; then + for tag in $TAGS; do + docker push "${tag}" + done +fi + +echo "" +echo "##### $IMAGE Docker Image Build Done! #####" diff --git a/evc-sumo/docker/checkout.sh b/evc-sumo/docker/checkout.sh new file mode 100755 index 00000000..4e4f1753 --- /dev/null +++ b/evc-sumo/docker/checkout.sh @@ -0,0 +1,44 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# CARMA packages checkout script +# Optional argument to set the root checkout directory with no ending '/' default is '~' + +set -ex + +dir=~ +while [[ $# -gt 0 ]]; do + arg="$1" + case $arg in + -d|--develop) + BRANCH=develop + shift + ;; + -r|--root) + dir=$2 + shift + shift + ;; + esac +done + +if [[ "$BRANCH" = "develop" ]]; then + git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/carma-msgs --branch $BRANCH --depth 1 + git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/carma-utils --branch $BRANCH --depth 1 +else + git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch develop --depth 1 + git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch develop --depth 1 +fi diff --git a/evc-sumo/docker/entrypoint.sh b/evc-sumo/docker/entrypoint.sh new file mode 100755 index 00000000..f9623ef7 --- /dev/null +++ b/evc-sumo/docker/entrypoint.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +if [[ -z "$@" ]]; then + source ~/.base-image/env.sh; cd /opt/carma-simulation; exec "bash" +else + source ~/.base-image/env.sh; cd /opt/carma-simulation; exec "$@" +fi + diff --git a/evc-sumo/docker/env.sh b/evc-sumo/docker/env.sh new file mode 100755 index 00000000..c2960c00 --- /dev/null +++ b/evc-sumo/docker/env.sh @@ -0,0 +1,26 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +# Set environment variables here. + +export NS3_HOME="/opt/ns-3/" +export JAVA_HOME="/usr/lib/jvm/java-11-jdk-amd64" +export SUMO_HOME="/opt/sumo/sumo-1_12_0" +export CARLA_HOME="/opt/carla" +export CARMA_SIMULATION_HOME="/opt/carma-simulation" +export PATH="/usr/local/share/sumo/bin:/usr/local/share/sumo/tools:$PATH" +export PATH="/opt/maven/bin:$PATH" +export PATH="/opt/carma-simulation:$PATH" diff --git a/evc-sumo/docker/get-component-version.sh b/evc-sumo/docker/get-component-version.sh new file mode 100755 index 00000000..e53c07f6 --- /dev/null +++ b/evc-sumo/docker/get-component-version.sh @@ -0,0 +1,21 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +cd "$(dirname "$0")" +cd .. +COMPONENT_TAG_PREFIX="${PWD##*/}" +git describe --all --match="$COMPONENT_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}' | sed "s/$COMPONENT_TAG_PREFIX\_//" + diff --git a/evc-sumo/docker/get-image-name.sh b/evc-sumo/docker/get-image-name.sh new file mode 100755 index 00000000..d1cbfdab --- /dev/null +++ b/evc-sumo/docker/get-image-name.sh @@ -0,0 +1,25 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +cd "$(dirname "$0")" +REPO_NAME="$(./get-repo-name.sh)" + +# This sed command based on Stack Overflow answer: https://stackoverflow.com/questions/28795479/awk-sed-script-to-convert-a-file-from-camelcase-to-underscores +# Asked by Corentin Peuvrel: https://stackoverflow.com/users/4608146/corentin-peuvrel +# Answered by pachopepe: https://stackoverflow.com/users/641896/pachopepe +# Credited in accordance with Stack Overflow's CC-BY license +echo $REPO_NAME | sed -r 's/CARMA/carma/' | sed -r 's/([A-Z])/-\L\1/g' | sed 's/^_//' + diff --git a/evc-sumo/docker/get-repo-name.sh b/evc-sumo/docker/get-repo-name.sh new file mode 100755 index 00000000..549ce487 --- /dev/null +++ b/evc-sumo/docker/get-repo-name.sh @@ -0,0 +1,17 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +basename -s .git `git config --get remote.origin.url` diff --git a/evc-sumo/docker/get-system-version.sh b/evc-sumo/docker/get-system-version.sh new file mode 100755 index 00000000..f43b07cd --- /dev/null +++ b/evc-sumo/docker/get-system-version.sh @@ -0,0 +1,20 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +SYSTEM_TAG_PREFIX="CARMASystem" + +git describe --all --match="$SYSTEM_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}' + diff --git a/evc-sumo/docker/install.sh b/evc-sumo/docker/install.sh new file mode 100755 index 00000000..d810b87d --- /dev/null +++ b/evc-sumo/docker/install.sh @@ -0,0 +1,40 @@ +#!/bin/bash + +# Copyright (C) 2023 LEIDOS. +# +# Licensed under the Apache License, Version 2.0 (the "License"); you may not +# use this file except in compliance with the License. You may obtain a copy of +# the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT +# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the +# License for the specific language governing permissions and limitations under +# the License. + +set -e +#user must replace the content in docker/token.txt with their own github token +file="docker/token.txt" +#download apt dependencies +sudo DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends firefox dbus-x11 x11-apps x11-utils x11-xserver-utils \ + xserver-xorg-video-dummy xserver-xorg-input-void xvfb libgl1-mesa-dri libgl1-mesa-glx libpulse0 \ + alsa-utils xterm wget build-essential libssl-dev libffi-dev python3-dev python3-pip curl unzip \ + python3.8 python3.8-dev python3.8-distutils python3.8-venv cmake sumo sumo-tools sumo-doc software-properties-common + +sudo add-apt-repository -y ppa:sumo/stable + +sudo dpkg --add-architecture i386 +sudo apt-get update +sudo apt-get install libc6:i386 libncurses5:i386 libstdc++6:i386 -y +#update sumo version +sudo apt-get install -y sumo sumo-tools sumo-doc +evc_token=$(cat "$file") +sudo curl -H "Authorization: token ${evc_token}" -H 'Accept: application/vnd.github.v4.raw' -O -L https://api.github.com/repos/usdot-fhwa-stol/CARMASensitive/contents/evcfile.zip +sudo unzip evcfile.zip + + + + +cd evcfile && python3.8 -m pip install pyeos-0.1.1-py3-none-any.whl diff --git a/evc-sumo/docker/token.txt b/evc-sumo/docker/token.txt new file mode 100644 index 00000000..a3e1f526 --- /dev/null +++ b/evc-sumo/docker/token.txt @@ -0,0 +1 @@ + \ No newline at end of file From ad657507ca5b047c684feba40c0ada72aba7ae7e Mon Sep 17 00:00:00 2001 From: Eric Chen <122404059+EricChen-Lei@users.noreply.github.com> Date: Thu, 23 Mar 2023 15:05:29 -0400 Subject: [PATCH 039/124] PR changes fixed fixed kyle PR fixes --- evc-sumo/Dockerfile | 7 ++--- evc-sumo/docker/build-image.sh | 20 +++++++++++--- evc-sumo/docker/checkout.sh | 7 ----- evc-sumo/docker/get-system-version.sh | 2 +- evc-sumo/docker/install.sh | 40 ++++++++++++++++++++++++++- evc-sumo/docker/token.txt | 1 - 6 files changed, 59 insertions(+), 18 deletions(-) delete mode 100644 evc-sumo/docker/token.txt diff --git a/evc-sumo/Dockerfile b/evc-sumo/Dockerfile index 895108f7..aec8f947 100644 --- a/evc-sumo/Dockerfile +++ b/evc-sumo/Dockerfile @@ -15,8 +15,7 @@ FROM ubuntu:20.04 # Set environment variables for non-interactive installation -ENV DEBIAN_FRONTEND=noninteractive -ARG DEBIAN_FRONTEND=noninteractive +ARG EVC_TOKEN="NULL" ENV SUMO_HOME /usr/share/sumo RUN apt-get update && apt-get install -y sudo @@ -33,8 +32,8 @@ COPY --chown=carma:carma /docker ./docker COPY --chown=carma:carma /src ./src COPY --chown=carma:carma /test ./test -RUN docker/install.sh -USER carma +RUN docker/install.sh ${EVC_TOKEN} +USER carma # Set the working directory for the browser user WORKDIR /home/carma/src diff --git a/evc-sumo/docker/build-image.sh b/evc-sumo/docker/build-image.sh index 3d9fceb9..082f4466 100755 --- a/evc-sumo/docker/build-image.sh +++ b/evc-sumo/docker/build-image.sh @@ -16,9 +16,10 @@ USERNAME=usdotfhwastol + cd "$(dirname "$0")" # IMAGE=$(./get-image-name.sh | tr '[:upper:]' '[:lower:]') -IMAGE=evc +IMAGE=econolite-virtual-controller echo "" echo "##### $IMAGE Docker Image Build Script #####" @@ -45,6 +46,10 @@ while [[ $# -gt 0 ]]; do COMPONENT_VERSION_STRING=develop shift ;; + *) + evc_token=${arg} + shift + ;; esac done @@ -55,23 +60,30 @@ fi echo "Building docker image for $IMAGE version: $COMPONENT_VERSION_STRING" echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING" +if [ -z $evc_token ]; + then + echo "No argument provided for evc_token, this script needs to be run with token" + exit 1 +fi + cd .. if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then sed "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastolcandidate/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$COMPONENT_VERSION_STRING|g; s|checkout.sh|checkout.sh -d|g" \ Dockerfile | docker build -f - --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \ --build-arg VERSION="$COMPONENT_VERSION_STRING" \ --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . + --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` \ + --build-arg EVC_TOKEN=$evc_token . else docker build --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \ --build-arg VERSION="$COMPONENT_VERSION_STRING" \ --build-arg VCS_REF=`git rev-parse --short HEAD` \ - --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` . + --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` \ + --build-arg EVC_TOKEN=$evc_token . fi TAGS=() TAGS+=("$USERNAME/$IMAGE:$COMPONENT_VERSION_STRING") - docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:latest TAGS+=("$USERNAME/$IMAGE:latest") diff --git a/evc-sumo/docker/checkout.sh b/evc-sumo/docker/checkout.sh index 4e4f1753..a757537a 100755 --- a/evc-sumo/docker/checkout.sh +++ b/evc-sumo/docker/checkout.sh @@ -35,10 +35,3 @@ while [[ $# -gt 0 ]]; do esac done -if [[ "$BRANCH" = "develop" ]]; then - git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/carma-msgs --branch $BRANCH --depth 1 - git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/carma-utils --branch $BRANCH --depth 1 -else - git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch develop --depth 1 - git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch develop --depth 1 -fi diff --git a/evc-sumo/docker/get-system-version.sh b/evc-sumo/docker/get-system-version.sh index f43b07cd..7ce43dda 100755 --- a/evc-sumo/docker/get-system-version.sh +++ b/evc-sumo/docker/get-system-version.sh @@ -14,7 +14,7 @@ # License for the specific language governing permissions and limitations under # the License. -SYSTEM_TAG_PREFIX="CARMASystem" +SYSTEM_TAG_PREFIX="carma-system"" git describe --all --match="$SYSTEM_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}' diff --git a/evc-sumo/docker/install.sh b/evc-sumo/docker/install.sh index d810b87d..1d4560a0 100755 --- a/evc-sumo/docker/install.sh +++ b/evc-sumo/docker/install.sh @@ -15,6 +15,45 @@ # the License. set -e + +#This token is required to run the script +evc_token="" + +while [[ $# -gt 0 ]]; do + arg="$1" + case $arg in + -v|--version) + COMPONENT_VERSION_STRING="$2" + shift + shift + ;; + --system-release) + SYSTEM_RELEASE=true + shift + ;; + -p|--push) + PUSH=true + shift + ;; + -d|--develop) + USERNAME=usdotfhwastoldev + COMPONENT_VERSION_STRING=develop + shift + ;; + *) + evc_token=${arg} + shift + ;; + esac +done + +if [ -z $evc_token ]; + then + echo "No argument provided for evc_token, this script needs to be run with token" + exit 1 +fi + + #user must replace the content in docker/token.txt with their own github token file="docker/token.txt" #download apt dependencies @@ -30,7 +69,6 @@ sudo apt-get update sudo apt-get install libc6:i386 libncurses5:i386 libstdc++6:i386 -y #update sumo version sudo apt-get install -y sumo sumo-tools sumo-doc -evc_token=$(cat "$file") sudo curl -H "Authorization: token ${evc_token}" -H 'Accept: application/vnd.github.v4.raw' -O -L https://api.github.com/repos/usdot-fhwa-stol/CARMASensitive/contents/evcfile.zip sudo unzip evcfile.zip diff --git a/evc-sumo/docker/token.txt b/evc-sumo/docker/token.txt deleted file mode 100644 index a3e1f526..00000000 --- a/evc-sumo/docker/token.txt +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file From 4c3dd569ffd5e88d08da17bd43ac3541beb35ed9 Mon Sep 17 00:00:00 2001 From: Eric Chen <122404059+EricChen-Lei@users.noreply.github.com> Date: Thu, 23 Mar 2023 15:10:29 -0400 Subject: [PATCH 040/124] change env.sh content take out the not used part --- evc-sumo/docker/env.sh | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/evc-sumo/docker/env.sh b/evc-sumo/docker/env.sh index c2960c00..3b6e6fa4 100755 --- a/evc-sumo/docker/env.sh +++ b/evc-sumo/docker/env.sh @@ -16,11 +16,6 @@ # Set environment variables here. -export NS3_HOME="/opt/ns-3/" -export JAVA_HOME="/usr/lib/jvm/java-11-jdk-amd64" -export SUMO_HOME="/opt/sumo/sumo-1_12_0" -export CARLA_HOME="/opt/carla" -export CARMA_SIMULATION_HOME="/opt/carma-simulation" +export SUMO_HOME="/usr/share/sumo" export PATH="/usr/local/share/sumo/bin:/usr/local/share/sumo/tools:$PATH" -export PATH="/opt/maven/bin:$PATH" -export PATH="/opt/carma-simulation:$PATH" + From 5a3994269a38ff70994cbb4297c9e83ba7b78824 Mon Sep 17 00:00:00 2001 From: EricChen-Lei <122404059+EricChen-Lei@users.noreply.github.com> Date: Tue, 28 Mar 2023 11:50:58 -0400 Subject: [PATCH 041/124] added ENV evc_token added ENV evc_token --- evc-sumo/Dockerfile | 3 ++- evc-sumo/docker/install.sh | 31 ------------------------------- 2 files changed, 2 insertions(+), 32 deletions(-) diff --git a/evc-sumo/Dockerfile b/evc-sumo/Dockerfile index aec8f947..18a9a3aa 100644 --- a/evc-sumo/Dockerfile +++ b/evc-sumo/Dockerfile @@ -16,6 +16,7 @@ FROM ubuntu:20.04 # Set environment variables for non-interactive installation ARG EVC_TOKEN="NULL" +ENV evc_token=${EVC_TOKEN} ENV SUMO_HOME /usr/share/sumo RUN apt-get update && apt-get install -y sudo @@ -32,7 +33,7 @@ COPY --chown=carma:carma /docker ./docker COPY --chown=carma:carma /src ./src COPY --chown=carma:carma /test ./test -RUN docker/install.sh ${EVC_TOKEN} +RUN docker/install.sh evc_token USER carma # Set the working directory for the browser user WORKDIR /home/carma/src diff --git a/evc-sumo/docker/install.sh b/evc-sumo/docker/install.sh index 1d4560a0..e1384ea9 100755 --- a/evc-sumo/docker/install.sh +++ b/evc-sumo/docker/install.sh @@ -16,37 +16,6 @@ set -e -#This token is required to run the script -evc_token="" - -while [[ $# -gt 0 ]]; do - arg="$1" - case $arg in - -v|--version) - COMPONENT_VERSION_STRING="$2" - shift - shift - ;; - --system-release) - SYSTEM_RELEASE=true - shift - ;; - -p|--push) - PUSH=true - shift - ;; - -d|--develop) - USERNAME=usdotfhwastoldev - COMPONENT_VERSION_STRING=develop - shift - ;; - *) - evc_token=${arg} - shift - ;; - esac -done - if [ -z $evc_token ]; then echo "No argument provided for evc_token, this script needs to be run with token" From 6fd626aad0e9d7d8a1a9dd407085b33235c72b16 Mon Sep 17 00:00:00 2001 From: EricChen-Lei <122404059+EricChen-Lei@users.noreply.github.com> Date: Tue, 28 Mar 2023 14:55:41 -0400 Subject: [PATCH 042/124] update dockerfile updated a typo on dockerfile --- evc-sumo/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/evc-sumo/Dockerfile b/evc-sumo/Dockerfile index 18a9a3aa..e27e7f24 100644 --- a/evc-sumo/Dockerfile +++ b/evc-sumo/Dockerfile @@ -33,7 +33,7 @@ COPY --chown=carma:carma /docker ./docker COPY --chown=carma:carma /src ./src COPY --chown=carma:carma /test ./test -RUN docker/install.sh evc_token +RUN docker/install.sh $evc_token USER carma # Set the working directory for the browser user WORKDIR /home/carma/src From e36745d9a9d5aa8901a36c95b9311022d240881d Mon Sep 17 00:00:00 2001 From: EricChen-Lei <122404059+EricChen-Lei@users.noreply.github.com> Date: Tue, 28 Mar 2023 15:49:33 -0400 Subject: [PATCH 043/124] update install.sh take out not used code --- evc-sumo/docker/install.sh | 3 --- 1 file changed, 3 deletions(-) diff --git a/evc-sumo/docker/install.sh b/evc-sumo/docker/install.sh index e1384ea9..24a46d4f 100755 --- a/evc-sumo/docker/install.sh +++ b/evc-sumo/docker/install.sh @@ -21,10 +21,7 @@ if [ -z $evc_token ]; echo "No argument provided for evc_token, this script needs to be run with token" exit 1 fi - -#user must replace the content in docker/token.txt with their own github token -file="docker/token.txt" #download apt dependencies sudo DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends firefox dbus-x11 x11-apps x11-utils x11-xserver-utils \ xserver-xorg-video-dummy xserver-xorg-input-void xvfb libgl1-mesa-dri libgl1-mesa-glx libpulse0 \ From 9f0be896848d2a48621753066ea146b2c561a8c6 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Tue, 4 Apr 2023 15:29:36 -0400 Subject: [PATCH 044/124] Completed infrastructure registration message --- .../InfrastructureRegistrationMessage.java | 73 ++++++++++++++++++- 1 file changed, 69 insertions(+), 4 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java index 7825ef71..bdb471be 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java @@ -23,12 +23,77 @@ */ public class InfrastructureRegistrationMessage { private String rxMessageIpAddress; - private int timeSyncListenPort = 1517; // TODO - private int regstratinoListenPort = 1516; // TODO + private String intersectionId = null; + private String infrastructureId; + + private int rxMessagePort = 1536; + private int timeSyncPort = 1517; // TODO private GeoPoint location = null; - public InfrastructureRegistrationMessage() { - + public InfrastructureRegistrationMessage(String rxMessageIpAddress, String intersectionId, String infrastructureId, + int rxMessagePort, int timeSyncPort, GeoPoint location) { + this.rxMessageIpAddress = rxMessageIpAddress; + this.intersectionId = intersectionId; + this.infrastructureId = infrastructureId; + this.rxMessagePort = rxMessagePort; + this.timeSyncPort = timeSyncPort; + this.location = location; + } + + public String getRxMessageIpAddress(){ + return this.rxMessageIpAddress; + } + + public String getIntersectionId(){ + return this.intersectionId; + } + + public String getInfrastructureId(){ + return this.infrastructureId; + } + + public int getRxMessagePort(){ + return this.rxMessagePort; + } + + public int getTimeSyncPort(){ + return this.timeSyncPort; + } + + public GeoPoint getLocation(){ + return this.location; + } + + public void setRxMessageIpAddress(String rxMessageIpAddress){ + this.rxMessageIpAddress = rxMessageIpAddress; + } + + public void setIntersectionId(String intersectionId){ + this.intersectionId = intersectionId; + } + + public void setInfrastructureId(String infrastructureId){ + this.infrastructureId = infrastructureId; + } + + public void setRxMessagePort(int rxMessagePort){ + this.rxMessagePort = rxMessagePort; + } + + public void setTimeSyncPort(int timeSyncPort){ + this.timeSyncPort = timeSyncPort; + } + + public void setLocation(GeoPoint location){ + this.location = location; + } + + @Override + public String toString() { + return "InfrastructureRegistrationMessage [rxMessageIpAddress=" + rxMessageIpAddress + ", intersectionId=" + intersectionId + + ", infrastructureId=" + infrastructureId + ", rxMessagePort=" + rxMessagePort + + ", timeSyncPort=" + timeSyncPort + ", location=" + location + "]"; } + } From 98fcc27813eba5b9d4a8ca6bd907cf865722c149 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Tue, 4 Apr 2023 15:30:19 -0400 Subject: [PATCH 045/124] Completed infrastructure instance --- .../ambassador/InfrastructureInstance.java | 52 +++++++++++++++---- 1 file changed, 43 insertions(+), 9 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java index 6e6b544f..e99da1a4 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java @@ -30,15 +30,21 @@ */ public class InfrastructureInstance { - private DatagramSocket rxMsgsSocket = null; + private String infrastructureId; private InetAddress targetAddress; - private int registrationPort; + private int rxMessagePort; private int timeSyncPort; private GeoPoint location = null; - public InfrastructureInstance() { - // TODO - // TODO Initialize Datagram Socket + private DatagramSocket rxMsgsSocket = null; + + public InfrastructureInstance(String infrastructureId, InetAddress targetAddress, + int rxMessagePort, int timeSyncPort, GeoPoint location) { + this.infrastructureId = infrastructureId; + this.targetAddress = targetAddress; + this.rxMessagePort = rxMessagePort; + this.timeSyncPort = timeSyncPort; + this.location = location; } public InetAddress getTargetAddress() { @@ -49,14 +55,43 @@ public void setTargetAddress(InetAddress targetAddress) { this.targetAddress = targetAddress; } + public GeoPoint getLocation() { + return this.location; + } + public void setLocation(GeoPoint location) { this.location = location; } - public GeoPoint getLocation() { - return this.location; + public String getInfrastructureId() { + return infrastructureId; + } + + public void setInfrastructureId(String infrastructureId) { + this.infrastructureId = infrastructureId; + } + + public int getRxMessagePort() { + return rxMessagePort; + } + + public void setRxMessagePort(int rxMessagePort) { + this.rxMessagePort = rxMessagePort; + } + + public int getTimeSyncPort() { + return timeSyncPort; + } + + public void setTimeSyncPort(int timeSyncPort) { + this.timeSyncPort = timeSyncPort; } + public void bind() throws IOException { + rxMsgsSocket = new DatagramSocket(); + } + + /** * Sends the data to the Infrastructure Device communications interface configured at construction time. * @param data The binary data to transmit @@ -66,8 +101,7 @@ public void sendMsgs(byte[] data) throws IOException { if (rxMsgsSocket == null) { throw new IllegalStateException("Attempted to send data before opening socket"); } - - DatagramPacket packet = new DatagramPacket(data, data.length, targetAddress, registrationPort); + DatagramPacket packet = new DatagramPacket(data, data.length, targetAddress, rxMessagePort); rxMsgsSocket.send(packet); } From e08c086833d575aaa5d91f63532fa1d6ec0be9b2 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Tue, 4 Apr 2023 16:12:31 -0400 Subject: [PATCH 046/124] commit --- .../InfrastructureInstanceManager.java | 39 +++++++++++++++---- .../InfrastructureMessageAmbassador.java | 18 +++++---- 2 files changed, 42 insertions(+), 15 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 7afe44d9..32695781 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -25,20 +25,43 @@ import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; -import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; import org.eclipse.mosaic.lib.enums.AdHocChannel; -import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder; -import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xContent; -import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; -import org.eclipse.mosaic.lib.objects.v2x.MessageRouting; -import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; +import org.eclipse.mosaic.lib.geo.GeoPoint; /** * Session management class for Infrastructure instances communicating with MOSAIC * NOTE: TODO See carma.ambassador for reference */ public class InfrastructureInstanceManager { - private Map managedInstances = new HashMap<>(); + private Map managedInstances = new HashMap<>(); private double currentSimulationTime; - + + public void onNewRegistration(InfrastructureRegistrationMessage registration){ + if (!managedInstances.containsKey(registration.getInfrastructureId())) { + try { + newInfrastructureInstance( + registration.getIntersectionId(), + registration.getInfrastructureId(), + InetAddress.getByName(registration.getRxMessageIpAddress()), + registration.getRxMessagePort(), + registration.getTimeSyncPort(), + registration.getLocation() + ); + } catch (UnknownHostException e) { + throw new RuntimeException(e); + } + } else { + // log warning + } + } + + private void newInfrastructureInstance(String intersectionId, String infrastructureId, InetAddress rxMessageIpAddress, int rxMessagePort, int timeSyncPort, GeoPoint location) { + InfrastructureInstance tmp = new InfrastructureInstance(intersectionId, infrastructureId, rxMessageIpAddress, rxMessagePort, timeSyncPort, location); + try { + tmp.bind(); + } catch (IOException e) { + throw new RuntimeException(e); + } + managedInstances.put(infrastructureId, tmp); + } } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 7eab5b2d..7a8dd377 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -57,11 +57,11 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador */ int numberOfInfrastructureInstances = 0; - private InfrastructureRegistrationReceiver InfrastructureRegistrationReceiver; + private InfrastructureRegistrationReceiver infrastructureRegistrationReceiver; private Thread registrationRxBackgroundThread; - private InfrastructureTimeMessageReceiver InfrastructureTimeMessageReceiver; + private InfrastructureTimeMessageReceiver infrastructureTimeMessageReceiver; private Thread v2xTimeRxBackgroundThread; - private InfrastructureInstanceManager InfrastructureInstanceManager = new InfrastructureInstanceManager(); + private InfrastructureInstanceManager infrastructureInstanceManager = new InfrastructureInstanceManager(); /** * Create a new {@link InfrastructureMessageAmbassador} object. @@ -109,7 +109,10 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce } // TODO Initialize listener socket and thread for Infrastructure Registration messages - + infrastructureRegistrationReceiver = new InfrastructureRegistrationReceiver(); + infrastructureRegistrationReceiver.init(); + registrationRxBackgroundThread = new Thread(infrastructureRegistrationReceiver); + registrationRxBackgroundThread.start(); // TODO Initialize listener socket and thread for Infrastructure time sync messages // TODO Register any V2x infrastructures from config if any @@ -149,7 +152,6 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i log.info(infrastructureV2xMessageReception.getReceiverID() + " received V2X messages at time: " + infrastructureV2xMessageReception.getTime() + "."); log.info("The received message is " + infrastructureV2xMessageReception.getMessage() + " ."); - } /** @@ -170,8 +172,10 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder } try { - // TODO actions to do on queued Infrastructure instance registration attempts - + List newRegistrations = infrastructureRegistrationReceiver.getReceivedMessages(); + for (InfrastructureRegistrationMessage reg : newRegistrations) { + infrastructureInstanceManager.onNewRegistration(reg); + } // TODO actions to do on queued Infrastructure time sync messages // TODO actions to do on queued v2x message receiver's received messages From 6df77d0b69eb33df5df8b21976225d1dfd768610 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 6 Apr 2023 00:47:43 -0400 Subject: [PATCH 047/124] commit --- .../InfrastructureInstanceManager.java | 5 ++- .../InfrastructureMessageAmbassador.java | 22 +++++++++++- .../InfrastructureConfiguration.java | 10 +++++- .../configuration/RsuConfiguration.java | 36 +++++++++++++++++++ 4 files changed, 68 insertions(+), 5 deletions(-) create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 32695781..13491184 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -40,7 +40,6 @@ public void onNewRegistration(InfrastructureRegistrationMessage registration){ if (!managedInstances.containsKey(registration.getInfrastructureId())) { try { newInfrastructureInstance( - registration.getIntersectionId(), registration.getInfrastructureId(), InetAddress.getByName(registration.getRxMessageIpAddress()), registration.getRxMessagePort(), @@ -55,8 +54,8 @@ public void onNewRegistration(InfrastructureRegistrationMessage registration){ } } - private void newInfrastructureInstance(String intersectionId, String infrastructureId, InetAddress rxMessageIpAddress, int rxMessagePort, int timeSyncPort, GeoPoint location) { - InfrastructureInstance tmp = new InfrastructureInstance(intersectionId, infrastructureId, rxMessageIpAddress, rxMessagePort, timeSyncPort, location); + private void newInfrastructureInstance(String infrastructureId, InetAddress rxMessageIpAddress, int rxMessagePort, int timeSyncPort, GeoPoint location) { + InfrastructureInstance tmp = new InfrastructureInstance(infrastructureId, rxMessageIpAddress, rxMessagePort, timeSyncPort, location); try { tmp.bind(); } catch (IOException e) { diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 7a8dd377..b9a0ae8f 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -20,10 +20,11 @@ import org.eclipse.mosaic.rti.api.InternalFederateException; import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; import org.eclipse.mosaic.fed.infrastructure.configuration.InfrastructureConfiguration; +import org.eclipse.mosaic.fed.infrastructure.configuration.RsuConfiguration; import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; import org.eclipse.mosaic.interactions.application.ExternalMessage; import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; - +import org.eclipse.mosaic.interactions.mapping.RsuRegistration; import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; import java.net.InetAddress; @@ -113,6 +114,21 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce infrastructureRegistrationReceiver.init(); registrationRxBackgroundThread = new Thread(infrastructureRegistrationReceiver); registrationRxBackgroundThread.start(); + + // Read configuration file and register RSU onto MOSAIC + for (RsuConfiguration rsuConfiguration : infrastructureConfiguration.rsus) + { + RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, rsuConfiguration.name, + rsuConfiguration.group, rsuConfiguration.application, + rsuConfiguration.position); + try { + this.rti.triggerInteraction(rsuRegistration); + v2xMap.put(rsuConfiguration.name, false); + } catch (InternalFederateException | IllegalValueException e) { + log.error(e.getMessage()); + } + } + // TODO Initialize listener socket and thread for Infrastructure time sync messages // TODO Register any V2x infrastructures from config if any @@ -172,9 +188,13 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder } try { + List newRegistrations = infrastructureRegistrationReceiver.getReceivedMessages(); for (InfrastructureRegistrationMessage reg : newRegistrations) { infrastructureInstanceManager.onNewRegistration(reg); + if (!v2xMap.get(reg.getInfrastructureId())) + v2xMap.put(reg.getInfrastructureId(), true); + } // TODO actions to do on queued Infrastructure time sync messages diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java index 5c4a4561..7e2694a7 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java @@ -18,6 +18,7 @@ import com.google.gson.annotations.JsonAdapter; import java.io.Serializable; +import java.util.List; /** * The Infrastructure Message Ambassador configuration class. @@ -33,6 +34,13 @@ public class InfrastructureConfiguration implements Serializable { @JsonAdapter(TimeFieldAdapter.LegacyMilliSeconds.class) public Long updateInterval = 1000L; - // The RSU id which sends messages. + /** + * The list of RSU configurations in the infrastructure. + */ + public List rsus; + + /** + * The ID of the RSU that sends messages. + */ public String senderRSUId; } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java new file mode 100644 index 00000000..e9347317 --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java @@ -0,0 +1,36 @@ +package org.eclipse.mosaic.fed.infrastructure.configuration; + +import java.util.List; + +import org.eclipse.mosaic.lib.geo.GeoPoint; + +/** + * Represents the configuration settings for a Road Side Unit (RSU) in a wireless communication infrastructure. + */ +public class RsuConfiguration { + + /** + * The timestamp associated with the configuration, in nanoseconds. + */ + public long time; + + /** + * The name of the RSU. + */ + public String name; + + /** + * A group identifier for the RSU, used for grouping and organizing RSUs. + */ + public String group; + + /** + * A list of application names installed on the RSU. + */ + public List application; + + /** + * The geographical position of the RSU on the map, represented as a GeoPoint object. + */ + public GeoPoint position; +} From a5a4acf3b5ff9e49e49ca001c0a59356c4330169 Mon Sep 17 00:00:00 2001 From: EricChen-Lei <122404059+EricChen-Lei@users.noreply.github.com> Date: Thu, 6 Apr 2023 15:48:48 -0400 Subject: [PATCH 048/124] updates for timesync and test implementation of time sync and unit testing --- .../ambassador/InfrastructureInstance.java | 10 +++ .../InfrastructureInstanceManager.java | 5 ++ .../InfrastructureMessageAmbassador.java | 21 ++++-- .../InfrastructureTimeInterface.java | 64 +++++++++++++++++++ .../ambassador/InfrastructureTimeMessage.java | 23 ++++++- .../InfrastructureTimeInterfaceTest.java | 63 ++++++++++++++++++ 6 files changed, 180 insertions(+), 6 deletions(-) create mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java create mode 100644 co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java index 6e6b544f..f232251a 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java @@ -71,4 +71,14 @@ public void sendMsgs(byte[] data) throws IOException { rxMsgsSocket.send(packet); } + + public void sendTimesyncMsgs(byte[] data) throws IOException { + if (rxMsgsSocket == null) { + throw new IllegalStateException("Attempted to send data before opening socket"); + } + + DatagramPacket packet = new DatagramPacket(data, data.length, targetAddress, timeSyncPort); + rxMsgsSocket.send(packet); + + } } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 7afe44d9..623b29af 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -40,5 +40,10 @@ public class InfrastructureInstanceManager { private Map managedInstances = new HashMap<>(); private double currentSimulationTime; + + public Map get_managedInstances() + { + return managedInstances; + } } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 7eab5b2d..0133110b 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -26,6 +26,7 @@ import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; +import java.io.IOException; import java.net.InetAddress; import java.util.ArrayList; import java.util.HashMap; @@ -62,6 +63,9 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador private InfrastructureTimeMessageReceiver InfrastructureTimeMessageReceiver; private Thread v2xTimeRxBackgroundThread; private InfrastructureInstanceManager InfrastructureInstanceManager = new InfrastructureInstanceManager(); + private InfrastructureTimeInterface InfrastructureTimeInterface; + + int Timesync_seq = 0; /** * Create a new {@link InfrastructureMessageAmbassador} object. @@ -132,7 +136,7 @@ public void processInteraction(Interaction interaction) throws InternalFederateE if (interaction.getTypeId().equals(InfrastructureV2xMessageReception.TYPE_ID)) { this.receiveInteraction((InfrastructureV2xMessageReception) interaction); } - // TODO Time sync message reception + // TODO Time sync message reception: needs to be implemented when time regulat.... // TODO V2xHub infrastructure Registration reception } @@ -171,9 +175,16 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder try { // TODO actions to do on queued Infrastructure instance registration attempts - - // TODO actions to do on queued Infrastructure time sync messages - + + Timesync_seq += 1; + InfrastructureTimeMessage timesync_message = new InfrastructureTimeMessage(); + timesync_message.set_seq(Timesync_seq); + timesync_message.set_timestep(currentSimulationTime); + try { + InfrastructureTimeInterface.onTimestepUpdate(timesync_message); + } catch (IOException e) { + log.error(e.getMessage()); + } // TODO actions to do on queued v2x message receiver's received messages currentSimulationTime += infrastructureConfiguration.updateInterval * TIME.MILLI_SECOND; @@ -219,6 +230,6 @@ public boolean isTimeConstrained() { */ @Override public boolean isTimeRegulating() { - return true; + return false; } } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java new file mode 100644 index 00000000..539ebcce --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java @@ -0,0 +1,64 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.fed.infrastructure.ambassador; +import java.io.IOException; + +import org.apache.commons.logging.Log; + +import com.google.gson.Gson; +public class InfrastructureTimeInterface{ +public InfrastructureInstanceManager manager; +//private int target_port=12123; +//set to false on init release +private Boolean await_infrastructure_advance_request = false; +public InfrastructureTimeInterface(InfrastructureInstanceManager manager){ + this.manager = manager; +} + +/** + * This function implements the encoding of a json string consist of timestep and seq + * + * @param message This is the class that gets encoded, which include the data of timestep and seq + * @return return_json: encoded json string + */ +public byte[] encodeTimeMessage(InfrastructureTimeMessage message) +{ + Gson gson = new Gson(); + String json = gson.toJson(message); + byte[] return_json = json.getBytes(); + return return_json; +} + +/** + * This function is used to send out encoded timestep update to all registered instances the manager has on the managed instances map + * + * @param message This time message is used to store current seq and timestep from the ambassador side + * @throws IOException + */ +public void onTimestepUpdate(InfrastructureTimeMessage message) throws IOException +{ + if(this.manager.get_managedInstances().size() == 0) + { + throw new IllegalAccessError("There are no registered instances!"); + } + + for(InfrastructureInstance current_instance: this.manager.get_managedInstances().values()) + { + current_instance.sendTimesyncMsgs(encodeTimeMessage(message)); + } +} +} \ No newline at end of file diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java index b3d9a047..d5a67973 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java @@ -25,11 +25,32 @@ */ public class InfrastructureTimeMessage { - private int timestep; + private long timestep; private int seq; public InfrastructureTimeMessage() { } + public long get_timestep() + { + return timestep; + } + public int get_seq() + { + return seq; + } + public void set_timestep(long new_timestep) + { + this.timestep = new_timestep; + } + public void set_seq(int new_seq) + { + this.seq = new_seq; + } + @Override + public String toString() { + return "InfrastructureTimeMessage [timestep=" + timestep + ", seq=" + seq + "]"; + } + } diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java new file mode 100644 index 00000000..51e06a6d --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java @@ -0,0 +1,63 @@ +package org.eclipse.mosaic.fed.infrastructure.ambassador; + +import org.junit.Test; +import static org.mockito.ArgumentMatchers.eq; +import static org.mockito.Mockito.times; +import static org.mockito.Mockito.verify; +import static org.mockito.Mockito.when; + +import org.junit.Before; +import org.mockito.Mock; +import org.mockito.MockitoAnnotations; + +import java.io.IOException; +import java.util.HashMap; +import java.util.Map; + +import com.google.gson.Gson; + +public class InfrastructureTimeInterfaceTest { + @Mock + private InfrastructureInstanceManager manager; + @Mock + private InfrastructureInstance infrastructureInstanceMock1; + @Mock + private InfrastructureInstance infrastructureInstanceMock2; + private InfrastructureTimeInterface infrastructureTimeInterface; + + @Before + public void setup() + { + MockitoAnnotations.initMocks(this); + infrastructureTimeInterface = new InfrastructureTimeInterface(manager); + } + + @Test + public void testTimesyncUpdate() throws IOException + { + InfrastructureTimeMessage infrastructureTimeMessage = new InfrastructureTimeMessage(); + infrastructureTimeMessage.set_seq(1); + infrastructureTimeMessage.set_timestep((long)20230406); + + Map managed_instance_map = new HashMap<>(); + managed_instance_map.put("instance1", infrastructureInstanceMock1); + managed_instance_map.put("instance2", infrastructureInstanceMock2); + + when(manager.get_managedInstances()).thenReturn(managed_instance_map); + + infrastructureTimeInterface.onTimestepUpdate(infrastructureTimeMessage); + + infrastructureTimeMessage.set_seq(2); + infrastructureTimeMessage.set_timestep((long)20230407); + + infrastructureTimeInterface.onTimestepUpdate(infrastructureTimeMessage); + + Gson gson = new Gson(); + String temp = gson.toJson(infrastructureTimeMessage); + byte[] t_byte = temp.getBytes(); + + verify(infrastructureInstanceMock1, times(1)).sendTimesyncMsgs(eq((byte[])t_byte)); + verify(infrastructureInstanceMock2, times(1)).sendTimesyncMsgs(eq((byte[])t_byte)); + + } +} From e1adc05692f3ba727c612988e227d8d7fc8c1d0c Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Thu, 6 Apr 2023 15:59:52 -0400 Subject: [PATCH 049/124] commit --- .../ambassador/InfrastructureInstance.java | 2 + .../InfrastructureMessageAmbassador.java | 84 +++++++++++-------- .../InfrastructureConfiguration.java | 5 -- .../configuration/RsuConfiguration.java | 36 -------- 4 files changed, 51 insertions(+), 76 deletions(-) delete mode 100644 co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java index e99da1a4..9a3c7971 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java @@ -36,6 +36,8 @@ public class InfrastructureInstance { private int timeSyncPort; private GeoPoint location = null; + + private DatagramSocket rxMsgsSocket = null; public InfrastructureInstance(String infrastructureId, InetAddress targetAddress, diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index b9a0ae8f..5d563a12 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -20,15 +20,20 @@ import org.eclipse.mosaic.rti.api.InternalFederateException; import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; import org.eclipse.mosaic.fed.infrastructure.configuration.InfrastructureConfiguration; -import org.eclipse.mosaic.fed.infrastructure.configuration.RsuConfiguration; +import org.eclipse.mosaic.lib.enums.AdHocChannel; +import org.eclipse.mosaic.lib.objects.communication.AdHocConfiguration; +import org.eclipse.mosaic.lib.objects.communication.InterfaceConfiguration; import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; import org.eclipse.mosaic.interactions.application.ExternalMessage; import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; +import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; import org.eclipse.mosaic.interactions.mapping.RsuRegistration; import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; +import java.net.Inet4Address; import java.net.InetAddress; import java.util.ArrayList; +import java.util.Arrays; import java.util.HashMap; import java.util.List; @@ -48,11 +53,6 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador */ InfrastructureConfiguration infrastructureConfiguration; - /** - * List of infrastructures that are controlled - */ - private final HashMap v2xMap = new HashMap<>(); - /** * The number of CARMA vehicles. */ @@ -109,30 +109,10 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce throw new InternalFederateException(e); } - // TODO Initialize listener socket and thread for Infrastructure Registration messages infrastructureRegistrationReceiver = new InfrastructureRegistrationReceiver(); infrastructureRegistrationReceiver.init(); registrationRxBackgroundThread = new Thread(infrastructureRegistrationReceiver); registrationRxBackgroundThread.start(); - - // Read configuration file and register RSU onto MOSAIC - for (RsuConfiguration rsuConfiguration : infrastructureConfiguration.rsus) - { - RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, rsuConfiguration.name, - rsuConfiguration.group, rsuConfiguration.application, - rsuConfiguration.position); - try { - this.rti.triggerInteraction(rsuRegistration); - v2xMap.put(rsuConfiguration.name, false); - } catch (InternalFederateException | IllegalValueException e) { - log.error(e.getMessage()); - } - } - - // TODO Initialize listener socket and thread for Infrastructure time sync messages - - // TODO Register any V2x infrastructures from config if any - } /** @@ -151,9 +131,6 @@ public void processInteraction(Interaction interaction) throws InternalFederateE if (interaction.getTypeId().equals(InfrastructureV2xMessageReception.TYPE_ID)) { this.receiveInteraction((InfrastructureV2xMessageReception) interaction); } - // TODO Time sync message reception - - // TODO V2xHub infrastructure Registration reception } /** @@ -188,15 +165,52 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder } try { - - List newRegistrations = infrastructureRegistrationReceiver.getReceivedMessages(); + + // + List newRegistrations = infrastructureRegistrationReceiver + .getReceivedMessages(); for (InfrastructureRegistrationMessage reg : newRegistrations) { + + // new instance registration to store to infrastructure instance manager infrastructureInstanceManager.onNewRegistration(reg); - if (!v2xMap.get(reg.getInfrastructureId())) - v2xMap.put(reg.getInfrastructureId(), true); - + + // register RSU, currently one infrastructure pair with one RSU, the ID will be the same as result + // group and applications leave as null for now + RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, reg.getInfrastructureId(), + null, null, + reg.getLocation()); + try { + // trigger RTI interaction to MOSAIC + this.rti.triggerInteraction(rsuRegistration); + } catch (InternalFederateException | IllegalValueException e) { + log.error(e.getMessage()); + } + + //TODO actions to create DSRC parameter and then send to RTI interaction to MOSAIC + + // Create an AdHocConfiguration object to represent the configuration of the Ad-Hoc interface + InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) + .power(50) + .radius(100.0) + .secondChannel(AdHocChannel.SCH2) + .create(); + + AdHocConfiguration adHocConfig = new AdHocConfiguration.Builder(reg.getInfrastructureId()) + .addInterface(interfaceConfig) + .create(); + + AdHocCommunicationConfiguration communicationConfig = new AdHocCommunicationConfiguration(currentSimulationTime, adHocConfig); + + // Use the object to exchange the Ad-Hoc configuration with another vehicle or component + try { + // trigger RTI interaction to MOSAIC + this.rti.triggerInteraction(communicationConfig); + } catch (InternalFederateException | IllegalValueException e) { + log.error(e.getMessage()); + } } - // TODO actions to do on queued Infrastructure time sync messages + + // TODO actions to do on queued Infrastructure time sync messages // TODO actions to do on queued v2x message receiver's received messages diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java index 7e2694a7..f819812b 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/InfrastructureConfiguration.java @@ -34,11 +34,6 @@ public class InfrastructureConfiguration implements Serializable { @JsonAdapter(TimeFieldAdapter.LegacyMilliSeconds.class) public Long updateInterval = 1000L; - /** - * The list of RSU configurations in the infrastructure. - */ - public List rsus; - /** * The ID of the RSU that sends messages. */ diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java deleted file mode 100644 index e9347317..00000000 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/configuration/RsuConfiguration.java +++ /dev/null @@ -1,36 +0,0 @@ -package org.eclipse.mosaic.fed.infrastructure.configuration; - -import java.util.List; - -import org.eclipse.mosaic.lib.geo.GeoPoint; - -/** - * Represents the configuration settings for a Road Side Unit (RSU) in a wireless communication infrastructure. - */ -public class RsuConfiguration { - - /** - * The timestamp associated with the configuration, in nanoseconds. - */ - public long time; - - /** - * The name of the RSU. - */ - public String name; - - /** - * A group identifier for the RSU, used for grouping and organizing RSUs. - */ - public String group; - - /** - * A list of application names installed on the RSU. - */ - public List application; - - /** - * The geographical position of the RSU on the map, represented as a GeoPoint object. - */ - public GeoPoint position; -} From 7fc6e9fe84f77d6ed0af4fcaf74066dfd3a9bea8 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 10:09:50 -0400 Subject: [PATCH 050/124] Added infrastructure registration message unit test java code --- ...nfrastructureRegistrationReceiverTest.java | 86 +++++++++++++++++++ 1 file changed, 86 insertions(+) create mode 100644 co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java new file mode 100644 index 00000000..183db72b --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java @@ -0,0 +1,86 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + + package org.eclipse.mosaic.fed.infrastructure.ambassador; + + import static org.junit.Assert.assertEquals; + + import java.net.DatagramPacket; + import java.net.DatagramSocket; + import java.net.InetAddress; + import java.util.List; + + import org.junit.After; + import org.junit.Before; + import org.junit.Test; + + public class InfrastructureRegistrationReceiverTest { + + private static final int TEST_PORT = 1515; + + private DatagramSocket sendSocket; + private InfrastructureRegistrationReceiver receiver; + + @Before + public void setup() throws Exception { + // Set up a UDP socket to send messages + sendSocket = new DatagramSocket(); + + // Initialize the receiver + receiver = new InfrastructureRegistrationReceiver(); + receiver.init(); + Thread receiverThread = new Thread(receiver); + receiverThread.start(); + } + + @After + public void teardown() throws Exception { + // Stop the receiver and close the send socket + receiver.stop(); + sendSocket.close(); + } + + @Test + public void testMessageReceive() throws Exception { + // Define a test message in JSON format + String json = "{\"rxMessageIpAddress\":\"192.168.0.1\",\"infrastructureId\":\"5678\",\"rxMessagePort\":1234,\"timeSyncPort\":5678,\"location\":{\"latitude\":37.3382,\"longitude\":121.8863}}"; + byte[] buffer = json.getBytes(); + + // Send the test message to the receiver + InetAddress address = InetAddress.getLocalHost(); + DatagramPacket packet = new DatagramPacket(buffer, buffer.length, address, TEST_PORT); + sendSocket.send(packet); + + // Wait for the message to be received + Thread.sleep(1000); + + // Verify that the message was received correctly + List msgs = receiver.getReceivedMessages(); + assertEquals(1, msgs.size()); + + InfrastructureRegistrationMessage msg = msgs.get(0); + double delta = 0.001; // maximum allowed difference for GeoLocation lat and lon + + assertEquals("192.168.0.1", msg.getRxMessageIpAddress()); + assertEquals("5678", msg.getInfrastructureId()); + assertEquals(1234, msg.getRxMessagePort()); + assertEquals(5678, msg.getTimeSyncPort()); + assertEquals(37.3382, msg.getLocation().getLatitude(), delta); + assertEquals(121.8863, msg.getLocation().getLongitude(), delta); + } + + } + \ No newline at end of file From 840c78ee02f6d4943d365fd4c78f5b190e75ee43 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 10:11:12 -0400 Subject: [PATCH 051/124] Update the data convert method to fix bug --- .../ambassador/CarmaRegistrationReceiver.java | 2 +- .../InfrastructureRegistrationReceiver.java | 14 +++++++------- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java index 878122da..6d419d5c 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java @@ -64,7 +64,7 @@ public void run() { } // parse message - String receivedPacket = new String(msg.getData()); + String receivedPacket = new String(msg.getData(), 0, msg.getLength()); Gson gson = new Gson(); CarmaRegistrationMessage parsedMessage = gson.fromJson(receivedPacket, CarmaRegistrationMessage.class); diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java index 885daa53..bc6a34ee 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -60,22 +60,23 @@ public void run() { while (running) { DatagramPacket msg = new DatagramPacket(buf, buf.length); try { - listenSocket.receive(msg); + listenSocket.receive(msg); } catch (IOException e) { - throw new RuntimeException(e); + throw new RuntimeException(e); } - + // parse message - String receivedPacket = new String(msg.getData()); + String receivedPacket = new String(msg.getData(), 0, msg.getLength()); // Use length of message to create String Gson gson = new Gson(); InfrastructureRegistrationMessage parsedMessage = gson.fromJson(receivedPacket, InfrastructureRegistrationMessage.class); - + // Enqueue message for processing on main thread synchronized (rxQueue) { rxQueue.add(parsedMessage); } - } + } } + /** * Stop the runnable instance @@ -84,7 +85,6 @@ public void stop() { if (listenSocket != null) { listenSocket.close(); } - running = false; } From 820a2778d7fcd425b6b2953de78477e0421b334c Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 10:12:36 -0400 Subject: [PATCH 052/124] Remove intersection id parameter --- .../InfrastructureRegistrationMessage.java | 14 ++------------ 1 file changed, 2 insertions(+), 12 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java index bdb471be..20782031 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java @@ -23,17 +23,15 @@ */ public class InfrastructureRegistrationMessage { private String rxMessageIpAddress; - private String intersectionId = null; private String infrastructureId; private int rxMessagePort = 1536; private int timeSyncPort = 1517; // TODO private GeoPoint location = null; - public InfrastructureRegistrationMessage(String rxMessageIpAddress, String intersectionId, String infrastructureId, + public InfrastructureRegistrationMessage(String rxMessageIpAddress, String infrastructureId, int rxMessagePort, int timeSyncPort, GeoPoint location) { this.rxMessageIpAddress = rxMessageIpAddress; - this.intersectionId = intersectionId; this.infrastructureId = infrastructureId; this.rxMessagePort = rxMessagePort; this.timeSyncPort = timeSyncPort; @@ -44,10 +42,6 @@ public String getRxMessageIpAddress(){ return this.rxMessageIpAddress; } - public String getIntersectionId(){ - return this.intersectionId; - } - public String getInfrastructureId(){ return this.infrastructureId; } @@ -68,10 +62,6 @@ public void setRxMessageIpAddress(String rxMessageIpAddress){ this.rxMessageIpAddress = rxMessageIpAddress; } - public void setIntersectionId(String intersectionId){ - this.intersectionId = intersectionId; - } - public void setInfrastructureId(String infrastructureId){ this.infrastructureId = infrastructureId; } @@ -90,7 +80,7 @@ public void setLocation(GeoPoint location){ @Override public String toString() { - return "InfrastructureRegistrationMessage [rxMessageIpAddress=" + rxMessageIpAddress + ", intersectionId=" + intersectionId + return "InfrastructureRegistrationMessage [rxMessageIpAddress=" + rxMessageIpAddress + ", infrastructureId=" + infrastructureId + ", rxMessagePort=" + rxMessagePort + ", timeSyncPort=" + timeSyncPort + ", location=" + location + "]"; } From 03bbb127cd7424a10520950b349d51b3ea57bd03 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 11:46:50 -0400 Subject: [PATCH 053/124] Create InfrastructureInstanceManagerTest.java --- .../InfrastructureInstanceManagerTest.java | 57 +++++++++++++++++++ 1 file changed, 57 insertions(+) create mode 100644 co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java new file mode 100644 index 00000000..9fa5cba4 --- /dev/null +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java @@ -0,0 +1,57 @@ +package org.eclipse.mosaic.fed.infrastructure.ambassador; + +import static org.junit.Assert.assertEquals; +import static org.mockito.Mockito.mock; + +import java.net.InetAddress; + +import org.eclipse.mosaic.lib.geo.GeoPoint; +import org.junit.Before; +import org.junit.Test; +import org.mockito.Mockito; + +public class InfrastructureInstanceManagerTest { + + private InfrastructureInstanceManager manager; + private InfrastructureRegistrationMessage registration; + private InetAddress ipAddress; + private GeoPoint location; + + @Before + public void setUp() throws Exception { + manager = new InfrastructureInstanceManager(); + registration = mock(InfrastructureRegistrationMessage.class); + ipAddress = mock(InetAddress.class); + location = mock(GeoPoint.class); + } + + @Test + public void testOnNewRegistration() { + // Set up the registration object + String infrastructureId = "infrastructure-123"; + int rxMessagePort = 1234; + int timeSyncPort = 5678; + String ipAddressString = "127.0.0.1"; + GeoPoint pt = GeoPoint.latLon(37.3382, -121.8863); + + // Mock the behavior of the registration object + mockRegistrationObject(infrastructureId, rxMessagePort, timeSyncPort, ipAddressString, pt); + + // Call the onNewRegistration method with the mocked registration object + manager.onNewRegistration(registration); + + // Verify that the infrastructure instance was added to the manager + assertEquals(true, manager.checkIfRegistered(infrastructureId)); + } + + private void mockRegistrationObject(String infrastructureId, int rxMessagePort, int timeSyncPort, + String ipAddressString, GeoPoint pt) { + // Mock the behavior of the registration object + Mockito.when(registration.getInfrastructureId()).thenReturn(infrastructureId); + Mockito.when(registration.getRxMessagePort()).thenReturn(rxMessagePort); + Mockito.when(registration.getTimeSyncPort()).thenReturn(timeSyncPort); + Mockito.when(registration.getRxMessageIpAddress()).thenReturn(ipAddressString); + Mockito.when(registration.getLocation()).thenReturn(pt); + Mockito.when(ipAddress.getHostAddress()).thenReturn(ipAddressString); + } +} From 2858bd14e6ff30c2d050d06923bdefa76ace8f9e Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 11:46:59 -0400 Subject: [PATCH 054/124] Update InfrastructureInstanceManager.java --- .../ambassador/InfrastructureInstanceManager.java | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 13491184..e6758a03 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -63,4 +63,14 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe } managedInstances.put(infrastructureId, tmp); } + + /** + * External helper function to allow the ambassador to check if a given vehicle ID is a registered CARMA Platform + * instance + * @param mosiacVehicleId The id to check + * @return True if managed by this object (e.g., is a registered CARMA Platform vehicle). false o.w. + */ + public boolean checkIfRegistered(String infrastructureId) { + return managedInstances.keySet().contains(infrastructureId); + } } From cab00b7ee85ee83dd47b14c92356a9c60c12f850 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 11:47:20 -0400 Subject: [PATCH 055/124] Update InfrastructureMessageAmbassador.java --- .../InfrastructureMessageAmbassador.java | 141 +++++++++++------- 1 file changed, 84 insertions(+), 57 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 5d563a12..ee190750 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -28,13 +28,6 @@ import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; import org.eclipse.mosaic.interactions.mapping.RsuRegistration; -import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; - -import java.net.Inet4Address; -import java.net.InetAddress; -import java.util.ArrayList; -import java.util.Arrays; -import java.util.HashMap; import java.util.List; /** @@ -148,83 +141,117 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i } /** - * This method is called by the AbstractFederateAmbassador when a time advance - * has been granted by the RTI. Before this call is placed, any unprocessed - * interaction is forwarded to the federate using the processInteraction method. + * Creates an Ad-Hoc configuration object to represent the configuration of the + * Ad-Hoc interface used for communication between the infrastructure instance + * and other vehicles or components, and sends it to the RTI for exchange. + * + * @param reg the infrastructure registration message received from the RTI + */ + private final void onDsrcRegistrationRequest(InfrastructureRegistrationMessage reg) { + // Create an InterfaceConfiguration object to represent the configuration of the + // Ad-Hoc interface + // Set the IP address and subnet mask to null for now + // Set the transmit power to 50 dBm and the maximum range to 100 meters + InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) + .ip(null) + .subnet(null) + .power(50) + .radius(100.0) + .create(); + + // Create an AdHocConfiguration object to associate the Ad-Hoc interface + // configuration + // with the infrastructure instance's ID + AdHocConfiguration adHocConfig = new AdHocConfiguration.Builder(reg.getInfrastructureId()) + .addInterface(interfaceConfig) + .create(); + + // Create an AdHocCommunicationConfiguration object to specify the time and + // Ad-Hoc + // configuration for exchange with another vehicle or component + AdHocCommunicationConfiguration communicationConfig = new AdHocCommunicationConfiguration(currentSimulationTime, + adHocConfig); + + try { + // Trigger RTI interaction to MOSAIC to exchange the Ad-Hoc configuration + this.rti.triggerInteraction(communicationConfig); + } catch (InternalFederateException | IllegalValueException e) { + // Log error message if there was an issue with the RTI interaction + log.error(e.getMessage()); + } + } + + /** + * Performs registration of a new infrastructure instance and sets up + * communication interfaces. + * + * @param reg The registration message of the new infrastructure instance. + */ + private final void onRsuRegistrationRequest(InfrastructureRegistrationMessage reg) { + + // Register the new infrastructure instance to the RTI as an RSU + RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, reg.getInfrastructureId(), + null, null, + reg.getLocation()); + try { + // Trigger RTI interaction to MOSAIC + this.rti.triggerInteraction(rsuRegistration); + } catch (InternalFederateException | IllegalValueException e) { + // Log error message if there was an issue with the RTI interaction + log.error(e.getMessage()); + } + + + } + + /** + * This method is called by the AbstractFederateAmbassador when the RTI grants a + * time advance to the federate. Any unprocessed interactions are forwarded to + * the federate using the processInteraction method before this call is made. * - * @param time The timestamp towards which the federate can advance it local - * time. + * @param time The timestamp indicating the time to which the federate can + * advance its local time. */ @Override public synchronized void processTimeAdvanceGrant(long time) throws InternalFederateException { + // Process the time advance only if the time is equal or greater than the next + // simulation time step if (time < currentSimulationTime) { - // process time advance only if time is equal or greater than the next - // simulation time step return; } - try { - - // + + // Handle any new infrastructure registration requests List newRegistrations = infrastructureRegistrationReceiver .getReceivedMessages(); for (InfrastructureRegistrationMessage reg : newRegistrations) { - - // new instance registration to store to infrastructure instance manager + // Store new instance registration to infrastructure instance manager infrastructureInstanceManager.onNewRegistration(reg); - - // register RSU, currently one infrastructure pair with one RSU, the ID will be the same as result - // group and applications leave as null for now - RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, reg.getInfrastructureId(), - null, null, - reg.getLocation()); - try { - // trigger RTI interaction to MOSAIC - this.rti.triggerInteraction(rsuRegistration); - } catch (InternalFederateException | IllegalValueException e) { - log.error(e.getMessage()); - } - - //TODO actions to create DSRC parameter and then send to RTI interaction to MOSAIC - - // Create an AdHocConfiguration object to represent the configuration of the Ad-Hoc interface - InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) - .power(50) - .radius(100.0) - .secondChannel(AdHocChannel.SCH2) - .create(); - - AdHocConfiguration adHocConfig = new AdHocConfiguration.Builder(reg.getInfrastructureId()) - .addInterface(interfaceConfig) - .create(); - - AdHocCommunicationConfiguration communicationConfig = new AdHocCommunicationConfiguration(currentSimulationTime, adHocConfig); - - // Use the object to exchange the Ad-Hoc configuration with another vehicle or component - try { - // trigger RTI interaction to MOSAIC - this.rti.triggerInteraction(communicationConfig); - } catch (InternalFederateException | IllegalValueException e) { - log.error(e.getMessage()); - } + // Process registration requests for RSUs and DSRCs + onRsuRegistrationRequest(reg); + onDsrcRegistrationRequest(reg); } - // TODO actions to do on queued Infrastructure time sync messages + // TODO: Handle any queued Infrastructure time sync messages - // TODO actions to do on queued v2x message receiver's received messages + // TODO: Handle any queued V2X message receiver's received messages + // Advance the simulation time currentSimulationTime += infrastructureConfiguration.updateInterval * TIME.MILLI_SECOND; + // Request the next time advance from the RTI rti.requestAdvanceTime(currentSimulationTime, 0, (byte) 2); - // send RSU external message + // Send an external message to the RSU String message = "External Message to RSU: RSU sent message at time: " + currentSimulationTime; ExternalMessage rsuMessage = new ExternalMessage(currentSimulationTime, message, infrastructureConfiguration.senderRSUId); try { + // Trigger RTI interaction to MOSAIC this.rti.triggerInteraction(rsuMessage); } catch (InternalFederateException | IllegalValueException e) { + // Log an error message if there was an issue with the RTI interaction log.error(e.getMessage()); } From 51821488ea922fa076473d053abde86eb1c02e1a Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 13:34:52 -0400 Subject: [PATCH 056/124] Added copyright --- .../InfrastructureInstanceManagerTest.java | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java index 9fa5cba4..7bc7b19c 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java @@ -1,3 +1,19 @@ +/* + * Copyright (C) 2023 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + package org.eclipse.mosaic.fed.infrastructure.ambassador; import static org.junit.Assert.assertEquals; From 4ad02e4eaa00963f9c337b12b372c6e6aac843a2 Mon Sep 17 00:00:00 2001 From: Eric Chen <122404059+EricChen-Lei@users.noreply.github.com> Date: Fri, 7 Apr 2023 14:15:09 -0400 Subject: [PATCH 057/124] code update updated suggested code and bugs fixed --- .../ambassador/InfrastructureInstance.java | 7 +- .../InfrastructureInstanceManager.java | 9 +-- .../InfrastructureMessageAmbassador.java | 38 ++++----- .../InfrastructureTimeInterface.java | 78 ++++++++++--------- .../ambassador/InfrastructureTimeMessage.java | 25 +++--- .../InfrastructureTimeInterfaceTest.java | 44 +++++++---- 6 files changed, 113 insertions(+), 88 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java index f232251a..c2793005 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java @@ -72,7 +72,12 @@ public void sendMsgs(byte[] data) throws IOException { } - public void sendTimesyncMsgs(byte[] data) throws IOException { + /** + * Sends time sync data to the Infrastructure Device communications interface configured at construction time. + * @param data The binary data to transmit + * @throws IOException If there is an issue with the underlying socket object or methods + */ + public void sendTimeSyncMsgs(byte[] data) throws IOException { if (rxMsgsSocket == null) { throw new IllegalStateException("Attempted to send data before opening socket"); } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 623b29af..dc8ee393 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -34,16 +34,15 @@ import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; /** - * Session management class for Infrastructure instances communicating with MOSAIC + * Session management class for Infrastructure instances communicating with + * MOSAIC * NOTE: TODO See carma.ambassador for reference */ public class InfrastructureInstanceManager { - private Map managedInstances = new HashMap<>(); + private Map managedInstances = new HashMap<>(); private double currentSimulationTime; - public Map get_managedInstances() - { + public Map getManagedInstances() { return managedInstances; } - } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 0133110b..afda1244 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -63,9 +63,9 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador private InfrastructureTimeMessageReceiver InfrastructureTimeMessageReceiver; private Thread v2xTimeRxBackgroundThread; private InfrastructureInstanceManager InfrastructureInstanceManager = new InfrastructureInstanceManager(); - private InfrastructureTimeInterface InfrastructureTimeInterface; + private InfrastructureTimeInterface infrastructureTimeInterface; - int Timesync_seq = 0; + private int timeSyncSeq = 0; /** * Create a new {@link InfrastructureMessageAmbassador} object. @@ -112,10 +112,12 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce throw new InternalFederateException(e); } - // TODO Initialize listener socket and thread for Infrastructure Registration messages + // TODO Initialize listener socket and thread for Infrastructure Registration + // messages + + // TODO Initialize listener socket and thread for Infrastructure time sync + // messages - // TODO Initialize listener socket and thread for Infrastructure time sync messages - // TODO Register any V2x infrastructures from config if any } @@ -136,9 +138,10 @@ public void processInteraction(Interaction interaction) throws InternalFederateE if (interaction.getTypeId().equals(InfrastructureV2xMessageReception.TYPE_ID)) { this.receiveInteraction((InfrastructureV2xMessageReception) interaction); } - // TODO Time sync message reception: needs to be implemented when time regulat.... + // TODO Time sync message reception: needs to be implemented when time + // regulat.... - // TODO V2xHub infrastructure Registration reception + // TODO V2xHub infrastructure Registration reception } /** @@ -174,17 +177,14 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder } try { - // TODO actions to do on queued Infrastructure instance registration attempts - - Timesync_seq += 1; - InfrastructureTimeMessage timesync_message = new InfrastructureTimeMessage(); - timesync_message.set_seq(Timesync_seq); - timesync_message.set_timestep(currentSimulationTime); - try { - InfrastructureTimeInterface.onTimestepUpdate(timesync_message); - } catch (IOException e) { - log.error(e.getMessage()); - } + // TODO actions to do on queued Infrastructure instance registration attempts + + timeSyncSeq += 1; + InfrastructureTimeMessage timeSyncMessage = new InfrastructureTimeMessage(); + timeSyncMessage.setSeq(timeSyncSeq); + timeSyncMessage.setTimestep(currentSimulationTime); + infrastructureTimeInterface.onTimeStepUpdate(timeSyncMessage); + // TODO actions to do on queued v2x message receiver's received messages currentSimulationTime += infrastructureConfiguration.updateInterval * TIME.MILLI_SECOND; @@ -204,6 +204,8 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder } catch (IllegalValueException e) { log.error("Error during advanceTime(" + time + ")", e); throw new InternalFederateException(e); + } catch (IOException e1) { + log.error("Error during updating timestep :" + e1.getMessage()); } } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java index 539ebcce..2ebe2174 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java @@ -15,50 +15,54 @@ */ package org.eclipse.mosaic.fed.infrastructure.ambassador; + import java.io.IOException; -import org.apache.commons.logging.Log; +import org.slf4j.Logger; import com.google.gson.Gson; -public class InfrastructureTimeInterface{ -public InfrastructureInstanceManager manager; -//private int target_port=12123; -//set to false on init release -private Boolean await_infrastructure_advance_request = false; -public InfrastructureTimeInterface(InfrastructureInstanceManager manager){ - this.manager = manager; -} -/** - * This function implements the encoding of a json string consist of timestep and seq - * - * @param message This is the class that gets encoded, which include the data of timestep and seq - * @return return_json: encoded json string - */ -public byte[] encodeTimeMessage(InfrastructureTimeMessage message) -{ - Gson gson = new Gson(); - String json = gson.toJson(message); - byte[] return_json = json.getBytes(); - return return_json; -} +public class InfrastructureTimeInterface { + private InfrastructureInstanceManager manager; + // set to false on init release + private boolean await_infrastructure_advance_request = false; -/** - * This function is used to send out encoded timestep update to all registered instances the manager has on the managed instances map - * - * @param message This time message is used to store current seq and timestep from the ambassador side - * @throws IOException - */ -public void onTimestepUpdate(InfrastructureTimeMessage message) throws IOException -{ - if(this.manager.get_managedInstances().size() == 0) - { - throw new IllegalAccessError("There are no registered instances!"); + protected Logger log; + + public InfrastructureTimeInterface(InfrastructureInstanceManager manager) { + this.manager = manager; } - for(InfrastructureInstance current_instance: this.manager.get_managedInstances().values()) - { - current_instance.sendTimesyncMsgs(encodeTimeMessage(message)); + /** + * This function implements the encoding of a json string consist of timestep + * and seq + * + * @param message This is the class that gets encoded, which include the data of + * timestep and seq + * @return return_json: encoded json string + */ + public byte[] encodeTimeMessage(InfrastructureTimeMessage message) { + Gson gson = new Gson(); + String json = gson.toJson(message); + byte[] returnJson = json.getBytes(); + return returnJson; + } + + /** + * This function is used to send out encoded timestep update to all registered + * instances the manager has on the managed instances map + * + * @param message This time message is used to store current seq and timestep + * from the ambassador side + * @throws IOException + */ + public void onTimeStepUpdate(InfrastructureTimeMessage message) throws IOException { + if (this.manager.getManagedInstances().size() == 0) { + log.info("There are no registered instances"); + } + + for (InfrastructureInstance currentInstance : manager.getManagedInstances().values()) { + currentInstance.sendTimeSyncMsgs(encodeTimeMessage(message)); + } } -} } \ No newline at end of file diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java index d5a67973..821aed0b 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java @@ -22,32 +22,31 @@ /** * Message to be sent or received by the Infrastructure Device Adapter interface * NOTE: TODO See .ambassador for reference - + * */ public class InfrastructureTimeMessage { private long timestep; private int seq; - - + public InfrastructureTimeMessage() { } - public long get_timestep() - { + public long getTimestep() { return timestep; } - public int get_seq() - { + + public int getSeq() { return seq; } - public void set_timestep(long new_timestep) - { - this.timestep = new_timestep; + + public void setTimestep(long newTimestep) { + this.timestep = newTimestep; } - public void set_seq(int new_seq) - { - this.seq = new_seq; + + public void setSeq(int newSeq) { + this.seq = newSeq; } + @Override public String toString() { return "InfrastructureTimeMessage [timestep=" + timestep + ", seq=" + seq + "]"; diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java index 51e06a6d..5841789e 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java @@ -1,6 +1,21 @@ +/* + * Copyright (c) 2021 Old Dominion University. All rights reserved. + * + * See the NOTICE file(s) distributed with this work for additional + * information regarding copyright ownership. + * + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0 + * + * SPDX-License-Identifier: EPL-2.0 + */ + package org.eclipse.mosaic.fed.infrastructure.ambassador; import org.junit.Test; + +import static org.mockito.ArgumentMatchers.any; import static org.mockito.ArgumentMatchers.eq; import static org.mockito.Mockito.times; import static org.mockito.Mockito.verify; @@ -26,38 +41,39 @@ public class InfrastructureTimeInterfaceTest { private InfrastructureTimeInterface infrastructureTimeInterface; @Before - public void setup() - { + public void setup() { MockitoAnnotations.initMocks(this); infrastructureTimeInterface = new InfrastructureTimeInterface(manager); } @Test - public void testTimesyncUpdate() throws IOException - { + public void testTimesyncUpdate() throws IOException { InfrastructureTimeMessage infrastructureTimeMessage = new InfrastructureTimeMessage(); - infrastructureTimeMessage.set_seq(1); - infrastructureTimeMessage.set_timestep((long)20230406); + infrastructureTimeMessage.setSeq(1); + infrastructureTimeMessage.setTimestep((long) 20230406); Map managed_instance_map = new HashMap<>(); managed_instance_map.put("instance1", infrastructureInstanceMock1); managed_instance_map.put("instance2", infrastructureInstanceMock2); - when(manager.get_managedInstances()).thenReturn(managed_instance_map); + when(manager.getManagedInstances()).thenReturn(managed_instance_map); - infrastructureTimeInterface.onTimestepUpdate(infrastructureTimeMessage); + infrastructureTimeInterface.onTimeStepUpdate(infrastructureTimeMessage); - infrastructureTimeMessage.set_seq(2); - infrastructureTimeMessage.set_timestep((long)20230407); + infrastructureTimeMessage.setSeq(2); + infrastructureTimeMessage.setTimestep((long) 20230407); - infrastructureTimeInterface.onTimestepUpdate(infrastructureTimeMessage); + infrastructureTimeInterface.onTimeStepUpdate(infrastructureTimeMessage); Gson gson = new Gson(); String temp = gson.toJson(infrastructureTimeMessage); byte[] t_byte = temp.getBytes(); - verify(infrastructureInstanceMock1, times(1)).sendTimesyncMsgs(eq((byte[])t_byte)); - verify(infrastructureInstanceMock2, times(1)).sendTimesyncMsgs(eq((byte[])t_byte)); - + verify(infrastructureInstanceMock1, times(1)).sendTimeSyncMsgs(eq((byte[]) t_byte)); + verify(infrastructureInstanceMock2, times(1)).sendTimeSyncMsgs(eq((byte[]) t_byte)); + + verify(infrastructureInstanceMock1, times(2)).sendTimeSyncMsgs(any()); + verify(infrastructureInstanceMock2, times(2)).sendTimeSyncMsgs(any()); + } } From 3af8f03579a500305907e040aba96eda2c5b829c Mon Sep 17 00:00:00 2001 From: Eric Chen <122404059+EricChen-Lei@users.noreply.github.com> Date: Fri, 7 Apr 2023 14:35:17 -0400 Subject: [PATCH 058/124] updated the copyright updated the copyright statement --- .../InfrastructureTimeInterfaceTest.java | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java index 5841789e..d679aed8 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterfaceTest.java @@ -1,14 +1,17 @@ /* - * Copyright (c) 2021 Old Dominion University. All rights reserved. + * Copyright (C) 2023 LEIDOS. * - * See the NOTICE file(s) distributed with this work for additional - * information regarding copyright ownership. + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at * - * This program and the accompanying materials are made available under the - * terms of the Eclipse Public License 2.0 which is available at - * http://www.eclipse.org/legal/epl-2.0 + * http://www.apache.org/licenses/LICENSE-2.0 * - * SPDX-License-Identifier: EPL-2.0 + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. */ package org.eclipse.mosaic.fed.infrastructure.ambassador; From 1f45013397d19887b3b3f7c12c122eff730eedb2 Mon Sep 17 00:00:00 2001 From: Eric Chen <122404059+EricChen-Lei@users.noreply.github.com> Date: Fri, 7 Apr 2023 14:42:11 -0400 Subject: [PATCH 059/124] update the ambassador copyright update copyright from odu to leidos --- .../InfrastructureMessageAmbassador.java | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index afda1244..f388b8f3 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -1,14 +1,17 @@ /* - * Copyright (c) 2021 Old Dominion University. All rights reserved. + * Copyright (C) 2023 LEIDOS. * - * See the NOTICE file(s) distributed with this work for additional - * information regarding copyright ownership. + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at * - * This program and the accompanying materials are made available under the - * terms of the Eclipse Public License 2.0 which is available at - * http://www.eclipse.org/legal/epl-2.0 + * http://www.apache.org/licenses/LICENSE-2.0 * - * SPDX-License-Identifier: EPL-2.0 + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. */ package org.eclipse.mosaic.fed.infrastructure.ambassador; From bba77edad05c2d3393366a1bd4abaaeb74c33fec Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 18:25:47 -0400 Subject: [PATCH 060/124] Added log and comments and adjusted indentation --- .../InfrastructureInstanceManager.java | 75 +++++++++++++++---- 1 file changed, 59 insertions(+), 16 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index e6758a03..3be8fe03 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -28,34 +28,74 @@ import org.eclipse.mosaic.lib.enums.AdHocChannel; import org.eclipse.mosaic.lib.geo.GeoPoint; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + /** - * Session management class for Infrastructure instances communicating with MOSAIC - * NOTE: TODO See carma.ambassador for reference + * Session management class for Infrastructure instances communicating with + * MOSAIC. + * + * This class is responsible for managing instances of infrastructure registered + * with the MOSAIC system. It provides methods for registering new instances, + * checking if instances are registered, and storing and retrieving instances + * from a map. */ public class InfrastructureInstanceManager { private Map managedInstances = new HashMap<>(); private double currentSimulationTime; + private static final Logger log = LoggerFactory.getLogger(InfrastructureInstanceManager.class); - public void onNewRegistration(InfrastructureRegistrationMessage registration){ + /** + * Register a new infrastructure instance with the MOSAIC system. + * + * This method takes an InfrastructureRegistrationMessage, converts it to an + * InfrastructureInstance, and adds it to the managedInstances map if it is not + * already present. + * + * @param registration The InfrastructureRegistrationMessage to be registered. + * + * @throws RuntimeException if an error occurs while creating or adding the new + * instance. + */ + public void onNewRegistration(InfrastructureRegistrationMessage registration) { if (!managedInstances.containsKey(registration.getInfrastructureId())) { try { newInfrastructureInstance( - registration.getInfrastructureId(), - InetAddress.getByName(registration.getRxMessageIpAddress()), - registration.getRxMessagePort(), - registration.getTimeSyncPort(), - registration.getLocation() - ); + registration.getInfrastructureId(), + InetAddress.getByName(registration.getRxMessageIpAddress()), + registration.getRxMessagePort(), + registration.getTimeSyncPort(), + registration.getLocation()); } catch (UnknownHostException e) { + log.error("Failed to create infrastructure instance with ID '{}' due to an unknown host exception: {}", + registration.getInfrastructureId(), e.getMessage()); throw new RuntimeException(e); } } else { - // log warning + log.warn("Registration message received for already registered infrastructure with ID: {}", + registration.getInfrastructureId()); } } - private void newInfrastructureInstance(String infrastructureId, InetAddress rxMessageIpAddress, int rxMessagePort, int timeSyncPort, GeoPoint location) { - InfrastructureInstance tmp = new InfrastructureInstance(infrastructureId, rxMessageIpAddress, rxMessagePort, timeSyncPort, location); + /** + * Create a new InfrastructureInstance and add it to the managedInstances map. + * + * This method creates a new InfrastructureInstance with the provided parameters + * and adds it to the managedInstances map. + * + * @param infrastructureId The ID of the new instance. + * @param rxMessageIpAddress The IP address to receive messages on. + * @param rxMessagePort The port to receive messages on. + * @param timeSyncPort The port for time synchronization. + * @param location The location of the instance. + * + * @throws RuntimeException if an error occurs while creating or adding the new + * instance. + */ + private void newInfrastructureInstance(String infrastructureId, InetAddress rxMessageIpAddress, int rxMessagePort, + int timeSyncPort, GeoPoint location) { + InfrastructureInstance tmp = new InfrastructureInstance(infrastructureId, rxMessageIpAddress, rxMessagePort, + timeSyncPort, location); try { tmp.bind(); } catch (IOException e) { @@ -64,11 +104,14 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe managedInstances.put(infrastructureId, tmp); } - /** - * External helper function to allow the ambassador to check if a given vehicle ID is a registered CARMA Platform + /** + * External helper function to allow the ambassador to check if a given vehicle + * ID is a registered CARMA Platform * instance - * @param mosiacVehicleId The id to check - * @return True if managed by this object (e.g., is a registered CARMA Platform vehicle). false o.w. + * + * @param infrastructureId The id to check + * @return True if managed by this object (e.g., is a registered CARMA Platform + * vehicle). false o.w. */ public boolean checkIfRegistered(String infrastructureId) { return managedInstances.keySet().contains(infrastructureId); From 247fbe9c47c58b37629d570f976e8597fad2b8c0 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 19:53:11 -0400 Subject: [PATCH 061/124] Added doc and clean up TODO --- .../ambassador/InfrastructureInstance.java | 94 ++++++++++++++++--- 1 file changed, 81 insertions(+), 13 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java index 9a3c7971..84efe04d 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java @@ -13,7 +13,7 @@ * License for the specific language governing permissions and limitations under * the License. */ - + package org.eclipse.mosaic.fed.infrastructure.ambassador; import org.eclipse.mosaic.lib.geo.GeoPoint; @@ -22,26 +22,35 @@ import java.net.DatagramPacket; import java.net.DatagramSocket; import java.net.InetAddress; -import java.net.SocketException; /** - * Connection manager and data object to associate with a single infrastructure instance in XIL - * NOTE: TODO See carma.ambassador for reference + * InfrastructureInstance class represents a physical instance of an + * infrastructure node in the simulated environment. + * It contains information about the infrastructure node such as its ID, + * location, target address, and ports. */ public class InfrastructureInstance { - + private String infrastructureId; private InetAddress targetAddress; private int rxMessagePort; private int timeSyncPort; private GeoPoint location = null; - - - private DatagramSocket rxMsgsSocket = null; - public InfrastructureInstance(String infrastructureId, InetAddress targetAddress, - int rxMessagePort, int timeSyncPort, GeoPoint location) { + /** + * Constructor for InfrastructureInstance + * + * @param infrastructureId the ID of the infrastructure node + * @param targetAddress the target IP address of the infrastructure node + * @param rxMessagePort the receive message port of the infrastructure node + * @param timeSyncPort the time synchronization port of the infrastructure + * node + * @param location the location of the infrastructure node in the + * simulated environment + */ + public InfrastructureInstance(String infrastructureId, InetAddress targetAddress, + int rxMessagePort, int timeSyncPort, GeoPoint location) { this.infrastructureId = infrastructureId; this.targetAddress = targetAddress; this.rxMessagePort = rxMessagePort; @@ -49,55 +58,114 @@ public InfrastructureInstance(String infrastructureId, InetAddress targetAddress this.location = location; } + /** + * Returns the target IP address of the infrastructure node + * + * @return InetAddress the target IP address of the infrastructure node + */ public InetAddress getTargetAddress() { return targetAddress; } + /** + * Sets the target IP address of the infrastructure node + * + * @param targetAddress the target IP address to set + */ public void setTargetAddress(InetAddress targetAddress) { this.targetAddress = targetAddress; } + /** + * Returns the location of the infrastructure node in the simulated environment + * + * @return GeoPoint the location of the infrastructure node + */ public GeoPoint getLocation() { return this.location; } + /** + * Sets the location of the infrastructure node in the simulated environment + * + * @param location the location to set + */ public void setLocation(GeoPoint location) { this.location = location; } + /** + * Returns the ID of the infrastructure node + * + * @return String the ID of the infrastructure node + */ public String getInfrastructureId() { return infrastructureId; } + /** + * Sets the ID of the infrastructure node + * + * @param infrastructureId the ID to set + */ public void setInfrastructureId(String infrastructureId) { this.infrastructureId = infrastructureId; } + /** + * Returns the receive message port of the infrastructure node + * + * @return int the receive message port of the infrastructure node + */ public int getRxMessagePort() { return rxMessagePort; } + /** + * Sets the receive message port of the infrastructure node + * + * @param rxMessagePort the port to set + */ public void setRxMessagePort(int rxMessagePort) { this.rxMessagePort = rxMessagePort; } + /** + * Returns the time synchronization port of the infrastructure node + * + * @return int the time synchronization port of the infrastructure node + */ public int getTimeSyncPort() { return timeSyncPort; } + /** + * Sets the time synchronization port of the infrastructure node + * + * @param timeSyncPort the port to set + */ public void setTimeSyncPort(int timeSyncPort) { this.timeSyncPort = timeSyncPort; } + /** + * Creates a DatagramSocket object and binds it to this infrastructure + * instance's receive message port + * + * @throws IOException if there is an issue with the underlying socket object or + * methods + */ public void bind() throws IOException { rxMsgsSocket = new DatagramSocket(); } - /** - * Sends the data to the Infrastructure Device communications interface configured at construction time. + * Sends the data to the Infrastructure Device communications interface + * configured at construction time. + * * @param data The binary data to transmit - * @throws IOException If there is an issue with the underlying socket object or methods + * @throws IOException If there is an issue with the underlying socket object or + * methods */ public void sendMsgs(byte[] data) throws IOException { if (rxMsgsSocket == null) { From f89b9642986f5230cc8ee1c89c8756d220b4b0ca Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 19:55:51 -0400 Subject: [PATCH 062/124] Added doc and clean up TODO --- .../InfrastructureRegistrationReceiver.java | 47 ++++++++++++------- 1 file changed, 30 insertions(+), 17 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java index bc6a34ee..61918f34 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -27,32 +27,41 @@ import com.google.gson.Gson; /** - * Worker thread Runnable for operating a listen socket to receive outbound Infrastructure Messages from Infrastructure Device instances - * This {@link Runnable} instance will operate a UDP socket to subscribe to packets from the V2x infrastructure's - * adapter. Upon receiving a packet, it will be enqueued for the primary thread to process the data once it ticks to a + * Worker thread Runnable for operating a listen socket to receive outbound + * Infrastructure Messages from Infrastructure Device instances + * This {@link Runnable} instance will operate a UDP socket to subscribe to + * packets from the V2x infrastructure's + * adapter. Upon receiving a packet, it will be enqueued for the primary thread + * to process the data once it ticks to a * simulation processing step - * NOTE: TODO See carma.ambassador for reference */ public class InfrastructureRegistrationReceiver implements Runnable { private Queue rxQueue = new LinkedList<>(); private DatagramSocket listenSocket = null; - private static final int listenPort = 1515; // TODO + private static final int listenPort = 1515; private boolean running = false; - private static final int UDP_MTU = 1535; // TODO Maximum Transmission Unit + private static final int UDP_MTU = 1535; /** - * Initialize the listen socket for messages from the Infrastructure Device NS-3 Adapter + * Initialize the listen socket for messages from the Infrastructure Device NS-3 + * Adapter + * * @throws RuntimeException iff socket instantiation fails */ public void init() { try { listenSocket = new DatagramSocket(listenPort); - + } catch (SocketException e) { throw new RuntimeException(e); } } + /** + * The main method of the worker thread. Listens for incoming messages and + * enqueues them for processing on the + * primary thread. + */ @Override public void run() { byte[] buf = new byte[UDP_MTU]; @@ -64,22 +73,23 @@ public void run() { } catch (IOException e) { throw new RuntimeException(e); } - + // parse message - String receivedPacket = new String(msg.getData(), 0, msg.getLength()); // Use length of message to create String + String receivedPacket = new String(msg.getData(), 0, msg.getLength()); // Use length of message to create + // String Gson gson = new Gson(); - InfrastructureRegistrationMessage parsedMessage = gson.fromJson(receivedPacket, InfrastructureRegistrationMessage.class); - + InfrastructureRegistrationMessage parsedMessage = gson.fromJson(receivedPacket, + InfrastructureRegistrationMessage.class); + // Enqueue message for processing on main thread synchronized (rxQueue) { rxQueue.add(parsedMessage); } } } - /** - * Stop the runnable instance + * Stop the runnable instance and close the listen socket. */ public void stop() { if (listenSocket != null) { @@ -89,8 +99,11 @@ public void stop() { } /** - * Query the current buffer of outbound messages. Clears the currently stored buffer once called. Thread-safe. - * @return The list of received outbound message from all Infrastructure Device instances since last call of this method + * Query the current buffer of outbound messages. Clears the currently stored + * buffer once called. Thread-safe. + * + * @return The list of received outbound message from all Infrastructure Device + * instances since last call of this method */ public List getReceivedMessages() { List output = new ArrayList<>(); @@ -99,7 +112,7 @@ public List getReceivedMessages() { output.addAll(rxQueue); rxQueue.clear(); } - + return output; } } From 91a10e3edf46df5bb5c9de055c90933c4ddbde20 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 20:06:45 -0400 Subject: [PATCH 063/124] Added doc and clean up TODO --- .../InfrastructureRegistrationMessage.java | 128 +++++++++++++++--- 1 file changed, 110 insertions(+), 18 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java index 20782031..5a8b9430 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java @@ -13,24 +13,49 @@ * License for the specific language governing permissions and limitations under * the License. */ - + package org.eclipse.mosaic.fed.infrastructure.ambassador; + import org.eclipse.mosaic.lib.geo.GeoPoint; /** - * A message to be sent by Infrastructure Device when it registers with the carma-mosaic ambassador - * NOTE: TODO See carma.ambassador for reference + * A message to be sent by Infrastructure Device when it registers with the + * carma-mosaic ambassador */ public class InfrastructureRegistrationMessage { + + // IP address where the Infrastructure Device will be listening for inbound + // messages private String rxMessageIpAddress; + // Unique identifier for the Infrastructure Device private String infrastructureId; + // Port number where the Infrastructure Device will be listening for inbound + // messages private int rxMessagePort = 1536; - private int timeSyncPort = 1517; // TODO + + // Port number where the Infrastructure Device will be listening for time + // synchronization messages + private int timeSyncPort = 1517; + + // Geo-coordinate of the Infrastructure Device location private GeoPoint location = null; + /** + * Constructor for an `InfrastructureRegistrationMessage` instance + * + * @param rxMessageIpAddress IP address where the Infrastructure Device will be + * listening for inbound messages + * @param infrastructureId Unique identifier for the Infrastructure Device + * @param rxMessagePort Port number where the Infrastructure Device will be + * listening for inbound messages + * @param timeSyncPort Port number where the Infrastructure Device will be + * listening for time synchronization messages + * @param location Geo-coordinate of the Infrastructure Device + * location + */ public InfrastructureRegistrationMessage(String rxMessageIpAddress, String infrastructureId, - int rxMessagePort, int timeSyncPort, GeoPoint location) { + int rxMessagePort, int timeSyncPort, GeoPoint location) { this.rxMessageIpAddress = rxMessageIpAddress; this.infrastructureId = infrastructureId; this.rxMessagePort = rxMessagePort; @@ -38,52 +63,119 @@ public InfrastructureRegistrationMessage(String rxMessageIpAddress, String infra this.location = location; } - public String getRxMessageIpAddress(){ + /** + * Returns the IP address where the Infrastructure Device will be listening for + * inbound messages + * + * @return The IP address where the Infrastructure Device will be listening for + * inbound messages + */ + public String getRxMessageIpAddress() { return this.rxMessageIpAddress; } - public String getInfrastructureId(){ + /** + * Returns the unique identifier for the Infrastructure Device + * + * @return The unique identifier for the Infrastructure Device + */ + public String getInfrastructureId() { return this.infrastructureId; } - public int getRxMessagePort(){ + /** + * Returns the port number where the Infrastructure Device will be listening for + * inbound messages + * + * @return The port number where the Infrastructure Device will be listening for + * inbound messages + */ + public int getRxMessagePort() { return this.rxMessagePort; } - public int getTimeSyncPort(){ + /** + * Returns the port number where the Infrastructure Device will be listening for + * time synchronization messages + * + * @return The port number where the Infrastructure Device will be listening for + * time synchronization messages + */ + public int getTimeSyncPort() { return this.timeSyncPort; } - public GeoPoint getLocation(){ + /** + * Returns the Geo-coordinate of the Infrastructure Device location + * + * @return The Geo-coordinate of the Infrastructure Device location + */ + public GeoPoint getLocation() { return this.location; } - public void setRxMessageIpAddress(String rxMessageIpAddress){ + /** + * Sets the IP address where the Infrastructure Device will be listening for + * inbound messages + * + * @param rxMessageIpAddress The IP address where the Infrastructure Device will + * be listening for inbound messages + */ + public void setRxMessageIpAddress(String rxMessageIpAddress) { this.rxMessageIpAddress = rxMessageIpAddress; } - public void setInfrastructureId(String infrastructureId){ + /** + * Sets the unique identifier for the Infrastructure Device + * It currently is the same with RSU ID + * + * @param infrastructureId The unique identifier for the Infrastructure Device + */ + public void setInfrastructureId(String infrastructureId) { this.infrastructureId = infrastructureId; } - public void setRxMessagePort(int rxMessagePort){ + /** + * Sets the port number where the Infrastructure Device will be listening for + * inbound messages + * + * @param rxMessagePort The port number where the Infrastructure Device will be + * listening for inbound messages + */ + public void setRxMessagePort(int rxMessagePort) { this.rxMessagePort = rxMessagePort; } - public void setTimeSyncPort(int timeSyncPort){ + /** + * Set the time sync port for the InfrastructureRegistrationMessage + * + * @param timeSyncPort the new time sync port to be set + */ + public void setTimeSyncPort(int timeSyncPort) { this.timeSyncPort = timeSyncPort; } - public void setLocation(GeoPoint location){ + /** + * Set the location for the InfrastructureRegistrationMessage + * + * @param location the new GeoPoint object representing the location of the + * Infrastructure Device + */ + public void setLocation(GeoPoint location) { this.location = location; } + /** + * Returns a string representation of the InfrastructureRegistrationMessage + * object + * + * @return a string representation of the object + */ @Override public String toString() { - return "InfrastructureRegistrationMessage [rxMessageIpAddress=" + rxMessageIpAddress - + ", infrastructureId=" + infrastructureId + ", rxMessagePort=" + rxMessagePort + return "InfrastructureRegistrationMessage [rxMessageIpAddress=" + rxMessageIpAddress + + ", infrastructureId=" + infrastructureId + ", rxMessagePort=" + rxMessagePort + ", timeSyncPort=" + timeSyncPort + ", location=" + location + "]"; } - } From cc376afb8d3b20b67eee32e706da41a636b9ced1 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 20:10:10 -0400 Subject: [PATCH 064/124] Update InfrastructureRegistrationReceiver.java --- .../ambassador/InfrastructureRegistrationReceiver.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java index 61918f34..7f8c2b06 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -59,8 +59,7 @@ public void init() { /** * The main method of the worker thread. Listens for incoming messages and - * enqueues them for processing on the - * primary thread. + * enqueues them for processing on the primary thread. */ @Override public void run() { From aad01362cb6aabe5f409783c09738462fd31abe5 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 20:10:16 -0400 Subject: [PATCH 065/124] Update InfrastructureInstanceManager.java --- .../ambassador/InfrastructureInstanceManager.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 3be8fe03..fa3fac44 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -106,8 +106,7 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe /** * External helper function to allow the ambassador to check if a given vehicle - * ID is a registered CARMA Platform - * instance + * ID is a registered CARMA Platform instance * * @param infrastructureId The id to check * @return True if managed by this object (e.g., is a registered CARMA Platform From 5b61435b8c0ceb88611acb7e0a0873e6d1fc73c3 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Fri, 7 Apr 2023 20:32:44 -0400 Subject: [PATCH 066/124] Update InfrastructureMessageAmbassador.java --- .../InfrastructureMessageAmbassador.java | 36 +++++++++---------- 1 file changed, 17 insertions(+), 19 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index ee190750..55db809b 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -21,6 +21,7 @@ import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; import org.eclipse.mosaic.fed.infrastructure.configuration.InfrastructureConfiguration; import org.eclipse.mosaic.lib.enums.AdHocChannel; +import org.eclipse.mosaic.lib.geo.GeoPoint; import org.eclipse.mosaic.lib.objects.communication.AdHocConfiguration; import org.eclipse.mosaic.lib.objects.communication.InterfaceConfiguration; import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; @@ -28,6 +29,8 @@ import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; import org.eclipse.mosaic.interactions.mapping.RsuRegistration; + +import java.util.Collections; import java.util.List; /** @@ -46,11 +49,6 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador */ InfrastructureConfiguration infrastructureConfiguration; - /** - * The number of CARMA vehicles. - */ - int numberOfInfrastructureInstances = 0; - private InfrastructureRegistrationReceiver infrastructureRegistrationReceiver; private Thread registrationRxBackgroundThread; private InfrastructureTimeMessageReceiver infrastructureTimeMessageReceiver; @@ -141,17 +139,22 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i } /** + * * Creates an Ad-Hoc configuration object to represent the configuration of the * Ad-Hoc interface used for communication between the infrastructure instance * and other vehicles or components, and sends it to the RTI for exchange. * * @param reg the infrastructure registration message received from the RTI + * + * Note: This function should be called after the + * onRsuRegistrationRequest */ - private final void onDsrcRegistrationRequest(InfrastructureRegistrationMessage reg) { + private void onDsrcRegistrationRequest(String infrastructureId) { // Create an InterfaceConfiguration object to represent the configuration of the // Ad-Hoc interface // Set the IP address and subnet mask to null for now // Set the transmit power to 50 dBm and the maximum range to 100 meters + // NOTE: TODO Setup the IP address and subnet InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) .ip(null) .subnet(null) @@ -160,15 +163,13 @@ private final void onDsrcRegistrationRequest(InfrastructureRegistrationMessage r .create(); // Create an AdHocConfiguration object to associate the Ad-Hoc interface - // configuration - // with the infrastructure instance's ID - AdHocConfiguration adHocConfig = new AdHocConfiguration.Builder(reg.getInfrastructureId()) + // configuration with the infrastructure instance's ID + AdHocConfiguration adHocConfig = new AdHocConfiguration.Builder(infrastructureId) .addInterface(interfaceConfig) .create(); // Create an AdHocCommunicationConfiguration object to specify the time and - // Ad-Hoc - // configuration for exchange with another vehicle or component + // Ad-Hoc configuration for exchange with another vehicle or component AdHocCommunicationConfiguration communicationConfig = new AdHocCommunicationConfiguration(currentSimulationTime, adHocConfig); @@ -187,12 +188,11 @@ private final void onDsrcRegistrationRequest(InfrastructureRegistrationMessage r * * @param reg The registration message of the new infrastructure instance. */ - private final void onRsuRegistrationRequest(InfrastructureRegistrationMessage reg) { + private void onRsuRegistrationRequest(String infrastructureId, GeoPoint location) { // Register the new infrastructure instance to the RTI as an RSU - RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, reg.getInfrastructureId(), - null, null, - reg.getLocation()); + RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, infrastructureId, "", + Collections.emptyList(), location); try { // Trigger RTI interaction to MOSAIC this.rti.triggerInteraction(rsuRegistration); @@ -200,8 +200,6 @@ private final void onRsuRegistrationRequest(InfrastructureRegistrationMessage re // Log error message if there was an issue with the RTI interaction log.error(e.getMessage()); } - - } /** @@ -229,8 +227,8 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder // Store new instance registration to infrastructure instance manager infrastructureInstanceManager.onNewRegistration(reg); // Process registration requests for RSUs and DSRCs - onRsuRegistrationRequest(reg); - onDsrcRegistrationRequest(reg); + onRsuRegistrationRequest(reg.getInfrastructureId(), reg.getLocation()); + onDsrcRegistrationRequest(reg.getInfrastructureId()); } // TODO: Handle any queued Infrastructure time sync messages From 812bde29669e396f1c3fe09700ed8b72a06a804a Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 10 Apr 2023 10:02:31 -0400 Subject: [PATCH 067/124] Correct copyright --- .../InfrastructureMessageAmbassador.java | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 55db809b..7c43880a 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -1,14 +1,18 @@ /* - * Copyright (c) 2021 Old Dominion University. All rights reserved. + * Copyright (C) 2023 LEIDOS. * - * See the NOTICE file(s) distributed with this work for additional - * information regarding copyright ownership. + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at * - * This program and the accompanying materials are made available under the - * terms of the Eclipse Public License 2.0 which is available at - * http://www.eclipse.org/legal/epl-2.0 + * http://www.apache.org/licenses/LICENSE-2.0 * - * SPDX-License-Identifier: EPL-2.0 + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + * */ package org.eclipse.mosaic.fed.infrastructure.ambassador; From d7b4c932ed70a0faf05d4209dfbf073e26cc956a Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 10 Apr 2023 10:03:44 -0400 Subject: [PATCH 068/124] Updated error logging in onNewRegistration function to log the actual exception --- .../ambassador/InfrastructureInstanceManager.java | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index fa3fac44..375dd07c 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -54,8 +54,6 @@ public class InfrastructureInstanceManager { * * @param registration The InfrastructureRegistrationMessage to be registered. * - * @throws RuntimeException if an error occurs while creating or adding the new - * instance. */ public void onNewRegistration(InfrastructureRegistrationMessage registration) { if (!managedInstances.containsKey(registration.getInfrastructureId())) { @@ -69,12 +67,12 @@ public void onNewRegistration(InfrastructureRegistrationMessage registration) { } catch (UnknownHostException e) { log.error("Failed to create infrastructure instance with ID '{}' due to an unknown host exception: {}", registration.getInfrastructureId(), e.getMessage()); - throw new RuntimeException(e); + log.error("Stack trace:", e); } } else { log.warn("Registration message received for already registered infrastructure with ID: {}", registration.getInfrastructureId()); - } + } } /** From b318a1bfc219ccefce98a6184917032c39255a46 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 10 Apr 2023 10:20:01 -0400 Subject: [PATCH 069/124] Logged the actual exception message for newInfrastructureInstance function --- .../ambassador/InfrastructureInstanceManager.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 375dd07c..da8e4fd5 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -72,7 +72,7 @@ public void onNewRegistration(InfrastructureRegistrationMessage registration) { } else { log.warn("Registration message received for already registered infrastructure with ID: {}", registration.getInfrastructureId()); - } + } } /** @@ -97,7 +97,9 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe try { tmp.bind(); } catch (IOException e) { - throw new RuntimeException(e); + log.error("Failed to bind infrastructure instance with ID '{}' to its RX message socket: {}", + infrastructureId, e.getMessage()); + log.error("Stack trace:", e); } managedInstances.put(infrastructureId, tmp); } From c92f6fb9a1b792a794e7ec14ca67dd10b5823b32 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 10 Apr 2023 10:23:22 -0400 Subject: [PATCH 070/124] Update InfrastructureInstanceManager.java --- .../ambassador/InfrastructureInstanceManager.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index da8e4fd5..e6c8ddf5 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -87,8 +87,6 @@ public void onNewRegistration(InfrastructureRegistrationMessage registration) { * @param timeSyncPort The port for time synchronization. * @param location The location of the instance. * - * @throws RuntimeException if an error occurs while creating or adding the new - * instance. */ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMessageIpAddress, int rxMessagePort, int timeSyncPort, GeoPoint location) { From dc8671817b58e74fbc6e70a3f3d6dc13b559e63f Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 10 Apr 2023 13:46:45 -0400 Subject: [PATCH 071/124] Update InfrastructureMessageAmbassador.java --- .../ambassador/InfrastructureMessageAmbassador.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 48e79861..69f0c9e7 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -64,7 +64,7 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador private InfrastructureTimeMessageReceiver infrastructureTimeMessageReceiver; private Thread v2xTimeRxBackgroundThread; - private InfrastructureInstanceManager InfrastructureInstanceManager = new InfrastructureInstanceManager(); + private InfrastructureInstanceManager infrastructureInstanceManager = new InfrastructureInstanceManager(); private InfrastructureTimeInterface infrastructureTimeInterface; private int timeSyncSeq = 0; From 9d7a7792860d40c77794c1ae11b9bfc0a9b49627 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 10 Apr 2023 14:14:55 -0400 Subject: [PATCH 072/124] Update InfrastructureInstanceManager.java --- .../ambassador/InfrastructureInstanceManager.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 3d32024e..23e499dd 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -112,7 +112,7 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe */ public boolean checkIfRegistered(String infrastructureId) { return managedInstances.keySet().contains(infrastructureId); - + } public Map getManagedInstances() { return managedInstances; } From 2ef5b0eefbe7761453e4a73295ba56da417e902e Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 10 Apr 2023 15:24:43 -0400 Subject: [PATCH 073/124] Correct wrong MOSAIC header --- .../InfrastructureMessageAmbassador.java | 1 - .../InfrastructureMessageAmbassadorTest.java | 18 +++++++++++------- 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 69f0c9e7..356661e2 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -12,7 +12,6 @@ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the * License for the specific language governing permissions and limitations under * the License. - * */ package org.eclipse.mosaic.fed.infrastructure.ambassador; diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java index 2a5842cb..99c5e75f 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java @@ -1,15 +1,19 @@ /* - * Copyright (c) 2021 Old Dominion University. All rights reserved. + * Copyright (C) 2023 LEIDOS. * - * See the NOTICE file(s) distributed with this work for additional - * information regarding copyright ownership. + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at * - * This program and the accompanying materials are made available under the - * terms of the Eclipse Public License 2.0 which is available at - * http://www.eclipse.org/legal/epl-2.0 + * http://www.apache.org/licenses/LICENSE-2.0 * - * SPDX-License-Identifier: EPL-2.0 + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. */ + package org.eclipse.mosaic.fed.infrastructure.ambassador; import org.junit.Test; From 878a4478797031d57b07ddebe2c40fecb0e69fbe Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Wed, 12 Apr 2023 07:59:50 -0700 Subject: [PATCH 074/124] Uncomment ns-3 build steps --- .gitignore | 1 + Dockerfile | 1 + .../src/assembly/resources/fed/ns3/ns3_installer.sh | 1 + docker/install.sh | 9 ++++----- 4 files changed, 7 insertions(+), 5 deletions(-) diff --git a/.gitignore b/.gitignore index 601c80a1..810ae2da 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,2 @@ CARLA_*.tar.gz +.idea/ diff --git a/Dockerfile b/Dockerfile index f25a2a04..fcc8f8af 100644 --- a/Dockerfile +++ b/Dockerfile @@ -42,6 +42,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute RUN adduser $SUMO_USER --disabled-password # Enable sudo +RUN sed -i 's|http://archive.ubuntu.com|http://us.archive.ubuntu.com|g' /etc/apt/sources.list RUN apt-get update && apt-get install -y sudo RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers RUN adduser $SUMO_USER sudo --disabled-password diff --git a/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh b/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh index 0fb89d74..57bd9cb5 100644 --- a/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh +++ b/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh @@ -363,6 +363,7 @@ build_ns3() # ns-3 prior to 3.28.1 does not compile without warnings using g++ 10.2.0 CXXFLAGS="-Wno-error" python3.6 ./build.py --disable-netanim + cp -ar ns-3.28/build/ns /usr/include log "Build ns3-federate" cd ${current_dir}/federate mv src/ClientServerChannel.h . diff --git a/docker/install.sh b/docker/install.sh index 408070da..04e4defb 100755 --- a/docker/install.sh +++ b/docker/install.sh @@ -59,11 +59,10 @@ cd /home/carma/src #sudo make install # Install NS-3 -#cd "/home/carma/src/co-simulation tool/bundle/src/assembly/resources/fed/ns3/" -# Added sudo cp -ar ns-3.28/build/ns /usr/include before "Build ns3-federate" in ns3_installer.sh -#chmod +x ns3_installer.sh -#set -x -#./ns3_installer.sh -q +cd "/home/carma/src/co-simulation tool/bundle/src/assembly/resources/fed/ns3/" +chmod +x ns3_installer.sh +set -x +./ns3_installer.sh -q #TODO: Add expore NS3_HOME=path_to_run.sh to /bin/fed/ns3/run.sh # Install SUMO-1.12.0 From b1ba170692742282dd1be307060e8c3478908b53 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 12 Apr 2023 19:36:27 -0400 Subject: [PATCH 075/124] Removed redundant files --- .../assembly/resources/fed/ns3/connection.py | 413 ----- .../assembly/resources/fed/ns3/constants.py | 1353 ----------------- .../src/assembly/resources/fed/ns3/main.py | 301 ---- 3 files changed, 2067 deletions(-) delete mode 100644 co-simulation/bundle/src/assembly/resources/fed/ns3/connection.py delete mode 100644 co-simulation/bundle/src/assembly/resources/fed/ns3/constants.py delete mode 100644 co-simulation/bundle/src/assembly/resources/fed/ns3/main.py diff --git a/co-simulation/bundle/src/assembly/resources/fed/ns3/connection.py b/co-simulation/bundle/src/assembly/resources/fed/ns3/connection.py deleted file mode 100644 index 415409ba..00000000 --- a/co-simulation/bundle/src/assembly/resources/fed/ns3/connection.py +++ /dev/null @@ -1,413 +0,0 @@ -# -*- coding: utf-8 -*- -# Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo -# Copyright (C) 2008-2020 German Aerospace Center (DLR) and others. -# This program and the accompanying materials are made available under the -# terms of the Eclipse Public License 2.0 which is available at -# https://www.eclipse.org/legal/epl-2.0/ -# This Source Code may also be made available under the following Secondary -# Licenses when the conditions for such availability set forth in the Eclipse -# Public License 2.0 are satisfied: GNU General Public License, version 2 -# or later which is available at -# https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html -# SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later - -# @file connection.py -# @author Michael Behrisch -# @author Lena Kalleske -# @author Mario Krumnow -# @author Daniel Krajzewicz -# @author Jakob Erdmann -# @date 2008-10-09 - -from __future__ import print_function -from __future__ import absolute_import -import socket -import struct -import sys -import warnings -import abc - -from . import constants as tc -from .exceptions import TraCIException, FatalTraCIError -from .domain import _defaultDomains -from .storage import Storage - -_RESULTS = {0x00: "OK", 0x01: "Not implemented", 0xFF: "Error"} - - -class Connection: - - """Contains the socket, the composed message string - together with a list of TraCI commands which are inside. - """ - - def __init__(self, host, port, process): - if sys.platform.startswith('java'): - # working around jython 2.7.0 bug #2273 - self._socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM, socket.IPPROTO_TCP) - else: - self._socket = socket.socket() - self._socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) - self._socket.connect((host, port)) - self._process = process - self._string = bytes() - self._queue = [] - self._subscriptionMapping = {} - self._stepListeners = {} - self._nextStepListenerID = 0 - for domain in _defaultDomains: - domain._register(self, self._subscriptionMapping) - - def _recvExact(self): - try: - result = bytes() - while len(result) < 4: - t = self._socket.recv(4 - len(result)) - if not t: - return None - result += t - length = struct.unpack("!i", result)[0] - 4 - result = bytes() - while len(result) < length: - t = self._socket.recv(length - len(result)) - if not t: - return None - result += t - return Storage(result) - except socket.error: - return None - - def _sendExact(self): - if self._socket is None: - raise FatalTraCIError("Connection already closed.") - length = struct.pack("!i", len(self._string) + 4) - # print("python_sendExact: '%s'" % ' '.join(map(lambda x : "%X" % ord(x), self._string))) - self._socket.send(length + self._string) - result = self._recvExact() - if not result: - self._socket.close() - del self._socket - raise FatalTraCIError("connection closed by SUMO") - for command in self._queue: - prefix = result.read("!BBB") - err = result.readString() - if prefix[2] or err: - self._string = bytes() - self._queue = [] - raise TraCIException(err, prefix[1], _RESULTS[prefix[2]]) - elif prefix[1] != command: - raise FatalTraCIError("Received answer %s for command %s." % (prefix[1], command)) - elif prefix[1] == tc.CMD_STOP: - length = result.read("!B")[0] - 1 - result.read("!%sx" % length) - self._string = bytes() - self._queue = [] - return result - - def _pack(self, format, *values): - packed = bytes() - for f, v in zip(format, values): - if f == "i": - packed += struct.pack("!Bi", tc.TYPE_INTEGER, int(v)) - elif f == "I": # raw int for setOrder - packed += struct.pack("!i", int(v)) - elif f == "d": - packed += struct.pack("!Bd", tc.TYPE_DOUBLE, float(v)) - elif f == "D": # raw double for some base commands like simstep - packed += struct.pack("!d", float(v)) - elif f == "b": - packed += struct.pack("!Bb", tc.TYPE_BYTE, int(v)) - elif f == "B": - packed += struct.pack("!BB", tc.TYPE_UBYTE, int(v)) - elif f == "u": # raw unsigned byte needed for distance command and subscribe - packed += struct.pack("!B", int(v)) - elif f == "s": - v = str(v) - packed += struct.pack("!Bi", tc.TYPE_STRING, len(v)) + v.encode("latin1") - elif f == "p": # polygon - if len(v) <= 255: - packed += struct.pack("!BB", tc.TYPE_POLYGON, len(v)) - else: - packed += struct.pack("!BBi", tc.TYPE_POLYGON, 0, len(v)) - for p in v: - packed += struct.pack("!dd", *p) - elif f == "t": # tuple aka compound - packed += struct.pack("!Bi", tc.TYPE_COMPOUND, v) - elif f == "c": # color - packed += struct.pack("!BBBBB", tc.TYPE_COLOR, int(v[0]), int(v[1]), int(v[2]), - int(v[3]) if len(v) > 3 else 255) - elif f == "l": # string list - packed += struct.pack("!Bi", tc.TYPE_STRINGLIST, len(v)) - for s in v: - packed += struct.pack("!i", len(s)) + s.encode("latin1") - elif f == "f": # float list - packed += struct.pack("!Bi", tc.TYPE_DOUBLELIST, len(v)) - for x in v: - packed += struct.pack("!d", x) - elif f == "o": - packed += struct.pack("!Bdd", tc.POSITION_2D, *v) - elif f == "O": - packed += struct.pack("!Bddd", tc.POSITION_3D, *v) - elif f == "g": - packed += struct.pack("!Bdd", tc.POSITION_LON_LAT, *v) - elif f == "G": - packed += struct.pack("!Bddd", tc.POSITION_LON_LAT_ALT, *v) - elif f == "r": - packed += struct.pack("!Bi", tc.POSITION_ROADMAP, len(v[0])) + v[0].encode("latin1") - packed += struct.pack("!dB", v[1], v[2]) - return packed - - def _sendCmd(self, cmdID, varID, objID, format="", *values): - self._queue.append(cmdID) - packed = self._pack(format, *values) - length = len(packed) + 1 + 1 # length and command - if varID is not None: - if isinstance(varID, tuple): # begin and end of a subscription - length += 8 + 8 + 4 + len(objID) - else: - length += 1 + 4 + len(objID) - if length <= 255: - self._string += struct.pack("!BB", length, cmdID) - else: - self._string += struct.pack("!BiB", 0, length + 4, cmdID) - if varID is not None: - if isinstance(varID, tuple): - self._string += struct.pack("!dd", *varID) - else: - self._string += struct.pack("!B", varID) - self._string += struct.pack("!i", len(objID)) + objID.encode("latin1") - self._string += packed - return self._sendExact() - - def _readSubscription(self, result): - # to enable this you also need to set _DEBUG to True in storage.py - # result.printDebug() - result.readLength() - response = result.read("!B")[0] - isVariableSubscription = ((response >= tc.RESPONSE_SUBSCRIBE_INDUCTIONLOOP_VARIABLE and - response <= tc.RESPONSE_SUBSCRIBE_BUSSTOP_VARIABLE) or - (response >= tc.RESPONSE_SUBSCRIBE_PARKINGAREA_VARIABLE and - response <= tc.RESPONSE_SUBSCRIBE_OVERHEADWIRE_VARIABLE)) - objectID = result.readString() - if not isVariableSubscription: - domain = result.read("!B")[0] - numVars = result.read("!B")[0] - if isVariableSubscription: - while numVars > 0: - varID, status = result.read("!BB") - if status: - print("Error!", result.readTypedString()) - elif response in self._subscriptionMapping: - self._subscriptionMapping[response].add(objectID, varID, result) - else: - raise FatalTraCIError( - "Cannot handle subscription response %02x for %s." % (response, objectID)) - numVars -= 1 - else: - objectNo = result.read("!i")[0] - for _ in range(objectNo): - oid = result.readString() - if numVars == 0: - self._subscriptionMapping[response].addContext( - objectID, self._subscriptionMapping[domain], oid) - for __ in range(numVars): - varID, status = result.read("!BB") - if status: - print("Error!", result.readTypedString()) - elif response in self._subscriptionMapping: - self._subscriptionMapping[response].addContext( - objectID, self._subscriptionMapping[domain], oid, varID, result) - else: - raise FatalTraCIError( - "Cannot handle subscription response %02x for %s." % (response, objectID)) - return objectID, response - - def _subscribe(self, cmdID, begin, end, objID, varIDs, parameters): - format = "u" - args = [len(varIDs)] - for v in varIDs: - format += "u" - args.append(v) - if parameters is not None and v in parameters: - if isinstance(parameters[v], tuple): - f, a = parameters[v] - elif isinstance(parameters[v], int): - f, a = "i", parameters[v] - elif isinstance(parameters[v], float): - f, a = "d", parameters[v] - else: - f, a = "s", parameters[v] - format += f - args.append(a) - result = self._sendCmd(cmdID, (begin, end), objID, format, *args) - if varIDs: - objectID, response = self._readSubscription(result) - if response - cmdID != 16 or objectID != objID: - raise FatalTraCIError("Received answer %02x,%s for subscription command %02x,%s." % ( - response, objectID, cmdID, objID)) - - def _getSubscriptionResults(self, cmdID): - return self._subscriptionMapping[cmdID] - - def _subscribeContext(self, cmdID, begin, end, objID, domain, dist, varIDs, parameters=None): - result = self._sendCmd(cmdID, (begin, end), objID, "uDu" + (len(varIDs) * "u"), - domain, dist, len(varIDs), *varIDs) - if varIDs: - objectID, response = self._readSubscription(result) - if response - cmdID != 16 or objectID != objID: - raise FatalTraCIError("Received answer %02x,%s for context subscription command %02x,%s." % ( - response, objectID, cmdID, objID)) - - def _addSubscriptionFilter(self, filterType, params=None): - if filterType in (tc.FILTER_TYPE_NONE, tc.FILTER_TYPE_NOOPPOSITE, - tc.FILTER_TYPE_TURN, tc.FILTER_TYPE_LEAD_FOLLOW): - # filter without parameter - assert params is None - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, "u", filterType) - elif filterType in (tc.FILTER_TYPE_DOWNSTREAM_DIST, tc.FILTER_TYPE_UPSTREAM_DIST, - tc.FILTER_TYPE_FIELD_OF_VISION, tc.FILTER_TYPE_LATERAL_DIST): - # filter with float parameter - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, "ud", filterType, params) - elif filterType in (tc.FILTER_TYPE_VCLASS, tc.FILTER_TYPE_VTYPE): - # filter with list(string) parameter - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, "ul", filterType, params) - elif filterType == tc.FILTER_TYPE_LANES: - # filter with list(byte) parameter - # check uniqueness of given lanes in list - lanes = set() - for i in params: - lane = int(i) - if lane < 0: - lane += 256 - lanes.add(lane) - if len(lanes) < len(list(params)): - warnings.warn("Ignoring duplicate lane specification for subscription filter.") - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, - (len(lanes) + 2) * "u", filterType, len(lanes), *lanes) - - def load(self, args): - """ - Load a simulation from the given arguments. - """ - self._sendCmd(tc.CMD_LOAD, None, None, "l", args) - - def simulationStep(self, step=0.): - """ - Make a simulation step and simulate up to the given second in sim time. - If the given value is 0 or absent, exactly one step is performed. - Values smaller than or equal to the current sim time result in no action. - """ - if type(step) is int and step >= 1000: - warnings.warn("API change now handles step as floating point seconds", stacklevel=2) - result = self._sendCmd(tc.CMD_SIMSTEP, None, None, "D", step) - for subscriptionResults in self._subscriptionMapping.values(): - subscriptionResults.reset() - numSubs = result.readInt() - responses = [] - while numSubs > 0: - responses.append(self._readSubscription(result)) - numSubs -= 1 - self._manageStepListeners(step) - return responses - - def _manageStepListeners(self, step): - listenersToRemove = [] - for (listenerID, listener) in self._stepListeners.items(): - keep = listener.step(step) - if not keep: - listenersToRemove.append(listenerID) - for listenerID in listenersToRemove: - self.removeStepListener(listenerID) - - def addStepListener(self, listener): - """addStepListener(traci.StepListener) -> int - - Append the step listener (its step function is called at the end of every call to traci.simulationStep()) - Returns the ID assigned to the listener if it was added successfully, None otherwise. - """ - if issubclass(type(listener), StepListener): - listener.setID(self._nextStepListenerID) - self._stepListeners[self._nextStepListenerID] = listener - self._nextStepListenerID += 1 - # print ("traci: Added stepListener %s\nlisteners: %s"%(_nextStepListenerID - 1, _stepListeners)) - return self._nextStepListenerID - 1 - warnings.warn( - "Proposed listener's type must inherit from traci.StepListener. Not adding object of type '%s'" % - type(listener)) - return None - - def removeStepListener(self, listenerID): - """removeStepListener(traci.StepListener) -> bool - - Remove the step listener from traci's step listener container. - Returns True if the listener was removed successfully, False if it wasn't registered. - """ - # print ("traci: removeStepListener %s\nlisteners: %s"%(listenerID, _stepListeners)) - if listenerID in self._stepListeners: - self._stepListeners[listenerID].cleanUp() - del self._stepListeners[listenerID] - # print ("traci: Removed stepListener %s"%(listenerID)) - return True - warnings.warn("Cannot remove unknown listener %s.\nlisteners:%s" % (listenerID, self._stepListeners)) - return False - - def getVersion(self): - command = tc.CMD_GETVERSION - result = self._sendCmd(command, None, None) - result.readLength() - response = result.read("!B")[0] - if response != command: - raise FatalTraCIError("Received answer %s for command %s." % (response, command)) - return result.readInt(), result.readString() - - def getV2xMessage(self): - command = tc.CMD_GET_V2X - result = self._sendCmd(command,None,None) - result.readLength() - response = result.read("!B")[0] - if response != command: - raise FatalTraCIError("Received answer %s for command %s." % (response, command)) - return result.readStringList() - - def setV2xMessage(self, message): - self._sendCmd(tc.CMD_SET_V2X, None, None, "s", message) - - def setOrder(self, order): - self._sendCmd(tc.CMD_SETORDER, None, None, "I", order) - - def close(self, wait=True): - for listenerID in list(self._stepListeners.keys()): - self.removeStepListener(listenerID) - if self._socket is not None: - self._sendCmd(tc.CMD_CLOSE, None, None) - self._socket.close() - self._socket = None - if wait and self._process is not None: - self._process.wait() - - -class StepListener(object): - __metaclass__ = abc.ABCMeta - - @abc.abstractmethod - def step(self, t=0): - """step(int) -> bool - - After adding a StepListener 'listener' with traci.addStepListener(listener), - TraCI will call listener.step(t) after each call to traci.simulationStep(t) - The return value indicates whether the stepListener wants to stay active. - """ - return True - - def cleanUp(self): - """cleanUp() -> None - - This method is called at removal of the stepListener, allowing to schedule some final actions - """ - pass - - def setID(self, ID): - self._ID = ID - - def getID(self): - return self._ID diff --git a/co-simulation/bundle/src/assembly/resources/fed/ns3/constants.py b/co-simulation/bundle/src/assembly/resources/fed/ns3/constants.py deleted file mode 100644 index 38714578..00000000 --- a/co-simulation/bundle/src/assembly/resources/fed/ns3/constants.py +++ /dev/null @@ -1,1353 +0,0 @@ -# Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo -# Copyright (C) 2009-2020 German Aerospace Center (DLR) and others. -# This program and the accompanying materials are made available under the -# terms of the Eclipse Public License 2.0 which is available at -# https://www.eclipse.org/legal/epl-2.0/ -# This Source Code may also be made available under the following Secondary -# Licenses when the conditions for such availability set forth in the Eclipse -# Public License 2.0 are satisfied: GNU General Public License, version 2 -# or later which is available at -# https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html -# SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later - -# @file constants.py -# @author generated by "rebuildConstants.py" -# @date 2020-11-11 13:02:15.607206 - -""" -This script contains TraCI constant definitions from /src/libsumo/TraCIConstants.h. -""" - - -# **************************************** -# VERSION -# **************************************** -TRACI_VERSION = 20 - -# **************************************** -# COMMANDS -# **************************************** -# command: get version -CMD_GETVERSION = 0x00 - -# command: load -CMD_LOAD = 0x01 - -# command: simulation step -CMD_SIMSTEP = 0x02 - -# command: set connection priority (execution order) -CMD_SETORDER = 0x03 - -# command: stop vehicle -CMD_STOP = 0x12 - -# command: reroute to parking area -CMD_REROUTE_TO_PARKING = 0xc2 - -# command: Resume from parking -CMD_RESUME = 0x19 - -# command: set lane -CMD_CHANGELANE = 0x13 - -# command: slow down -CMD_SLOWDOWN = 0x14 - -# command: set sublane (vehicle) -CMD_CHANGESUBLANE = 0x15 - -# command: open gap -CMD_OPENGAP = 0x16 - -# command: get V2X message -CMD_GET_V2X = 0x0d - -# command: set V2X message -CMD_SET_V2X = 0x2f - -# command: replace vehicle stop and updated route -CMD_REPLACE_STOP = 0x17 - -# command: retrieve information about the current taxi fleet and their status -VAR_TAXI_FLEET = 0x20 - -# command: send dispatch request for the given taxi -CMD_TAXI_DISPATCH = 0x21 - -# command: change target -CMD_CHANGETARGET = 0x31 - -# command: close sumo -CMD_CLOSE = 0x7F - -# command: add subscription filter -CMD_ADD_SUBSCRIPTION_FILTER = 0x7e - - -# command: subscribe induction loop (e1) context -CMD_SUBSCRIBE_INDUCTIONLOOP_CONTEXT = 0x80 -# response: subscribe induction loop (e1) context -RESPONSE_SUBSCRIBE_INDUCTIONLOOP_CONTEXT = 0x90 -# command: get induction loop (e1) variable -CMD_GET_INDUCTIONLOOP_VARIABLE = 0xa0 -# response: get induction loop (e1) variable -RESPONSE_GET_INDUCTIONLOOP_VARIABLE = 0xb0 -# command: set induction loop (e1) variable, not used yet -CMD_SET_INDUCTIONLOOP_VARIABLE = 0xc0 -# command: subscribe induction loop (e1) variable -CMD_SUBSCRIBE_INDUCTIONLOOP_VARIABLE = 0xd0 -# response: subscribe induction loop (e1) variable -RESPONSE_SUBSCRIBE_INDUCTIONLOOP_VARIABLE = 0xe0 - -# command: subscribe multi-entry/multi-exit detector (e3) context -CMD_SUBSCRIBE_MULTIENTRYEXIT_CONTEXT = 0x81 -# response: subscribe multi-entry/multi-exit detector (e3) context -RESPONSE_SUBSCRIBE_MULTIENTRYEXIT_CONTEXT = 0x91 -# command: get multi-entry/multi-exit detector (e3) variable -CMD_GET_MULTIENTRYEXIT_VARIABLE = 0xa1 -# response: get multi-entry/multi-exit detector (e3) variable -RESPONSE_GET_MULTIENTRYEXIT_VARIABLE = 0xb1 -# command: set multi-entry/multi-exit detector (e3) variable, not used yet -CMD_SET_MULTIENTRYEXIT_VARIABLE = 0xc1 -# command: subscribe multi-entry/multi-exit detector (e3) variable -CMD_SUBSCRIBE_MULTIENTRYEXIT_VARIABLE = 0xd1 -# response: subscribe multi-entry/multi-exit detector (e3) variable -RESPONSE_SUBSCRIBE_MULTIENTRYEXIT_VARIABLE = 0xe1 - -# command: subscribe traffic lights context -CMD_SUBSCRIBE_TL_CONTEXT = 0x82 -# response: subscribe traffic lights context -RESPONSE_SUBSCRIBE_TL_CONTEXT = 0x92 -# command: get traffic lights variable -CMD_GET_TL_VARIABLE = 0xa2 -# response: get traffic lights variable -RESPONSE_GET_TL_VARIABLE = 0xb2 -# command: set traffic lights variable -CMD_SET_TL_VARIABLE = 0xc2 -# command: subscribe traffic lights variable -CMD_SUBSCRIBE_TL_VARIABLE = 0xd2 -# response: subscribe traffic lights variable -RESPONSE_SUBSCRIBE_TL_VARIABLE = 0xe2 - -# command: subscribe lane context -CMD_SUBSCRIBE_LANE_CONTEXT = 0x83 -# response: subscribe lane context -RESPONSE_SUBSCRIBE_LANE_CONTEXT = 0x93 -# command: get lane variable -CMD_GET_LANE_VARIABLE = 0xa3 -# response: get lane variable -RESPONSE_GET_LANE_VARIABLE = 0xb3 -# command: set lane variable -CMD_SET_LANE_VARIABLE = 0xc3 -# command: subscribe lane variable -CMD_SUBSCRIBE_LANE_VARIABLE = 0xd3 -# response: subscribe lane variable -RESPONSE_SUBSCRIBE_LANE_VARIABLE = 0xe3 - -# command: subscribe vehicle context -CMD_SUBSCRIBE_VEHICLE_CONTEXT = 0x84 -# response: subscribe vehicle context -RESPONSE_SUBSCRIBE_VEHICLE_CONTEXT = 0x94 -# command: get vehicle variable -CMD_GET_VEHICLE_VARIABLE = 0xa4 -# response: get vehicle variable -RESPONSE_GET_VEHICLE_VARIABLE = 0xb4 -# command: set vehicle variable -CMD_SET_VEHICLE_VARIABLE = 0xc4 -# command: subscribe vehicle variable -CMD_SUBSCRIBE_VEHICLE_VARIABLE = 0xd4 -# response: subscribe vehicle variable -RESPONSE_SUBSCRIBE_VEHICLE_VARIABLE = 0xe4 - -# command: subscribe vehicle type context -CMD_SUBSCRIBE_VEHICLETYPE_CONTEXT = 0x85 -# response: subscribe vehicle type context -RESPONSE_SUBSCRIBE_VEHICLETYPE_CONTEXT = 0x95 -# command: get vehicle type variable -CMD_GET_VEHICLETYPE_VARIABLE = 0xa5 -# response: get vehicle type variable -RESPONSE_GET_VEHICLETYPE_VARIABLE = 0xb5 -# command: set vehicle type variable -CMD_SET_VEHICLETYPE_VARIABLE = 0xc5 -# command: subscribe vehicle type variable -CMD_SUBSCRIBE_VEHICLETYPE_VARIABLE = 0xd5 -# response: subscribe vehicle type variable -RESPONSE_SUBSCRIBE_VEHICLETYPE_VARIABLE = 0xe5 - -# command: subscribe route context -CMD_SUBSCRIBE_ROUTE_CONTEXT = 0x86 -# response: subscribe route context -RESPONSE_SUBSCRIBE_ROUTE_CONTEXT = 0x96 -# command: get route variable -CMD_GET_ROUTE_VARIABLE = 0xa6 -# response: get route variable -RESPONSE_GET_ROUTE_VARIABLE = 0xb6 -# command: set route variable -CMD_SET_ROUTE_VARIABLE = 0xc6 -# command: subscribe route variable -CMD_SUBSCRIBE_ROUTE_VARIABLE = 0xd6 -# response: subscribe route variable -RESPONSE_SUBSCRIBE_ROUTE_VARIABLE = 0xe6 - -# command: subscribe poi context -CMD_SUBSCRIBE_POI_CONTEXT = 0x87 -# response: subscribe poi context -RESPONSE_SUBSCRIBE_POI_CONTEXT = 0x97 -# command: get poi variable -CMD_GET_POI_VARIABLE = 0xa7 -# response: get poi variable -RESPONSE_GET_POI_VARIABLE = 0xb7 -# command: set poi variable -CMD_SET_POI_VARIABLE = 0xc7 -# command: subscribe poi variable -CMD_SUBSCRIBE_POI_VARIABLE = 0xd7 -# response: subscribe poi variable -RESPONSE_SUBSCRIBE_POI_VARIABLE = 0xe7 - -# command: subscribe polygon context -CMD_SUBSCRIBE_POLYGON_CONTEXT = 0x88 -# response: subscribe polygon context -RESPONSE_SUBSCRIBE_POLYGON_CONTEXT = 0x98 -# command: get polygon variable -CMD_GET_POLYGON_VARIABLE = 0xa8 -# response: get polygon variable -RESPONSE_GET_POLYGON_VARIABLE = 0xb8 -# command: set polygon variable -CMD_SET_POLYGON_VARIABLE = 0xc8 -# command: subscribe polygon variable -CMD_SUBSCRIBE_POLYGON_VARIABLE = 0xd8 -# response: subscribe polygon variable -RESPONSE_SUBSCRIBE_POLYGON_VARIABLE = 0xe8 - -# command: subscribe junction context -CMD_SUBSCRIBE_JUNCTION_CONTEXT = 0x89 -# response: subscribe junction context -RESPONSE_SUBSCRIBE_JUNCTION_CONTEXT = 0x99 -# command: get junction variable -CMD_GET_JUNCTION_VARIABLE = 0xa9 -# response: get junction variable -RESPONSE_GET_JUNCTION_VARIABLE = 0xb9 -# command: set junction variable -CMD_SET_JUNCTION_VARIABLE = 0xc9 -# command: subscribe junction variable -CMD_SUBSCRIBE_JUNCTION_VARIABLE = 0xd9 -# response: subscribe junction variable -RESPONSE_SUBSCRIBE_JUNCTION_VARIABLE = 0xe9 - -# command: subscribe edge context -CMD_SUBSCRIBE_EDGE_CONTEXT = 0x8a -# response: subscribe edge context -RESPONSE_SUBSCRIBE_EDGE_CONTEXT = 0x9a -# command: get edge variable -CMD_GET_EDGE_VARIABLE = 0xaa -# response: get edge variable -RESPONSE_GET_EDGE_VARIABLE = 0xba -# command: set edge variable -CMD_SET_EDGE_VARIABLE = 0xca -# command: subscribe edge variable -CMD_SUBSCRIBE_EDGE_VARIABLE = 0xda -# response: subscribe edge variable -RESPONSE_SUBSCRIBE_EDGE_VARIABLE = 0xea - -# command: subscribe simulation context -CMD_SUBSCRIBE_SIM_CONTEXT = 0x8b -# response: subscribe simulation context -RESPONSE_SUBSCRIBE_SIM_CONTEXT = 0x9b -# command: get simulation variable -CMD_GET_SIM_VARIABLE = 0xab -# response: get simulation variable -RESPONSE_GET_SIM_VARIABLE = 0xbb -# command: set simulation variable -CMD_SET_SIM_VARIABLE = 0xcb -# command: subscribe simulation variable -CMD_SUBSCRIBE_SIM_VARIABLE = 0xdb -# response: subscribe simulation variable -RESPONSE_SUBSCRIBE_SIM_VARIABLE = 0xeb - -# command: subscribe GUI context -CMD_SUBSCRIBE_GUI_CONTEXT = 0x8c -# response: subscribe GUI context -RESPONSE_SUBSCRIBE_GUI_CONTEXT = 0x9c -# command: get GUI variable -CMD_GET_GUI_VARIABLE = 0xac -# response: get GUI variable -RESPONSE_GET_GUI_VARIABLE = 0xbc -# command: set GUI variable -CMD_SET_GUI_VARIABLE = 0xcc -# command: subscribe GUI variable -CMD_SUBSCRIBE_GUI_VARIABLE = 0xdc -# response: subscribe GUI variable -RESPONSE_SUBSCRIBE_GUI_VARIABLE = 0xec - -# command: subscribe lane area detector (e2) context -CMD_SUBSCRIBE_LANEAREA_CONTEXT = 0x8d -# response: subscribe lane area detector (e2) context -RESPONSE_SUBSCRIBE_LANEAREA_CONTEXT = 0x9d -# command: get lane area detector (e2) variable -CMD_GET_LANEAREA_VARIABLE = 0xad -# response: get lane area detector (e2) variable -RESPONSE_GET_LANEAREA_VARIABLE = 0xbd -# command: set lane area detector (e2) variable, not used yet -CMD_SET_LANEAREA_VARIABLE = 0xcd -# command: subscribe lane area detector (e2) variable -CMD_SUBSCRIBE_LANEAREA_VARIABLE = 0xdd -# response: subscribe lane area detector (e2) variable -RESPONSE_SUBSCRIBE_LANEAREA_VARIABLE = 0xed - -# command: subscribe person context -CMD_SUBSCRIBE_PERSON_CONTEXT = 0x8e -# response: subscribe person context -RESPONSE_SUBSCRIBE_PERSON_CONTEXT = 0x9e -# command: get person variable -CMD_GET_PERSON_VARIABLE = 0xae -# response: get person variable -RESPONSE_GET_PERSON_VARIABLE = 0xbe -# command: set person variable -CMD_SET_PERSON_VARIABLE = 0xce -# command: subscribe person variable -CMD_SUBSCRIBE_PERSON_VARIABLE = 0xde -# response: subscribe person variable -RESPONSE_SUBSCRIBE_PERSON_VARIABLE = 0xee - -# command: subscribe busstop context -CMD_SUBSCRIBE_BUSSTOP_CONTEXT = 0x8f -# response: subscribe busstop context -RESPONSE_SUBSCRIBE_BUSSTOP_CONTEXT = 0x9f -# command: get busstop variable -CMD_GET_BUSSTOP_VARIABLE = 0xaf -# response: get busstop variable -RESPONSE_GET_BUSSTOP_VARIABLE = 0xbf -# command: set busstop variable, not used yet -CMD_SET_BUSSTOP_VARIABLE = 0xcf -# command: subscribe busstop variable -CMD_SUBSCRIBE_BUSSTOP_VARIABLE = 0xdf -# response: subscribe busstop variable -RESPONSE_SUBSCRIBE_BUSSTOP_VARIABLE = 0xef - -# command: subscribe parkingarea context -CMD_SUBSCRIBE_PARKINGAREA_CONTEXT = 0x04 -# response: subscribe parkingarea context -RESPONSE_SUBSCRIBE_PARKINGAREA_CONTEXT = 0x14 -# command: get parkingarea variable -CMD_GET_PARKINGAREA_VARIABLE = 0x24 -# response: get parkingarea variable -RESPONSE_GET_PARKINGAREA_VARIABLE = 0x34 -# command: set parkingarea variable -CMD_SET_PARKINGAREA_VARIABLE = 0x44 -# command: subscribe parkingarea variable -CMD_SUBSCRIBE_PARKINGAREA_VARIABLE = 0x54 -# response: subscribe parkingarea variable -RESPONSE_SUBSCRIBE_PARKINGAREA_VARIABLE = 0x64 - -# command: subscribe chargingstation context -CMD_SUBSCRIBE_CHARGINGSTATION_CONTEXT = 0x05 -# response: subscribe chargingstation context -RESPONSE_SUBSCRIBE_CHARGINGSTATION_CONTEXT = 0x15 -# command: get chargingstation variable -CMD_GET_CHARGINGSTATION_VARIABLE = 0x25 -# response: get chargingstation variable -RESPONSE_GET_CHARGINGSTATION_VARIABLE = 0x35 -# command: set chargingstation variable -CMD_SET_CHARGINGSTATION_VARIABLE = 0x45 -# command: subscribe chargingstation variable -CMD_SUBSCRIBE_CHARGINGSTATION_VARIABLE = 0x55 -# response: subscribe chargingstation variable -RESPONSE_SUBSCRIBE_CHARGINGSTATION_VARIABLE = 0x65 - -# command: subscribe routeprobe context -CMD_SUBSCRIBE_ROUTEPROBE_CONTEXT = 0x06 -# response: subscribe routeprobe context -RESPONSE_SUBSCRIBE_ROUTEPROBE_CONTEXT = 0x16 -# command: get routeprobe variable -CMD_GET_ROUTEPROBE_VARIABLE = 0x26 -# response: get routeprobe variable -RESPONSE_GET_ROUTEPROBE_VARIABLE = 0x36 -# command: set routeprobe variable -CMD_SET_ROUTEPROBE_VARIABLE = 0x46 -# command: subscribe routeprobe variable -CMD_SUBSCRIBE_ROUTEPROBE_VARIABLE = 0x56 -# response: subscribe routeprobe variable -RESPONSE_SUBSCRIBE_ROUTEPROBE_VARIABLE = 0x66 - -# command: subscribe calibrator context -CMD_SUBSCRIBE_CALIBRATOR_CONTEXT = 0x07 -# response: subscribe calibrator context -RESPONSE_SUBSCRIBE_CALIBRATOR_CONTEXT = 0x17 -# command: get calibrator variable -CMD_GET_CALIBRATOR_VARIABLE = 0x27 -# response: get calibrator variable -RESPONSE_GET_CALIBRATOR_VARIABLE = 0x37 -# command: set calibrator variable -CMD_SET_CALIBRATOR_VARIABLE = 0x47 -# command: subscribe calibrator variable -CMD_SUBSCRIBE_CALIBRATOR_VARIABLE = 0x57 -# response: subscribe calibrator variable -RESPONSE_SUBSCRIBE_CALIBRATOR_VARIABLE = 0x67 - -# command: subscribe rerouter context -CMD_SUBSCRIBE_REROUTER_CONTEXT = 0x08 -# response: subscribe rerouter context -RESPONSE_SUBSCRIBE_REROUTER_CONTEXT = 0x18 -# command: get rerouter variable -CMD_GET_REROUTER_VARIABLE = 0x28 -# response: get rerouter variable -RESPONSE_GET_REROUTER_VARIABLE = 0x38 -# command: set rerouter variable -CMD_SET_REROUTER_VARIABLE = 0x48 -# command: subscribe rerouter variable -CMD_SUBSCRIBE_REROUTER_VARIABLE = 0x58 -# response: subscribe rerouter variable -RESPONSE_SUBSCRIBE_REROUTER_VARIABLE = 0x68 - -# command: subscribe variablespeedsign context -CMD_SUBSCRIBE_VARIABLESPEEDSIGN_CONTEXT = 0x09 -# response: subscribe variablespeedsign context -RESPONSE_SUBSCRIBE_VARIABLESPEEDSIGN_CONTEXT = 0x19 -# command: get variablespeedsign variable -CMD_GET_VARIABLESPEEDSIGN_VARIABLE = 0x29 -# response: get variablespeedsign variable -RESPONSE_GET_VARIABLESPEEDSIGN_VARIABLE = 0x39 -# command: set variablespeedsign variable -CMD_SET_VARIABLESPEEDSIGN_VARIABLE = 0x49 -# command: subscribe variablespeedsign variable -CMD_SUBSCRIBE_VARIABLESPEEDSIGN_VARIABLE = 0x59 -# response: subscribe variablespeedsign variable -RESPONSE_SUBSCRIBE_VARIABLESPEEDSIGN_VARIABLE = 0x69 - -# command: subscribe meandata context -CMD_SUBSCRIBE_MEANDATA_CONTEXT = 0x0a -# response: subscribe meandata context -RESPONSE_SUBSCRIBE_MEANDATA_CONTEXT = 0x1a -# command: get meandata variable -CMD_GET_MEANDATA_VARIABLE = 0x2a -# response: get meandata variable -RESPONSE_GET_MEANDATA_VARIABLE = 0x3a -# command: set meandata variable, not used yet -CMD_SET_MEANDATA_VARIABLE = 0x4a -# command: subscribe meandata variable -CMD_SUBSCRIBE_MEANDATA_VARIABLE = 0x5a -# response: subscribe meandata variable -RESPONSE_SUBSCRIBE_MEANDATA_VARIABLE = 0x6a - -# command: subscribe overheadwire context -CMD_SUBSCRIBE_OVERHEADWIRE_CONTEXT = 0x0b -# response: subscribe overheadwire context -RESPONSE_SUBSCRIBE_OVERHEADWIRE_CONTEXT = 0x1b -# command: get overheadwire variable -CMD_GET_OVERHEADWIRE_VARIABLE = 0x2b -# response: get overheadwire variable -RESPONSE_GET_OVERHEADWIRE_VARIABLE = 0x3b -# command: set overheadwire variable -CMD_SET_OVERHEADWIRE_VARIABLE = 0x4b -# command: subscribe overheadwire variable -CMD_SUBSCRIBE_OVERHEADWIRE_VARIABLE = 0x5b -# response: subscribe overheadwire variable -RESPONSE_SUBSCRIBE_OVERHEADWIRE_VARIABLE = 0x6b - - -# **************************************** -# POSITION REPRESENTATIONS -# **************************************** -# Position in geo-coordinates -POSITION_LON_LAT = 0x00 -# 2D cartesian coordinates -POSITION_2D = 0x01 -# Position in geo-coordinates with altitude -POSITION_LON_LAT_ALT = 0x02 -# 3D cartesian coordinates -POSITION_3D = 0x03 -# Position on road map -POSITION_ROADMAP = 0x04 - - -# **************************************** -# DATA TYPES -# **************************************** -# Polygon (2*n doubles) -TYPE_POLYGON = 0x06 -# unsigned byte -TYPE_UBYTE = 0x07 -# signed byte -TYPE_BYTE = 0x08 -# 32 bit signed integer -TYPE_INTEGER = 0x09 -# double precision float -TYPE_DOUBLE = 0x0B -# 8 bit ASCII string -TYPE_STRING = 0x0C -# list of strings -TYPE_STRINGLIST = 0x0E -# compound object -TYPE_COMPOUND = 0x0F -# list of double precision floats -TYPE_DOUBLELIST = 0x10 -# color (four ubytes) -TYPE_COLOR = 0x11 - - -# **************************************** -# RESULT TYPES -# **************************************** -# result type: Ok -RTYPE_OK = 0x00 -# result type: not implemented -RTYPE_NOTIMPLEMENTED = 0x01 -# result type: error -RTYPE_ERR = 0xFF - -# **************************************** -# special return or parameter values -# **************************************** -# return value for invalid queries (especially vehicle is not on the road), see Position::INVALID -INVALID_DOUBLE_VALUE = -1073741824.0 -# return value for invalid queries (especially vehicle is not on the road), see Position::INVALID -INVALID_INT_VALUE = -1073741824 -# maximum value for client ordering (2 ^ 30) -MAX_ORDER = 1073741824 - - -# **************************************** -# DIFFERENT DISTANCE REQUESTS -# **************************************** -# air distance -REQUEST_AIRDIST = 0x00 -# driving distance -REQUEST_DRIVINGDIST = 0x01 - - -# **************************************** -# VEHICLE REMOVAL REASONS -# **************************************** -# vehicle started teleport -REMOVE_TELEPORT = 0x00 -# vehicle removed while parking -REMOVE_PARKING = 0x01 -# vehicle arrived -REMOVE_ARRIVED = 0x02 -# vehicle was vaporized -REMOVE_VAPORIZED = 0x03 -# vehicle finished route during teleport -REMOVE_TELEPORT_ARRIVED = 0x04 - -# **************************************** -# VEHICLE MOVE REASONS -# **************************************** -# infer reason from move distance -MOVE_AUTOMATIC = 0x00 -# vehicle teleports to another location -MOVE_TELEPORT = 0x01 -# vehicle moved normally -MOVE_NORMAL = 0x02 - -# **************************************** -# PERSON/CONTAINER STAGES -# **************************************** -# person / container stopping -STAGE_WAITING_FOR_DEPART = 0x00 -# person / container stopping -STAGE_WAITING = 0x01 -# person walking -STAGE_WALKING = 0x02 -# person riding / container being transported -STAGE_DRIVING = 0x03 -# person accessing stopping place -STAGE_ACCESS = 0x04 -# stage for encoding abstract travel demand -STAGE_TRIP = 0x05 -# person / container transhiping -STAGE_TRANSHIP = 0x06 - -# **************************************** -# Stop Flags -# **************************************** -STOP_DEFAULT = 0x00 -STOP_PARKING = 0x01 -STOP_TRIGGERED = 0x02 -STOP_CONTAINER_TRIGGERED = 0x04 -STOP_BUS_STOP = 0x08 -STOP_CONTAINER_STOP = 0x10 -STOP_CHARGING_STATION = 0x20 -STOP_PARKING_AREA = 0x40 -STOP_OVERHEAD_WIRE = 0x80 - -# **************************************** -# Departure Flags -# **************************************** -DEPARTFLAG_TRIGGERED = -0x01 -DEPARTFLAG_CONTAINER_TRIGGERED = -0x02 -DEPARTFLAG_NOW = -0x03 - -DEPARTFLAG_SPEED_RANDOM = -0x02 -DEPARTFLAG_SPEED_MAX = -0x03 - -DEPARTFLAG_LANE_RANDOM = -0x02 -DEPARTFLAG_LANE_FREE = -0x03 -DEPARTFLAG_LANE_ALLOWED_FREE = -0x04 -DEPARTFLAG_LANE_BEST_FREE = -0x05 -DEPARTFLAG_LANE_FIRST_ALLOWED = -0x06 - -DEPARTFLAG_POS_RANDOM = -0x02 -DEPARTFLAG_POS_FREE = -0x03 -DEPARTFLAG_POS_BASE = -0x04 -DEPARTFLAG_POS_LAST = -0x05 -DEPARTFLAG_POS_RANDOM_FREE = -0x06 - -ARRIVALFLAG_LANE_CURRENT = -0x02 -ARRIVALFLAG_SPEED_CURRENT = -0x02 - -ARRIVALFLAG_POS_RANDOM = -0x02 -ARRIVALFLAG_POS_MAX = -0x03 - -# **************************************** -# Routing modes -# **************************************** -# use custom weights if available, fall back to loaded weights and then to free-flow speed -ROUTING_MODE_DEFAULT = 0x00 -# use aggregated travel times from device.rerouting -ROUTING_MODE_AGGREGATED = 0x01 -# use loaded efforts -ROUTING_MODE_EFFORT = 0x02 -# use combined costs -ROUTING_MODE_COMBINED = 0x03 - -# **************************************** -# Traffic light types -# **************************************** -TRAFFICLIGHT_TYPE_STATIC = 0x00 -TRAFFICLIGHT_TYPE_ACTUATED = 0x03 -TRAFFICLIGHT_TYPE_DELAYBASED = 0x04 - -# **************************************** -# FILTER TYPES (for context subscription filters) -# **************************************** - -# Reset all filters -FILTER_TYPE_NONE = 0x00 - -# Filter by list of lanes relative to ego vehicle -FILTER_TYPE_LANES = 0x01 - -# Exclude vehicles on opposite (and other) lanes from context subscription result -FILTER_TYPE_NOOPPOSITE = 0x02 - -# Specify maximal downstream distance for vehicles in context subscription result -FILTER_TYPE_DOWNSTREAM_DIST = 0x03 - -# Specify maximal upstream distance for vehicles in context subscription result -FILTER_TYPE_UPSTREAM_DIST = 0x04 - -# Only return leader and follower on the specified lanes in context subscription result -FILTER_TYPE_LEAD_FOLLOW = 0x05 - -# Only return foes on upcoming junction in context subscription result -FILTER_TYPE_TURN = 0x07 - -# Only return vehicles of the given vClass in context subscription result -FILTER_TYPE_VCLASS = 0x08 - -# Only return vehicles of the given vType in context subscription result -FILTER_TYPE_VTYPE = 0x09 - -# Only return vehicles within field of vision in context subscription result -FILTER_TYPE_FIELD_OF_VISION = 0x0A - -# Only return vehicles within the given lateral distance in context subscription result -FILTER_TYPE_LATERAL_DIST = 0x0B - -# **************************************** -# VARIABLE TYPES (for CMD_GET_*_VARIABLE) -# **************************************** -# list of instances' ids (get: all) -TRACI_ID_LIST = 0x00 - -# count of instances (get: all) -ID_COUNT = 0x01 - -# subscribe object variables (get: all) -AUTOMATIC_VARIABLES_SUBSCRIPTION = 0x02 - -# subscribe context variables (get: all) -AUTOMATIC_CONTEXT_SUBSCRIPTION = 0x03 - -# generic attributes (get/set: all) -GENERIC_ATTRIBUTE = 0x03 - -# last step vehicle number (get: induction loops, multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_VEHICLE_NUMBER = 0x10 - -# last step vehicle number (get: induction loops, multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_MEAN_SPEED = 0x11 - -# last step vehicle list (get: induction loops, multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_VEHICLE_ID_LIST = 0x12 - -# last step occupancy (get: induction loops, lanes, edges) -LAST_STEP_OCCUPANCY = 0x13 - -# last step vehicle halting number (get: multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_VEHICLE_HALTING_NUMBER = 0x14 - -# last step mean vehicle length (get: induction loops, lanes, edges) -LAST_STEP_LENGTH = 0x15 - -# last step time since last detection (get: induction loops) -LAST_STEP_TIME_SINCE_DETECTION = 0x16 - -# entry times -LAST_STEP_VEHICLE_DATA = 0x17 - -# last step jam length in vehicles -JAM_LENGTH_VEHICLE = 0x18 - -# last step jam length in meters -JAM_LENGTH_METERS = 0x19 - -# last step person list (get: edges, vehicles) -LAST_STEP_PERSON_ID_LIST = 0x1a - -# full name (get: edges, simulation, trafficlight) -VAR_NAME = 0x1b - -# carFollowModel function followSpeed (get: vehicle) -VAR_FOLLOW_SPEED = 0x1c - -# carFollowModel function stopSpeed (get: vehicle) -VAR_STOP_SPEED = 0x1d - -# carFollowModel function getSecureGap (get: vehicle) -VAR_SECURE_GAP = 0x1e - -# estimated (depart) delay for next stop -VAR_STOP_DELAY = 0x1f - -# estimated arrival delay for next stop -VAR_STOP_ARRIVALDELAY = 0x22 - -# begin time(get: calibrator) -VAR_BEGIN = 0x1c - -# end time(get: calibrator) -VAR_END = 0x1d - -# vtype list (get: calibrator) -VAR_VTYPES = 0x1e - -# vehicles per hour (get: calibrator) -VAR_VEHSPERHOUR = 0x13 - -# passed vehicle count (get: calibrator) -VAR_PASSED = 0x14 - -# inserted vehicle count (get: calibrator) -VAR_INSERTED = 0x15 - -# removed vehicle count (get: calibrator) -VAR_REMOVED = 0x16 - -# routeProbe id (get: calibrator) -VAR_ROUTE_PROBE = 0x17 - -# routeProbe id (get: calibrator) -CMD_SET_FLOW = 0x18 - -# traffic light states, encoded as rRgGyYoO tuple (get: traffic lights) -TL_RED_YELLOW_GREEN_STATE = 0x20 - -# index of the phase (set: traffic lights) -TL_PHASE_INDEX = 0x22 - -# traffic light program (set: traffic lights) -TL_PROGRAM = 0x23 - -# phase duration (set: traffic lights) -TL_PHASE_DURATION = 0x24 - -# vehicles that block passing the given signal (get: traffic lights) -TL_BLOCKING_VEHICLES = 0x25 - -# controlled lanes (get: traffic lights) -TL_CONTROLLED_LANES = 0x26 - -# controlled links (get: traffic lights) -TL_CONTROLLED_LINKS = 0x27 - -# index of the current phase (get: traffic lights) -TL_CURRENT_PHASE = 0x28 - -# name of the current program (get: traffic lights) -TL_CURRENT_PROGRAM = 0x29 - -# vehicles that also wish to pass the given signal (get: traffic lights) -TL_RIVAL_VEHICLES = 0x30 - -# vehicles that also wish to pass the given signal and have higher priority (get: traffic lights) -TL_PRIORITY_VEHICLES = 0x31 - -# controlled junctions (get: traffic lights) -TL_CONTROLLED_JUNCTIONS = 0x2a - -# complete definition (get: traffic lights) -TL_COMPLETE_DEFINITION_RYG = 0x2b - -# complete program (set: traffic lights) -TL_COMPLETE_PROGRAM_RYG = 0x2c - -# assumed time to next switch (get: traffic lights) -TL_NEXT_SWITCH = 0x2d - -# current state, using external signal names (get: traffic lights) -TL_EXTERNAL_STATE = 0x2e - -# outgoing link number (get: lanes) -LANE_LINK_NUMBER = 0x30 - -# id of parent edge (get: lanes) -LANE_EDGE_ID = 0x31 - -# outgoing link definitions (get: lanes) -LANE_LINKS = 0x33 - -# list of allowed vehicle classes (get&set: lanes) -LANE_ALLOWED = 0x34 - -# list of not allowed vehicle classes (get&set: lanes) -LANE_DISALLOWED = 0x35 - -# list of foe lanes (get: lanes) -VAR_FOES = 0x37 - -# slope (get: edge, lane, vehicle, person) -VAR_SLOPE = 0x36 - -# speed (get: vehicle) -VAR_SPEED = 0x40 - -# adapt previous speed (set: vehicle) -VAR_PREV_SPEED = 0x3c - -# lateral speed (get: vehicle) -VAR_SPEED_LAT = 0x32 - -# maximum allowed/possible speed (get: vehicle types, lanes, set: edges, lanes) -VAR_MAXSPEED = 0x41 - -# position (2D) (get: vehicle, poi, inductionloop, lane area detector; set: poi) -VAR_POSITION = 0x42 - -# position (3D) (get: vehicle, poi, set: poi) -VAR_POSITION3D = 0x39 - -# angle (get: vehicle, poi; set: poi) -VAR_ANGLE = 0x43 - -# length (get: vehicle types, lanes, lane area detector, set: lanes) -VAR_LENGTH = 0x44 - -# color (get: vehicles, vehicle types, polygons, pois) -VAR_COLOR = 0x45 - -# max. acceleration (get: vehicles, vehicle types) -VAR_ACCEL = 0x46 - -# max. comfortable deceleration (get: vehicles, vehicle types) -VAR_DECEL = 0x47 - -# max. (physically possible) deceleration (get: vehicles, vehicle types) -VAR_EMERGENCY_DECEL = 0x7b - -# apparent deceleration (get: vehicles, vehicle types) -VAR_APPARENT_DECEL = 0x7c - -# action step length (get: vehicles, vehicle types) -VAR_ACTIONSTEPLENGTH = 0x7d - -# last action time (get: vehicles) -VAR_LASTACTIONTIME = 0x7f - -# driver's desired headway (get: vehicle types) -VAR_TAU = 0x48 - -# vehicle class (get: vehicle types) -VAR_VEHICLECLASS = 0x49 - -# emission class (get: vehicle types) -VAR_EMISSIONCLASS = 0x4a - -# shape class (get: vehicle types) -VAR_SHAPECLASS = 0x4b - -# minimum gap (get: vehicle types) -VAR_MINGAP = 0x4c - -# width (get: vehicle types, lanes, polygons, poi) -VAR_WIDTH = 0x4d - -# shape (get: polygons) -VAR_SHAPE = 0x4e - -# type id (get: vehicles, polygons, pois) -VAR_TYPE = 0x4f - -# road id (get: vehicles) -VAR_ROAD_ID = 0x50 - -# lane id (get: vehicles, inductionloop, lane area detector) -VAR_LANE_ID = 0x51 - -# lane index (get: vehicle, edge) -VAR_LANE_INDEX = 0x52 - -# route id (get & set: vehicles) -VAR_ROUTE_ID = 0x53 - -# edges (get: routes, vehicles) -VAR_EDGES = 0x54 - -# lanes (get: variablespeedsign) -VAR_LANES = 0x30 - -# update bestLanes (set: vehicle) -VAR_UPDATE_BESTLANES = 0x6a - -# filled? (get: polygons) -VAR_FILL = 0x55 - -# get/set image file (poi, poly, vehicle, person, simulation) -VAR_IMAGEFILE = 0x93 - -# position (1D along lane) (get: vehicle) -VAR_LANEPOSITION = 0x56 - -# route (set: vehicles) -VAR_ROUTE = 0x57 - -# travel time information (get&set: vehicle) -VAR_EDGE_TRAVELTIME = 0x58 - -# effort information (get&set: vehicle) -VAR_EDGE_EFFORT = 0x59 - -# last step travel time (get: edge, lane) -VAR_CURRENT_TRAVELTIME = 0x5a - -# signals state (get/set: vehicle) -VAR_SIGNALS = 0x5b - -# vehicle: new lane/position along (set: vehicle) -VAR_MOVE_TO = 0x5c - -# polygon: add dynamics (set: polygon) -VAR_ADD_DYNAMICS = 0x5c - -# vehicle: highlight (set: vehicle, poi) -VAR_HIGHLIGHT = 0x6c - -# driver imperfection (set: vehicle) -VAR_IMPERFECTION = 0x5d - -# speed factor (set: vehicle) -VAR_SPEED_FACTOR = 0x5e - -# speed deviation (set: vehicle) -VAR_SPEED_DEVIATION = 0x5f - -# routing mode (get/set: vehicle) -VAR_ROUTING_MODE = 0x89 - -# speed without TraCI influence (get: vehicle) -VAR_SPEED_WITHOUT_TRACI = 0xb1 - -# best lanes (get: vehicle) -VAR_BEST_LANES = 0xb2 - -# how speed is set (set: vehicle) -VAR_SPEEDSETMODE = 0xb3 - -# move vehicle to explicit (remote controlled) position (set: vehicle) -MOVE_TO_XY = 0xb4 - -# is the vehicle stopped, and if so parked and/or triggered? -# value = stopped + 2 * parking + 4 * triggered -VAR_STOPSTATE = 0xb5 - -# how lane changing is performed (get/set: vehicle) -VAR_LANECHANGE_MODE = 0xb6 - -# maximum speed regarding max speed on the current lane and speed factor (get: vehicle) -VAR_ALLOWED_SPEED = 0xb7 - -# position (1D lateral position relative to center of the current lane) (get: vehicle) -VAR_LANEPOSITION_LAT = 0xb8 - -# get/set prefered lateral alignment within the lane (vehicle) -VAR_LATALIGNMENT = 0xb9 - -# get/set maximum lateral speed (vehicle, vtypes) -VAR_MAXSPEED_LAT = 0xba - -# get/set minimum lateral gap (vehicle, vtypes) -VAR_MINGAP_LAT = 0xbb - -# get/set vehicle height (vehicle, vtypes, poi) -VAR_HEIGHT = 0xbc - -# get/set vehicle line -VAR_LINE = 0xbd - -# get/set vehicle via -VAR_VIA = 0xbe - -# get (lane change relevant) neighboring vehicles (vehicles) -VAR_NEIGHBORS = 0xbf - -# current CO2 emission of a node (get: vehicle, lane, edge) -VAR_CO2EMISSION = 0x60 - -# current CO emission of a node (get: vehicle, lane, edge) -VAR_COEMISSION = 0x61 - -# current HC emission of a node (get: vehicle, lane, edge) -VAR_HCEMISSION = 0x62 - -# current PMx emission of a node (get: vehicle, lane, edge) -VAR_PMXEMISSION = 0x63 - -# current NOx emission of a node (get: vehicle, lane, edge) -VAR_NOXEMISSION = 0x64 - -# current fuel consumption of a node (get: vehicle, lane, edge) -VAR_FUELCONSUMPTION = 0x65 - -# current noise emission of a node (get: vehicle, lane, edge) -VAR_NOISEEMISSION = 0x66 - -# current person number (get: vehicle, trafficlight) -VAR_PERSON_NUMBER = 0x67 - -# person capacity (vehicle , vehicle type) -VAR_PERSON_CAPACITY = 0x38 - -VAR_BUS_STOP_ID_LIST = 0x9f - -# number of persons waiting at a defined bus stop (get: simulation) -VAR_BUS_STOP_WAITING = 0x67 - -# ids of persons waiting at a defined bus stop (get: simulation) -VAR_BUS_STOP_WAITING_IDS = 0xef - -# current leader together with gap (get: vehicle) -VAR_LEADER = 0x68 - -# current leader together with gap (get: vehicle) -VAR_FOLLOWER = 0x78 - -# edge index in current route (get: vehicle) -VAR_ROUTE_INDEX = 0x69 - -# current waiting time (get: vehicle, lane) -VAR_WAITING_TIME = 0x7a - -# current waiting time (get: vehicle) -VAR_ACCUMULATED_WAITING_TIME = 0x87 - -# upcoming traffic lights (get: vehicle) -VAR_NEXT_TLS = 0x70 - -# upcoming stops (get: vehicle) -VAR_NEXT_STOPS = 0x73 - -# upcoming stops with selection (get: vehicle) -VAR_NEXT_STOPS2 = 0x74 - -# current acceleration (get: vehicle) -VAR_ACCELERATION = 0x72 - -# arrival position (get,set: vehicle) -VAR_ARRIVALPOS = 0x75 - -# arrival lane (get,set: vehicle) -VAR_ARRIVALLANE = 0x76 - -# arrival speed (get,set: vehicle) -VAR_ARRIVALSPEED = 0x77 - -# add log message (set: simulation) -CMD_MESSAGE = 0x65 - -# current time in seconds (get: simulation) -VAR_TIME = 0x66 - -# current time step (get: simulation) -VAR_TIME_STEP = 0x70 - -# current electricity consumption of a node (get: vehicle, lane, edge) -VAR_ELECTRICITYCONSUMPTION = 0x71 - -# number of loaded vehicles (get: simulation) -VAR_LOADED_VEHICLES_NUMBER = 0x71 - -# loaded vehicle ids (get: simulation) -VAR_LOADED_VEHICLES_IDS = 0x72 - -# number of departed vehicle (get: simulation) -VAR_DEPARTED_VEHICLES_NUMBER = 0x73 - -# departed vehicle ids (get: simulation) -VAR_DEPARTED_VEHICLES_IDS = 0x74 - -# number of vehicles starting to teleport (get: simulation) -VAR_TELEPORT_STARTING_VEHICLES_NUMBER = 0x75 - -# ids of vehicles starting to teleport (get: simulation) -VAR_TELEPORT_STARTING_VEHICLES_IDS = 0x76 - -# number of vehicles ending to teleport (get: simulation) -VAR_TELEPORT_ENDING_VEHICLES_NUMBER = 0x77 - -# ids of vehicles ending to teleport (get: simulation) -VAR_TELEPORT_ENDING_VEHICLES_IDS = 0x78 - -# number of arrived vehicles (get: simulation) -VAR_ARRIVED_VEHICLES_NUMBER = 0x79 - -# ids of arrived vehicles (get: simulation) -VAR_ARRIVED_VEHICLES_IDS = 0x7a - -# delta t (get: simulation) -VAR_DELTA_T = 0x7b - -# bounding box (get: simulation) -VAR_NET_BOUNDING_BOX = 0x7c - -# minimum number of expected vehicles (get: simulation) -VAR_MIN_EXPECTED_VEHICLES = 0x7d - -# number of vehicles starting to park (get: simulation) -VAR_STOP_STARTING_VEHICLES_NUMBER = 0x68 - -# ids of vehicles starting to park (get: simulation) -VAR_STOP_STARTING_VEHICLES_IDS = 0x69 - -# number of vehicles ending to park (get: simulation) -VAR_STOP_ENDING_VEHICLES_NUMBER = 0x6a - -# ids of vehicles ending to park (get: simulation) -VAR_STOP_ENDING_VEHICLES_IDS = 0x6b - -# number of vehicles starting to park (get: simulation) -VAR_PARKING_STARTING_VEHICLES_NUMBER = 0x6c - -# ids of vehicles starting to park (get: simulation) -VAR_PARKING_STARTING_VEHICLES_IDS = 0x6d - -# number of vehicles maneuvering (get: simulation) -VAR_PARKING_MANEUVERING_VEHICLES_NUMBER = 0x3a - -# ids of vehicles maneuvering (get: simulation) -VAR_PARKING_MANEUVERING_VEHICLES_IDS = 0x3b - -# number of vehicles ending to park (get: simulation) -VAR_PARKING_ENDING_VEHICLES_NUMBER = 0x6e - -# ids of vehicles ending to park (get: simulation) -VAR_PARKING_ENDING_VEHICLES_IDS = 0x6f - -# number of vehicles involved in a collision (get: simulation) -VAR_COLLIDING_VEHICLES_NUMBER = 0x80 - -# ids of vehicles involved in a collision (get: simulation) -VAR_COLLIDING_VEHICLES_IDS = 0x81 - -# number of vehicles involved in a collision (get: simulation) -VAR_EMERGENCYSTOPPING_VEHICLES_NUMBER = 0x89 - -# ids of vehicles involved in a collision (get: simulation) -VAR_EMERGENCYSTOPPING_VEHICLES_IDS = 0x8a - -# clears the simulation of all not inserted vehicles (set: simulation) -CMD_CLEAR_PENDING_VEHICLES = 0x94 - -# triggers saving simulation state (set: simulation) -CMD_SAVE_SIMSTATE = 0x95 - -# triggers saving simulation state (set: simulation) -CMD_LOAD_SIMSTATE = 0x96 - -# sets/retrieves abstract parameter -VAR_PARAMETER = 0x7e - -# retrieves abstract parameter and returns (key, value) tuple -VAR_PARAMETER_WITH_KEY = 0x3e - - -# add an instance (poi, polygon, vehicle, person, route) -ADD = 0x80 - -# remove an instance (poi, polygon, vehicle, person) -REMOVE = 0x81 - -# copy an instance (vehicle type, other TBD.) -COPY = 0x88 - -# convert coordinates -POSITION_CONVERSION = 0x82 - -# distance between points or vehicles -DISTANCE_REQUEST = 0x83 - -# the current driving distance -VAR_DISTANCE = 0x84 - -# add a fully specified instance (vehicle) -ADD_FULL = 0x85 - -# find a car based route -FIND_ROUTE = 0x86 - -# find an intermodal route -FIND_INTERMODAL_ROUTE = 0x87 - -# force rerouting based on travel time (vehicles) -CMD_REROUTE_TRAVELTIME = 0x90 - -# force rerouting based on effort (vehicles) -CMD_REROUTE_EFFORT = 0x91 - -# validates current route (vehicles) -VAR_ROUTE_VALID = 0x92 - -# retrieve information regarding the current person/container stage -VAR_STAGE = 0xc0 - -# retrieve information regarding the next edge including crossings and walkingAreas (pedestrians only) -VAR_NEXT_EDGE = 0xc1 - -# retrieve information regarding the number of remaining stages -VAR_STAGES_REMAINING = 0xc2 - -# retrieve the current vehicle id for the driving stage (person, container) -VAR_VEHICLE = 0xc3 - -# append a person stage (person) -APPEND_STAGE = 0xc4 - -# replace a person stage (person) -REPLACE_STAGE = 0xcd - -# append a person stage (person) -REMOVE_STAGE = 0xc5 - -# retrieve taxi reservation (person) -VAR_TAXI_RESERVATIONS = 0xc6 - -# sample last route (routeprobe) -VAR_SAMPLE_LAST = 0x20 - -# sample current route (routeprobe) -VAR_SAMPLE_CURRENT = 0x21 - -# zoom -VAR_VIEW_ZOOM = 0xa0 - -# view position -VAR_VIEW_OFFSET = 0xa1 - -# view schema -VAR_VIEW_SCHEMA = 0xa2 - -# view by boundary -VAR_VIEW_BOUNDARY = 0xa3 - -# select/deselect object (gui) -VAR_SELECT = 0xa4 - -# screenshot -VAR_SCREENSHOT = 0xa5 - -# track vehicle -VAR_TRACK_VEHICLE = 0xa6 - -# presence of view -VAR_HAS_VIEW = 0xa7 - -# @name currently wanted lane-change action -# @{ -# @brief No action desired -LCA_NONE = 0 -# @brief Needs to stay on the current lane -LCA_STAY = 1 << 0 -# @brief Wants go to the left -LCA_LEFT = 1 << 1 -# @brief Wants go to the right -LCA_RIGHT = 1 << 2 -# @brief The action is needed to follow the route (navigational lc) -LCA_STRATEGIC = 1 << 3 -# @brief The action is done to help someone else -LCA_COOPERATIVE = 1 << 4 -# @brief The action is due to the wish to be faster (tactical lc) -LCA_SPEEDGAIN = 1 << 5 -# @brief The action is due to the default of keeping right "Rechtsfahrgebot" -LCA_KEEPRIGHT = 1 << 6 -# @brief The action is due to a TraCI request -LCA_TRACI = 1 << 7 -# @brief The action is urgent (to be defined by lc-model) -LCA_URGENT = 1 << 8 -# @brief The action has not been determined -LCA_UNKNOWN = 1 << 30 -# @} - -# @name External state -# @{ -# @brief The vehicle is blocked by left leader -LCA_BLOCKED_BY_LEFT_LEADER = 1 << 9 -# @brief The vehicle is blocked by left follower -LCA_BLOCKED_BY_LEFT_FOLLOWER = 1 << 10 -# @brief The vehicle is blocked by right leader -LCA_BLOCKED_BY_RIGHT_LEADER = 1 << 11 -# @brief The vehicle is blocked by right follower -LCA_BLOCKED_BY_RIGHT_FOLLOWER = 1 << 12 -# @brief The vehicle is blocked being overlapping -LCA_OVERLAPPING = 1 << 13 -# @brief The vehicle does not have enough space to complete a continuous change before the next turn -LCA_INSUFFICIENT_SPACE = 1 << 14 -# @brief used by the sublane model -LCA_SUBLANE = 1 << 15 -# @brief Vehicle is too slow to complete a continuous lane change (in case that maxSpeedLatStanding==0) -LCA_INSUFFICIENT_SPEED = 1 << 28 -# @brief lane can change -LCA_WANTS_LANECHANGE = LCA_LEFT | LCA_RIGHT -# @brief lane can change or stay -LCA_WANTS_LANECHANGE_OR_STAY = LCA_WANTS_LANECHANGE | LCA_STAY -# @brief blocked left -LCA_BLOCKED_LEFT = LCA_BLOCKED_BY_LEFT_LEADER | LCA_BLOCKED_BY_LEFT_FOLLOWER -# @brief blocked right -LCA_BLOCKED_RIGHT = LCA_BLOCKED_BY_RIGHT_LEADER | LCA_BLOCKED_BY_RIGHT_FOLLOWER -# @brief blocked by leader -LCA_BLOCKED_BY_LEADER = LCA_BLOCKED_BY_LEFT_LEADER | LCA_BLOCKED_BY_RIGHT_LEADER -# @brief blocker by follower -LCA_BLOCKED_BY_FOLLOWER = LCA_BLOCKED_BY_LEFT_FOLLOWER | LCA_BLOCKED_BY_RIGHT_FOLLOWER -# @brief blocked in all directions -LCA_BLOCKED = LCA_BLOCKED_LEFT | LCA_BLOCKED_RIGHT | LCA_INSUFFICIENT_SPACE | LCA_INSUFFICIENT_SPEED -# @brief reasons of lane change -LCA_CHANGE_REASONS = (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_SPEEDGAIN | LCA_KEEPRIGHT | LCA_SUBLANE | LCA_TRACI) -# LCA_BLOCKED_BY_CURRENT_LEADER = 1 << 28 -# LCA_BLOCKED_BY_CURRENT_FOLLOWER = 1 << 29 -# @} - -# @name originally model specific states (migrated here since -# they were duplicated in all current models) -# @{ -LCA_AMBLOCKINGLEADER = 1 << 16 -LCA_AMBLOCKINGFOLLOWER = 1 << 17 -LCA_MRIGHT = 1 << 18 -LCA_MLEFT = 1 << 19 -# !!! never set LCA_UNBLOCK = 1 << 20, -LCA_AMBLOCKINGFOLLOWER_DONTBRAKE = 1 << 21 -# !!! never used LCA_AMBLOCKINGSECONDFOLLOWER = 1 << 22, -LCA_CHANGE_TO_HELP = 1 << 23 -# !!! never read LCA_KEEP1 = 1 << 24, -# !!! never used LCA_KEEP2 = 1 << 25, -LCA_AMBACKBLOCKER = 1 << 26 -LCA_AMBACKBLOCKER_STANDING = 1 << 27 -# @} diff --git a/co-simulation/bundle/src/assembly/resources/fed/ns3/main.py b/co-simulation/bundle/src/assembly/resources/fed/ns3/main.py deleted file mode 100644 index 89a85dea..00000000 --- a/co-simulation/bundle/src/assembly/resources/fed/ns3/main.py +++ /dev/null @@ -1,301 +0,0 @@ -# -*- coding: utf-8 -*- -# Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo -# Copyright (C) 2008-2020 German Aerospace Center (DLR) and others. -# This program and the accompanying materials are made available under the -# terms of the Eclipse Public License 2.0 which is available at -# https://www.eclipse.org/legal/epl-2.0/ -# This Source Code may also be made available under the following Secondary -# Licenses when the conditions for such availability set forth in the Eclipse -# Public License 2.0 are satisfied: GNU General Public License, version 2 -# or later which is available at -# https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html -# SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later - -# @file main.py -# @author Michael Behrisch -# @author Lena Kalleske -# @author Mario Krumnow -# @author Daniel Krajzewicz -# @author Jakob Erdmann -# @date 2008-10-09 - -# pylint: disable=E1101 - -from __future__ import print_function -from __future__ import absolute_import -import socket -import time -import subprocess -import warnings -import sys -import os -from functools import wraps - -if 'SUMO_HOME' in os.environ: - sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools')) -else: - sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) - -import sumolib # noqa -from sumolib.miscutils import getFreeSocketPort # noqa - -from .domain import _defaultDomains # noqa -# StepListener needs to be imported for backwards compatibility -from .connection import Connection, StepListener # noqa -from .exceptions import FatalTraCIError, TraCIException # noqa -from . import _inductionloop, _lanearea, _multientryexit, _trafficlight # noqa -from . import _variablespeedsign, _meandata # noqa -from . import _lane, _person, _route, _vehicle, _vehicletype # noqa -from . import _edge, _gui, _junction, _poi, _polygon, _simulation # noqa -from . import _calibrator, _routeprobe, _rerouter # noqa -from . import _busstop, _parkingarea, _chargingstation, _overheadwire # noqa - -inductionloop = _inductionloop.InductionLoopDomain() -lanearea = _lanearea.LaneAreaDomain() -multientryexit = _multientryexit.MultiEntryExitDomain() -trafficlight = _trafficlight.TrafficLightDomain() -variablespeedsign = _variablespeedsign.VariableSpeedSignDomain() -meandata = _meandata.MeanDataDomain() -lane = _lane.LaneDomain() -person = _person.PersonDomain() -route = _route.RouteDomain() -vehicle = _vehicle.VehicleDomain() -vehicletype = _vehicletype.VehicleTypeDomain() -edge = _edge.EdgeDomain() -gui = _gui.GuiDomain() -junction = _junction.JunctionDomain() -poi = _poi.PoiDomain() -polygon = _polygon.PolygonDomain() -simulation = _simulation.SimulationDomain() -calibrator = _calibrator.CalibratorDomain() -busstop = _busstop.BusStopDomain() -parkingarea = _parkingarea.ParkingAreaDomain() -chargingstation = _chargingstation.ChargingStationDomain() -overheadwire = _overheadwire.OverheadWireDomain() -routeprobe = _routeprobe.RouteProbeDomain() -rerouter = _rerouter.RerouterDomain() - -_connections = {} -_traceFile = {} -_traceGetters = {} -# cannot use immutable type as global variable -_currentLabel = [""] -_connectHook = None - - -def _STEPS2TIME(step): - """Conversion from time steps in milliseconds to seconds as float""" - return step / 1000. - - -def setConnectHook(hookFunc): - global _connectHook - _connectHook = hookFunc - - -def _addTracing(method): - @wraps(method) - def tracingWrapper(*args, **kwargs): - _traceFile[_currentLabel[0]].write("traci.%s(%s)\n" % ( - method.__name__, - ', '.join(list(map(repr, args)) + ["%s=%s" % (n, repr(v)) for n, v in kwargs.items()]))) - return method(*args, **kwargs) - return tracingWrapper - - -def connect(port=8813, numRetries=10, host="localhost", proc=None, waitBetweenRetries=1): - """ - Establish a connection to a TraCI-Server and return the - connection object. The connection is not saved in the pool and not - accessible via traci.switch. It should be safe to use different - connections established by this method in different threads. - """ - for retry in range(1, numRetries + 2): - try: - conn = Connection(host, port, proc) - if _connectHook is not None: - _connectHook(conn) - return conn - except socket.error as e: - if proc is not None and proc.poll() is not None: - raise TraCIException("TraCI server already finished") - if retry > 1: - print("Could not connect to TraCI server at %s:%s" % (host, port), e) - if retry < numRetries + 1: - print(" Retrying in %s seconds" % waitBetweenRetries) - time.sleep(waitBetweenRetries) - raise FatalTraCIError("Could not connect in %s tries" % (numRetries + 1)) - - -def init(port=8813, numRetries=10, host="localhost", label="default", proc=None): - """ - Establish a connection to a TraCI-Server and store it under the given - label. This method is not thread-safe. It accesses the connection - pool concurrently. - """ - _connections[label] = connect(port, numRetries, host, proc) - switch(label) - return getVersion() - - -def start(cmd, port=None, numRetries=10, label="default", verbose=False, - traceFile=None, traceGetters=True, stdout=None): - """ - Start a sumo server using cmd, establish a connection to it and - store it under the given label. This method is not thread-safe. - """ - if label in _connections: - raise TraCIException("Connection '%s' is already active." % label) - if traceFile is not None: - _startTracing(traceFile, cmd, port, label, traceGetters) - while numRetries >= 0 and label not in _connections: - sumoPort = sumolib.miscutils.getFreeSocketPort() if port is None else port - cmd2 = cmd + ["--remote-port", str(sumoPort)] - if verbose: - print("Calling " + ' '.join(cmd2)) - sumoProcess = subprocess.Popen(cmd2, stdout=stdout) - try: - return init(sumoPort, numRetries, "localhost", label, sumoProcess) - except TraCIException: - if port is not None: - break - warnings.warn("Could not connect to TraCI server using port %s. Retrying with different port." % sumoPort) - numRetries -= 1 - raise FatalTraCIError("Could not connect.") - - -def _startTracing(traceFile, cmd, port, label, traceGetters): - _traceFile[label] = open(traceFile, 'w') - _traceFile[label].write("traci.start(%s, port=%s, label=%s)\n" % ( - repr(cmd), repr(port), repr(label))) - _traceGetters[label] = traceGetters - - -def isLibsumo(): - return False - - -def isLibtraci(): - return False - - -def hasGUI(): - try: - gui.getIDList() - return True - except TraCIException: - return False - - -def load(args): - """load([optionOrParam, ...]) - Let sumo load a simulation using the given command line like options - Example: - load(['-c', 'run.sumocfg']) - load(['-n', 'net.net.xml', '-r', 'routes.rou.xml']) - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - if _traceFile: - # cannot wrap because the method is import from __init__ - _traceFile[_currentLabel[0]].write("traci.load(%s)\n" % repr(args)) - return _connections[""].load(args) - - -def isLoaded(): - return "" in _connections - - -def simulationStep(step=0): - """ - Make a simulation step and simulate up to the given second in sim time. - If the given value is 0 or absent, exactly one step is performed. - Values smaller than or equal to the current sim time result in no action. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - if _traceFile: - # cannot wrap because the method is import from __init__ - args = "" if step == 0 else str(step) - _traceFile[_currentLabel[0]].write("traci.simulationStep(%s)\n" % args) - return _connections[""].simulationStep(step) - - -def addStepListener(listener): - """addStepListener(traci.StepListener) -> int - - Append the step listener (its step function is called at the end of every call to traci.simulationStep()) - to the current connection. - Returns the ID assigned to the listener if it was added successfully, None otherwise. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].addStepListener(listener) - - -def removeStepListener(listenerID): - """removeStepListener(traci.StepListener) -> bool - - Remove the step listener from the current connection's step listener container. - Returns True if the listener was removed successfully, False if it wasn't registered. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].removeStepListener(listenerID) - - -def getVersion(): - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].getVersion() - - -def setOrder(order): - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].setOrder(order) - -def getV2xMessage(): - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].getV2xMessage() - -def setV2xMessage(message): - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].setV2xMessage(message) - -def close(wait=True): - if "" not in _connections: - raise FatalTraCIError("Not connected.") - _connections[""].close(wait) - _connections[""].simulation._setConnection(None) - del _connections[_currentLabel[0]] - del _connections[""] - if _traceFile: - # cannot wrap because the method is import from __init__ - _traceFile[_currentLabel[0]].write("traci.close()\n") - _traceFile[_currentLabel[0]].close() - - -def switch(label): - _connections[""] = getConnection(label) - _currentLabel[0] = label - for domain in _defaultDomains: - domain._setConnection(_connections[""]) - if _traceFile: - domain._setTraceFile(_traceFile[label], _traceGetters[label]) - - -def getLabel(): - return _currentLabel[0] - - -def getConnection(label="default"): - if label not in _connections: - raise TraCIException("Connection '%s' is not known." % label) - return _connections[label] - - -def setLegacyGetLeader(enabled): - _vehicle._legacyGetLeader = enabled From 227a6282510ff98daa4e5e4b1098769b3309e839 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 12 Apr 2023 19:37:23 -0400 Subject: [PATCH 076/124] Added ns3 patch and renamed folder --- co-simulation/{traci_update => patch}/connection.py | 0 co-simulation/{traci_update => patch}/constants.py | 0 co-simulation/{traci_update => patch}/main.py | 0 co-simulation/patch/run.sh | 12 ++++++++++++ 4 files changed, 12 insertions(+) rename co-simulation/{traci_update => patch}/connection.py (100%) rename co-simulation/{traci_update => patch}/constants.py (100%) rename co-simulation/{traci_update => patch}/main.py (100%) create mode 100644 co-simulation/patch/run.sh diff --git a/co-simulation/traci_update/connection.py b/co-simulation/patch/connection.py similarity index 100% rename from co-simulation/traci_update/connection.py rename to co-simulation/patch/connection.py diff --git a/co-simulation/traci_update/constants.py b/co-simulation/patch/constants.py similarity index 100% rename from co-simulation/traci_update/constants.py rename to co-simulation/patch/constants.py diff --git a/co-simulation/traci_update/main.py b/co-simulation/patch/main.py similarity index 100% rename from co-simulation/traci_update/main.py rename to co-simulation/patch/main.py diff --git a/co-simulation/patch/run.sh b/co-simulation/patch/run.sh new file mode 100644 index 00000000..ff05c495 --- /dev/null +++ b/co-simulation/patch/run.sh @@ -0,0 +1,12 @@ +#!/bin/bash + +port=$1 +cmdport=$2 + +if [[ -z $cmdport ]]; then + cmdport=0 +fi + +cd ns3 +LD_LIBRARY_PATH=/opt/carma-simulation/bin/fed/ns3/ns-allinone-3.28/ns-3.28/build /opt/carma-simulation/bin/fed/ns3/ns-allinone-3.28/ns-3.28/build/scratch/mosaic_starter --port=$port --cmdPort=$cmdport --configFile=scratch/ns3_federate_config.xml + From 2c3bbf999b4fdcc40aec39e20afa45d3ad1c31ca Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 12 Apr 2023 19:37:57 -0400 Subject: [PATCH 077/124] Enabled ns3 parameter for testing purpose --- .../resources/scenarios/Tiergarten/scenario_config.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json index e533ed8b..bcd90c80 100644 --- a/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json @@ -28,7 +28,7 @@ "cell": false, "environment": true, "sns": true, - "ns3": false, + "ns3": true, "omnetpp": false, "output": true, "sumo": true From 7e46f5d03fa652a7e804b08c121119d9caeda5b8 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 12 Apr 2023 19:38:50 -0400 Subject: [PATCH 078/124] Completed NS3 installation and upgraded SUMO to 1.15.0 --- docker/env.sh | 5 +++-- docker/install.sh | 24 ++++++++++++------------ 2 files changed, 15 insertions(+), 14 deletions(-) diff --git a/docker/env.sh b/docker/env.sh index c00c8b66..2876e720 100755 --- a/docker/env.sh +++ b/docker/env.sh @@ -1,11 +1,12 @@ #!/bin/bash # Set environment variables here. -export NS3_HOME="/opt/ns-3/" +export NS3_HOME="/opt/carma-simulation/bin/fed/ns3" export JAVA_HOME="/usr/lib/jvm/java-11-jdk-amd64" -export SUMO_HOME="/opt/sumo/sumo-1_12_0" +export SUMO_HOME="/opt/sumo/sumo-1_15_0" export CARLA_HOME="/opt/carla" export CARMA_SIMULATION_HOME="/opt/carma-simulation" export PATH="/usr/local/share/sumo/bin:/usr/local/share/sumo/tools:$PATH" export PATH="/opt/maven/bin:$PATH" export PATH="/opt/carma-simulation:$PATH" + diff --git a/docker/install.sh b/docker/install.sh index 04e4defb..e953e71d 100755 --- a/docker/install.sh +++ b/docker/install.sh @@ -58,23 +58,16 @@ cd /home/carma/src #make check #sudo make install -# Install NS-3 -cd "/home/carma/src/co-simulation tool/bundle/src/assembly/resources/fed/ns3/" -chmod +x ns3_installer.sh -set -x -./ns3_installer.sh -q -#TODO: Add expore NS3_HOME=path_to_run.sh to /bin/fed/ns3/run.sh - # Install SUMO-1.12.0 cd /home/carma/src/ wget "https://github.com/eclipse/sumo/archive/refs/tags/v1_12_0.tar.gz" sudo mkdir -p /opt/sumo sudo chown -R carma:carma /opt/sumo -tar xvf v1_12_0.tar.gz -C /opt/sumo -sudo cp co-simulation/traci_update/constants.py /opt/sumo/sumo-1_12_0/tools/traci -sudo cp co-simulation/traci_update/connection.py /opt/sumo/sumo-1_12_0/tools/traci -sudo cp co-simulation/traci_update/main.py /opt/sumo/sumo-1_12_0/tools/traci -cd /opt/sumo/sumo-1_12_0 +tar xvf v1_15_0.tar.gz -C /opt/sumo +sudo cp co-simulation/patch/constants.py /opt/sumo/sumo-1_15_0/tools/traci +sudo cp co-simulation/patch/connection.py /opt/sumo/sumo-1_15_0/tools/traci +sudo cp co-simulation/patch/main.py /opt/sumo/sumo-1_15_0/tools/traci +cd /opt/sumo/sumo-1_15_0 mkdir -p build/cmake-build && cd build/cmake-build cmake ../.. make -j$(nproc) @@ -118,4 +111,11 @@ cp bundle-22.1-SNAPSHOT.jar /opt/carma-simulation cd /home/carma/src/co-simulation unzip sample_scenario.zip -d /opt/carma-simulation/scenarios +# Install NS-3 +cd "/opt/carma-simulation/bin/fed/ns3/" +chmod +x ns3_installer.sh +set -x +./ns3_installer.sh -q +sudo cp /home/carma/src/co-simulation/patch/run.sh /opt/carma-simulation/bin/fed/ns3 + echo "Build complete!!!" From 280dba5d8dfb693962e3b9c2c41c5de3a3bb7d12 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 12 Apr 2023 19:39:10 -0400 Subject: [PATCH 079/124] Update Dockerfile --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index fcc8f8af..1ffcc7db 100644 --- a/Dockerfile +++ b/Dockerfile @@ -54,4 +54,4 @@ COPY --chown=carma:carma docker/env.sh /home/carma/.base-image/ RUN docker/install.sh ENTRYPOINT [ "/home/carma/src/docker/entrypoint.sh" ] -CMD [ "mosaic.sh", "-s", "HelloWorld" ] +CMD [ "mosaic.sh", "-s", "Tiergarten" ] From cf8d89f595b783ec5ac31ec0c51c6c76ff891e06 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 12 Apr 2023 19:39:23 -0400 Subject: [PATCH 080/124] Update ns3_installer.sh --- .../bundle/src/assembly/resources/fed/ns3/ns3_installer.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh b/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh index 57bd9cb5..bad64962 100644 --- a/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh +++ b/co-simulation/bundle/src/assembly/resources/fed/ns3/ns3_installer.sh @@ -362,8 +362,8 @@ build_ns3() # ns-3 prior to 3.28.1 does not compile without warnings using g++ 10.2.0 CXXFLAGS="-Wno-error" python3.6 ./build.py --disable-netanim - - cp -ar ns-3.28/build/ns /usr/include + sudo cp -ar ns-3.28/build/ns3 /usr/include/ + log "Build ns3-federate" cd ${current_dir}/federate mv src/ClientServerChannel.h . From 4c0ecb970e03a9587dfa9c11624b0a8853f8da99 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 12 Apr 2023 21:16:01 -0400 Subject: [PATCH 081/124] Removed V2X function from traci and CARLA --- .../carla_integration/sumo_simulation.py | 13 - co-simulation/patch/connection.py | 435 ----- co-simulation/patch/constants.py | 1399 ----------------- co-simulation/patch/main.py | 326 ---- docker/install.sh | 7 +- 5 files changed, 2 insertions(+), 2178 deletions(-) delete mode 100644 co-simulation/patch/connection.py delete mode 100644 co-simulation/patch/constants.py delete mode 100644 co-simulation/patch/main.py diff --git a/co-simulation/bridge/carla_integration/sumo_simulation.py b/co-simulation/bridge/carla_integration/sumo_simulation.py index d4f71661..d5d892d0 100644 --- a/co-simulation/bridge/carla_integration/sumo_simulation.py +++ b/co-simulation/bridge/carla_integration/sumo_simulation.py @@ -501,19 +501,6 @@ def tick(self): self.spawned_actors = set(traci.simulation.getDepartedIDList()) self.destroyed_actors = set(traci.simulation.getArrivedIDList()) - # Show v2x messages received by CARLA vehicles - v2xMessageReceived = traci.getV2xMessage() - if v2xMessageReceived is not None: - for message in v2xMessageReceived: - print(message) - - # Send V2x message to CARLA ambassador - if self.sendV2xInterval == 10: - traci.setV2xMessage("carla_0; A V2X messages from CARLA simulator.") - self.sendV2xInterval = 0 - - self.sendV2xInterval += 1 - @staticmethod def close(): """ diff --git a/co-simulation/patch/connection.py b/co-simulation/patch/connection.py deleted file mode 100644 index a8dcec77..00000000 --- a/co-simulation/patch/connection.py +++ /dev/null @@ -1,435 +0,0 @@ -# -*- coding: utf-8 -*- -# Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo -# Copyright (C) 2008-2022 German Aerospace Center (DLR) and others. -# This program and the accompanying materials are made available under the -# terms of the Eclipse Public License 2.0 which is available at -# https://www.eclipse.org/legal/epl-2.0/ -# This Source Code may also be made available under the following Secondary -# Licenses when the conditions for such availability set forth in the Eclipse -# Public License 2.0 are satisfied: GNU General Public License, version 2 -# or later which is available at -# https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html -# SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later - -# @file connection.py -# @author Michael Behrisch -# @author Lena Kalleske -# @author Mario Krumnow -# @author Daniel Krajzewicz -# @author Jakob Erdmann -# @date 2008-10-09 - -from __future__ import print_function -from __future__ import absolute_import -import socket -import struct -import sys -import warnings -import abc - -from . import constants as tc -from .exceptions import TraCIException, FatalTraCIError -from .domain import _defaultDomains -from .storage import Storage - -_RESULTS = {0x00: "OK", 0x01: "Not implemented", 0xFF: "Error"} - - -class Connection: - - """Contains the socket, the composed message string - together with a list of TraCI commands which are inside. - """ - - def __init__(self, host, port, process): - if sys.platform.startswith('java'): - # working around jython 2.7.0 bug #2273 - self._socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM, socket.IPPROTO_TCP) - else: - self._socket = socket.socket() - self._socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) - self._socket.connect((host, port)) - self._process = process - self._string = bytes() - self._queue = [] - self._subscriptionMapping = {} - self._stepListeners = {} - self._nextStepListenerID = 0 - self._traceFile = None - for domain in _defaultDomains: - domain._register(self, self._subscriptionMapping) - - def _recvExact(self): - try: - result = bytes() - while len(result) < 4: - t = self._socket.recv(4 - len(result)) - if not t: - return None - result += t - length = struct.unpack("!i", result)[0] - 4 - result = bytes() - while len(result) < length: - t = self._socket.recv(length - len(result)) - if not t: - return None - result += t - return Storage(result) - except socket.error: - return None - - def _sendExact(self): - if self._socket is None: - raise FatalTraCIError("Connection already closed.") - length = struct.pack("!i", len(self._string) + 4) - # print("python_sendExact: '%s'" % ' '.join(map(lambda x : "%X" % ord(x), self._string))) - self._socket.send(length + self._string) - result = self._recvExact() - if not result: - self._socket.close() - del self._socket - raise FatalTraCIError("connection closed by SUMO") - for command in self._queue: - prefix = result.read("!BBB") - err = result.readString() - if prefix[2] or err: - self._string = bytes() - self._queue = [] - raise TraCIException(err, prefix[1], _RESULTS[prefix[2]]) - elif prefix[1] != command: - raise FatalTraCIError("Received answer %s for command %s." % (prefix[1], command)) - elif prefix[1] == tc.CMD_STOP: - length = result.read("!B")[0] - 1 - result.read("!%sx" % length) - self._string = bytes() - self._queue = [] - return result - - def _pack(self, format, *values): - packed = bytes() - for f, v in zip(format, values): - if f == "i": - packed += struct.pack("!Bi", tc.TYPE_INTEGER, int(v)) - elif f == "I": # raw int for setOrder - packed += struct.pack("!i", int(v)) - elif f == "d": - packed += struct.pack("!Bd", tc.TYPE_DOUBLE, float(v)) - elif f == "D": # raw double for some base commands like simstep - packed += struct.pack("!d", float(v)) - elif f == "b": - packed += struct.pack("!Bb", tc.TYPE_BYTE, int(v)) - elif f == "B": - packed += struct.pack("!BB", tc.TYPE_UBYTE, int(v)) - elif f == "u": # raw unsigned byte needed for distance command and subscribe - packed += struct.pack("!B", int(v)) - elif f == "s": - v = str(v) - packed += struct.pack("!Bi", tc.TYPE_STRING, len(v)) + v.encode("latin1") - elif f == "p": # polygon - if len(v) <= 255: - packed += struct.pack("!BB", tc.TYPE_POLYGON, len(v)) - else: - packed += struct.pack("!BBi", tc.TYPE_POLYGON, 0, len(v)) - for p in v: - packed += struct.pack("!dd", *p) - elif f == "t": # tuple aka compound - packed += struct.pack("!Bi", tc.TYPE_COMPOUND, v) - elif f == "c": # color - packed += struct.pack("!BBBBB", tc.TYPE_COLOR, int(v[0]), int(v[1]), int(v[2]), - int(v[3]) if len(v) > 3 else 255) - elif f == "l": # string list - packed += struct.pack("!Bi", tc.TYPE_STRINGLIST, len(v)) - for s in v: - packed += struct.pack("!i", len(s)) + s.encode("latin1") - elif f == "f": # float list - packed += struct.pack("!Bi", tc.TYPE_DOUBLELIST, len(v)) - for x in v: - packed += struct.pack("!d", x) - elif f == "o": - packed += struct.pack("!Bdd", tc.POSITION_2D, *v) - elif f == "O": - packed += struct.pack("!Bddd", tc.POSITION_3D, *v) - elif f == "g": - packed += struct.pack("!Bdd", tc.POSITION_LON_LAT, *v) - elif f == "G": - packed += struct.pack("!Bddd", tc.POSITION_LON_LAT_ALT, *v) - elif f == "r": - packed += struct.pack("!Bi", tc.POSITION_ROADMAP, len(v[0])) + v[0].encode("latin1") - packed += struct.pack("!dB", v[1], v[2]) - return packed - - def _sendCmd(self, cmdID, varID, objID, format="", *values): - self._queue.append(cmdID) - packed = self._pack(format, *values) - length = len(packed) + 1 + 1 # length and command - if varID is not None: - if isinstance(varID, tuple): # begin and end of a subscription - length += 8 + 8 + 4 + len(objID) - else: - length += 1 + 4 + len(objID) - if length <= 255: - self._string += struct.pack("!BB", length, cmdID) - else: - self._string += struct.pack("!BiB", 0, length + 4, cmdID) - if varID is not None: - if isinstance(varID, tuple): - self._string += struct.pack("!dd", *varID) - else: - self._string += struct.pack("!B", varID) - self._string += struct.pack("!i", len(objID)) + objID.encode("latin1") - self._string += packed - return self._sendExact() - - def _readSubscription(self, result): - # to enable this you also need to set _DEBUG to True in storage.py - # result.printDebug() - result.readLength() - response = result.read("!B")[0] - isVariableSubscription = ((response >= tc.RESPONSE_SUBSCRIBE_INDUCTIONLOOP_VARIABLE and - response <= tc.RESPONSE_SUBSCRIBE_BUSSTOP_VARIABLE) or - (response >= tc.RESPONSE_SUBSCRIBE_PARKINGAREA_VARIABLE and - response <= tc.RESPONSE_SUBSCRIBE_OVERHEADWIRE_VARIABLE)) - objectID = result.readString() - if not isVariableSubscription: - domain = result.read("!B")[0] - numVars = result.read("!B")[0] - if isVariableSubscription: - while numVars > 0: - varID, status = result.read("!BB") - if status: - print("Error!", result.readTypedString()) - elif response in self._subscriptionMapping: - self._subscriptionMapping[response].add(objectID, varID, result) - else: - raise FatalTraCIError( - "Cannot handle subscription response %02x for %s." % (response, objectID)) - numVars -= 1 - else: - objectNo = result.read("!i")[0] - for _ in range(objectNo): - oid = result.readString() - if numVars == 0: - self._subscriptionMapping[response].addContext( - objectID, self._subscriptionMapping[domain], oid) - for __ in range(numVars): - varID, status = result.read("!BB") - if status: - print("Error!", result.readTypedString()) - elif response in self._subscriptionMapping: - self._subscriptionMapping[response].addContext( - objectID, self._subscriptionMapping[domain], oid, varID, result) - else: - raise FatalTraCIError( - "Cannot handle subscription response %02x for %s." % (response, objectID)) - return objectID, response - - def _subscribe(self, cmdID, begin, end, objID, varIDs, parameters): - format = "u" - args = [len(varIDs)] - for v in varIDs: - format += "u" - args.append(v) - if parameters is not None and v in parameters: - if isinstance(parameters[v], tuple): - format += parameters[v][0] - for a in parameters[v][1:]: - args.append(a) - elif isinstance(parameters[v], int): - format += "i" - args.append(parameters[v]) - elif isinstance(parameters[v], float): - format += "d" - args.append(parameters[v]) - else: - format += "s" - args.append(parameters[v]) - result = self._sendCmd(cmdID, (begin, end), objID, format, *args) - if varIDs: - objectID, response = self._readSubscription(result) - if response - cmdID != 16 or objectID != objID: - raise FatalTraCIError("Received answer %02x,%s for subscription command %02x,%s." % ( - response, objectID, cmdID, objID)) - - def _getSubscriptionResults(self, cmdID): - return self._subscriptionMapping[cmdID] - - def _subscribeContext(self, cmdID, begin, end, objID, domain, dist, varIDs, parameters=None): - result = self._sendCmd(cmdID, (begin, end), objID, "uDu" + (len(varIDs) * "u"), - domain, dist, len(varIDs), *varIDs) - if varIDs: - objectID, response = self._readSubscription(result) - if response - cmdID != 16 or objectID != objID: - raise FatalTraCIError("Received answer %02x,%s for context subscription command %02x,%s." % ( - response, objectID, cmdID, objID)) - - def _addSubscriptionFilter(self, filterType, params=None): - if filterType in (tc.FILTER_TYPE_NONE, tc.FILTER_TYPE_NOOPPOSITE, - tc.FILTER_TYPE_LEAD_FOLLOW): - # filter without parameter - assert params is None - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, "u", filterType) - elif filterType in (tc.FILTER_TYPE_DOWNSTREAM_DIST, tc.FILTER_TYPE_UPSTREAM_DIST, - tc.FILTER_TYPE_TURN, tc.FILTER_TYPE_FIELD_OF_VISION, - tc.FILTER_TYPE_LATERAL_DIST): - # filter with float parameter - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, "ud", filterType, params) - elif filterType in (tc.FILTER_TYPE_VCLASS, tc.FILTER_TYPE_VTYPE): - # filter with list(string) parameter - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, "ul", filterType, params) - elif filterType == tc.FILTER_TYPE_LANES: - # filter with list(byte) parameter - # check uniqueness of given lanes in list - lanes = set() - for i in params: - lane = int(i) - if lane < 0: - lane += 256 - lanes.add(lane) - if len(lanes) < len(list(params)): - warnings.warn("Ignoring duplicate lane specification for subscription filter.") - self._sendCmd(tc.CMD_ADD_SUBSCRIPTION_FILTER, None, None, - (len(lanes) + 2) * "u", filterType, len(lanes), *lanes) - - def hasGUI(self): - try: - self.gui.getIDList() - return True - except TraCIException: - return False - - def load(self, args): - """ - Load a simulation from the given arguments. - """ - if self._traceFile: - self._traceFile.write("traci.load(%s)\n" % repr(args)) - self._sendCmd(tc.CMD_LOAD, None, None, "l", args) - - def simulationStep(self, step=0.): - """ - Make a simulation step and simulate up to the given second in sim time. - If the given value is 0 or absent, exactly one step is performed. - Values smaller than or equal to the current sim time result in no action. - """ - if self._traceFile: - args = "" if step == 0 else str(step) - self._traceFile.write("traci.simulationStep(%s)\n" % args) - if type(step) is int and step >= 1000: - warnings.warn("API change now handles step as floating point seconds", stacklevel=2) - result = self._sendCmd(tc.CMD_SIMSTEP, None, None, "D", step) - for subscriptionResults in self._subscriptionMapping.values(): - subscriptionResults.reset() - numSubs = result.readInt() - responses = [] - while numSubs > 0: - responses.append(self._readSubscription(result)) - numSubs -= 1 - self._manageStepListeners(step) - return responses - - def _manageStepListeners(self, step): - listenersToRemove = [] - for (listenerID, listener) in self._stepListeners.items(): - keep = listener.step(step) - if not keep: - listenersToRemove.append(listenerID) - for listenerID in listenersToRemove: - self.removeStepListener(listenerID) - - def addStepListener(self, listener): - """addStepListener(traci.StepListener) -> int - - Append the step listener (its step function is called at the end of every call to traci.simulationStep()) - Returns the ID assigned to the listener if it was added successfully, None otherwise. - """ - if issubclass(type(listener), StepListener): - listener.setID(self._nextStepListenerID) - self._stepListeners[self._nextStepListenerID] = listener - self._nextStepListenerID += 1 - # print ("traci: Added stepListener %s\nlisteners: %s"%(_nextStepListenerID - 1, _stepListeners)) - return self._nextStepListenerID - 1 - warnings.warn( - "Proposed listener's type must inherit from traci.StepListener. Not adding object of type '%s'" % - type(listener)) - return None - - def removeStepListener(self, listenerID): - """removeStepListener(traci.StepListener) -> bool - - Remove the step listener from traci's step listener container. - Returns True if the listener was removed successfully, False if it wasn't registered. - """ - # print ("traci: removeStepListener %s\nlisteners: %s"%(listenerID, _stepListeners)) - if listenerID in self._stepListeners: - self._stepListeners[listenerID].cleanUp() - del self._stepListeners[listenerID] - # print ("traci: Removed stepListener %s"%(listenerID)) - return True - warnings.warn("Cannot remove unknown listener %s.\nlisteners:%s" % (listenerID, self._stepListeners)) - return False - - def getVersion(self): - command = tc.CMD_GETVERSION - result = self._sendCmd(command, None, None) - result.readLength() - response = result.read("!B")[0] - if response != command: - raise FatalTraCIError("Received answer %s for command %s." % (response, command)) - return result.readInt(), result.readString() - - def setOrder(self, order): - self._sendCmd(tc.CMD_SETORDER, None, None, "I", order) - - def close(self, wait=True): - if self._traceFile: - self._traceFile.write("traci.close()\n") - self._traceFile.close() - for domain in _defaultDomains: - domain._setTraceFile(None, False) - for listenerID in list(self._stepListeners.keys()): - self.removeStepListener(listenerID) - if self._socket is not None: - self._sendCmd(tc.CMD_CLOSE, None, None) - self._socket.close() - self._socket = None - if wait and self._process is not None: - self._process.wait() - - def getV2xMessage(self): - command = tc.CMD_GET_V2X - result = self._sendCmd(command,None,None) - result.readLength() - response = result.read("!B")[0] - - if response != command: - raise FatalTraCIError("Received answer %s for command %s." % (response, command)) - return result.readStringList() - - def setV2xMessage(self, message): - self._sendCmd(tc.CMD_SET_V2X, None, None, "s", message) - -class StepListener(object): - __metaclass__ = abc.ABCMeta - - @abc.abstractmethod - def step(self, t=0): - """step(int) -> bool - - After adding a StepListener 'listener' with traci.addStepListener(listener), - TraCI will call listener.step(t) after each call to traci.simulationStep(t) - The return value indicates whether the stepListener wants to stay active. - """ - return True - - def cleanUp(self): - """cleanUp() -> None - - This method is called at removal of the stepListener, allowing to schedule some final actions - """ - pass - - def setID(self, ID): - self._ID = ID - - def getID(self): - return self._ID diff --git a/co-simulation/patch/constants.py b/co-simulation/patch/constants.py deleted file mode 100644 index 3a2506df..00000000 --- a/co-simulation/patch/constants.py +++ /dev/null @@ -1,1399 +0,0 @@ -# Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo -# Copyright (C) 2009-2022 German Aerospace Center (DLR) and others. -# This program and the accompanying materials are made available under the -# terms of the Eclipse Public License 2.0 which is available at -# https://www.eclipse.org/legal/epl-2.0/ -# This Source Code may also be made available under the following Secondary -# Licenses when the conditions for such availability set forth in the Eclipse -# Public License 2.0 are satisfied: GNU General Public License, version 2 -# or later which is available at -# https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html -# SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later - -# @file constants.py -# @author generated by "rebuildConstants.py" -# @date 2021-11-09 23:34:42.684719 - -""" -This script contains TraCI constant definitions from /src/libsumo/TraCIConstants.h. -""" - - -# **************************************** -# VERSION -# **************************************** -TRACI_VERSION = 20 - -# **************************************** -# COMMANDS -# **************************************** -# command: get version -CMD_GETVERSION = 0x00 - -# command: load -CMD_LOAD = 0x01 - -# command: simulation step -CMD_SIMSTEP = 0x02 - -# command: set connection priority (execution order) -CMD_SETORDER = 0x03 - -# command: stop vehicle -CMD_STOP = 0x12 - -# command: reroute to parking area -CMD_REROUTE_TO_PARKING = 0xc2 - -# command: Resume from parking -CMD_RESUME = 0x19 - -# command: set lane -CMD_CHANGELANE = 0x13 - -# command: slow down -CMD_SLOWDOWN = 0x14 - -# command: set sublane (vehicle) -CMD_CHANGESUBLANE = 0x15 - -# command: open gap -CMD_OPENGAP = 0x16 - -# command: replace vehicle stop and updated route -CMD_REPLACE_STOP = 0x17 - -# command: retrieve information about the current taxi fleet and their status -VAR_TAXI_FLEET = 0x20 - -# command: send dispatch request for the given taxi -CMD_TAXI_DISPATCH = 0x21 - -# command: change target -CMD_CHANGETARGET = 0x31 - -# command: close sumo -CMD_CLOSE = 0x7F - -# command: add subscription filter -CMD_ADD_SUBSCRIPTION_FILTER = 0x7e - -# command: get V2X message -CMD_GET_V2X = 0x0d - -# command: set V2X message -CMD_SET_V2X = 0x2f - -# command: subscribe induction loop (e1) context -CMD_SUBSCRIBE_INDUCTIONLOOP_CONTEXT = 0x80 -# response: subscribe induction loop (e1) context -RESPONSE_SUBSCRIBE_INDUCTIONLOOP_CONTEXT = 0x90 -# command: get induction loop (e1) variable -CMD_GET_INDUCTIONLOOP_VARIABLE = 0xa0 -# response: get induction loop (e1) variable -RESPONSE_GET_INDUCTIONLOOP_VARIABLE = 0xb0 -# command: set induction loop (e1) variable, not used yet -CMD_SET_INDUCTIONLOOP_VARIABLE = 0xc0 -# command: subscribe induction loop (e1) variable -CMD_SUBSCRIBE_INDUCTIONLOOP_VARIABLE = 0xd0 -# response: subscribe induction loop (e1) variable -RESPONSE_SUBSCRIBE_INDUCTIONLOOP_VARIABLE = 0xe0 - -# command: subscribe multi-entry/multi-exit detector (e3) context -CMD_SUBSCRIBE_MULTIENTRYEXIT_CONTEXT = 0x81 -# response: subscribe multi-entry/multi-exit detector (e3) context -RESPONSE_SUBSCRIBE_MULTIENTRYEXIT_CONTEXT = 0x91 -# command: get multi-entry/multi-exit detector (e3) variable -CMD_GET_MULTIENTRYEXIT_VARIABLE = 0xa1 -# response: get multi-entry/multi-exit detector (e3) variable -RESPONSE_GET_MULTIENTRYEXIT_VARIABLE = 0xb1 -# command: set multi-entry/multi-exit detector (e3) variable, not used yet -CMD_SET_MULTIENTRYEXIT_VARIABLE = 0xc1 -# command: subscribe multi-entry/multi-exit detector (e3) variable -CMD_SUBSCRIBE_MULTIENTRYEXIT_VARIABLE = 0xd1 -# response: subscribe multi-entry/multi-exit detector (e3) variable -RESPONSE_SUBSCRIBE_MULTIENTRYEXIT_VARIABLE = 0xe1 - -# command: subscribe traffic lights context -CMD_SUBSCRIBE_TL_CONTEXT = 0x82 -# response: subscribe traffic lights context -RESPONSE_SUBSCRIBE_TL_CONTEXT = 0x92 -# command: get traffic lights variable -CMD_GET_TL_VARIABLE = 0xa2 -# response: get traffic lights variable -RESPONSE_GET_TL_VARIABLE = 0xb2 -# command: set traffic lights variable -CMD_SET_TL_VARIABLE = 0xc2 -# command: subscribe traffic lights variable -CMD_SUBSCRIBE_TL_VARIABLE = 0xd2 -# response: subscribe traffic lights variable -RESPONSE_SUBSCRIBE_TL_VARIABLE = 0xe2 - -# command: subscribe lane context -CMD_SUBSCRIBE_LANE_CONTEXT = 0x83 -# response: subscribe lane context -RESPONSE_SUBSCRIBE_LANE_CONTEXT = 0x93 -# command: get lane variable -CMD_GET_LANE_VARIABLE = 0xa3 -# response: get lane variable -RESPONSE_GET_LANE_VARIABLE = 0xb3 -# command: set lane variable -CMD_SET_LANE_VARIABLE = 0xc3 -# command: subscribe lane variable -CMD_SUBSCRIBE_LANE_VARIABLE = 0xd3 -# response: subscribe lane variable -RESPONSE_SUBSCRIBE_LANE_VARIABLE = 0xe3 - -# command: subscribe vehicle context -CMD_SUBSCRIBE_VEHICLE_CONTEXT = 0x84 -# response: subscribe vehicle context -RESPONSE_SUBSCRIBE_VEHICLE_CONTEXT = 0x94 -# command: get vehicle variable -CMD_GET_VEHICLE_VARIABLE = 0xa4 -# response: get vehicle variable -RESPONSE_GET_VEHICLE_VARIABLE = 0xb4 -# command: set vehicle variable -CMD_SET_VEHICLE_VARIABLE = 0xc4 -# command: subscribe vehicle variable -CMD_SUBSCRIBE_VEHICLE_VARIABLE = 0xd4 -# response: subscribe vehicle variable -RESPONSE_SUBSCRIBE_VEHICLE_VARIABLE = 0xe4 - -# command: subscribe vehicle type context -CMD_SUBSCRIBE_VEHICLETYPE_CONTEXT = 0x85 -# response: subscribe vehicle type context -RESPONSE_SUBSCRIBE_VEHICLETYPE_CONTEXT = 0x95 -# command: get vehicle type variable -CMD_GET_VEHICLETYPE_VARIABLE = 0xa5 -# response: get vehicle type variable -RESPONSE_GET_VEHICLETYPE_VARIABLE = 0xb5 -# command: set vehicle type variable -CMD_SET_VEHICLETYPE_VARIABLE = 0xc5 -# command: subscribe vehicle type variable -CMD_SUBSCRIBE_VEHICLETYPE_VARIABLE = 0xd5 -# response: subscribe vehicle type variable -RESPONSE_SUBSCRIBE_VEHICLETYPE_VARIABLE = 0xe5 - -# command: subscribe route context -CMD_SUBSCRIBE_ROUTE_CONTEXT = 0x86 -# response: subscribe route context -RESPONSE_SUBSCRIBE_ROUTE_CONTEXT = 0x96 -# command: get route variable -CMD_GET_ROUTE_VARIABLE = 0xa6 -# response: get route variable -RESPONSE_GET_ROUTE_VARIABLE = 0xb6 -# command: set route variable -CMD_SET_ROUTE_VARIABLE = 0xc6 -# command: subscribe route variable -CMD_SUBSCRIBE_ROUTE_VARIABLE = 0xd6 -# response: subscribe route variable -RESPONSE_SUBSCRIBE_ROUTE_VARIABLE = 0xe6 - -# command: subscribe poi context -CMD_SUBSCRIBE_POI_CONTEXT = 0x87 -# response: subscribe poi context -RESPONSE_SUBSCRIBE_POI_CONTEXT = 0x97 -# command: get poi variable -CMD_GET_POI_VARIABLE = 0xa7 -# response: get poi variable -RESPONSE_GET_POI_VARIABLE = 0xb7 -# command: set poi variable -CMD_SET_POI_VARIABLE = 0xc7 -# command: subscribe poi variable -CMD_SUBSCRIBE_POI_VARIABLE = 0xd7 -# response: subscribe poi variable -RESPONSE_SUBSCRIBE_POI_VARIABLE = 0xe7 - -# command: subscribe polygon context -CMD_SUBSCRIBE_POLYGON_CONTEXT = 0x88 -# response: subscribe polygon context -RESPONSE_SUBSCRIBE_POLYGON_CONTEXT = 0x98 -# command: get polygon variable -CMD_GET_POLYGON_VARIABLE = 0xa8 -# response: get polygon variable -RESPONSE_GET_POLYGON_VARIABLE = 0xb8 -# command: set polygon variable -CMD_SET_POLYGON_VARIABLE = 0xc8 -# command: subscribe polygon variable -CMD_SUBSCRIBE_POLYGON_VARIABLE = 0xd8 -# response: subscribe polygon variable -RESPONSE_SUBSCRIBE_POLYGON_VARIABLE = 0xe8 - -# command: subscribe junction context -CMD_SUBSCRIBE_JUNCTION_CONTEXT = 0x89 -# response: subscribe junction context -RESPONSE_SUBSCRIBE_JUNCTION_CONTEXT = 0x99 -# command: get junction variable -CMD_GET_JUNCTION_VARIABLE = 0xa9 -# response: get junction variable -RESPONSE_GET_JUNCTION_VARIABLE = 0xb9 -# command: set junction variable -CMD_SET_JUNCTION_VARIABLE = 0xc9 -# command: subscribe junction variable -CMD_SUBSCRIBE_JUNCTION_VARIABLE = 0xd9 -# response: subscribe junction variable -RESPONSE_SUBSCRIBE_JUNCTION_VARIABLE = 0xe9 - -# command: subscribe edge context -CMD_SUBSCRIBE_EDGE_CONTEXT = 0x8a -# response: subscribe edge context -RESPONSE_SUBSCRIBE_EDGE_CONTEXT = 0x9a -# command: get edge variable -CMD_GET_EDGE_VARIABLE = 0xaa -# response: get edge variable -RESPONSE_GET_EDGE_VARIABLE = 0xba -# command: set edge variable -CMD_SET_EDGE_VARIABLE = 0xca -# command: subscribe edge variable -CMD_SUBSCRIBE_EDGE_VARIABLE = 0xda -# response: subscribe edge variable -RESPONSE_SUBSCRIBE_EDGE_VARIABLE = 0xea - -# command: subscribe simulation context -CMD_SUBSCRIBE_SIM_CONTEXT = 0x8b -# response: subscribe simulation context -RESPONSE_SUBSCRIBE_SIM_CONTEXT = 0x9b -# command: get simulation variable -CMD_GET_SIM_VARIABLE = 0xab -# response: get simulation variable -RESPONSE_GET_SIM_VARIABLE = 0xbb -# command: set simulation variable -CMD_SET_SIM_VARIABLE = 0xcb -# command: subscribe simulation variable -CMD_SUBSCRIBE_SIM_VARIABLE = 0xdb -# response: subscribe simulation variable -RESPONSE_SUBSCRIBE_SIM_VARIABLE = 0xeb - -# command: subscribe GUI context -CMD_SUBSCRIBE_GUI_CONTEXT = 0x8c -# response: subscribe GUI context -RESPONSE_SUBSCRIBE_GUI_CONTEXT = 0x9c -# command: get GUI variable -CMD_GET_GUI_VARIABLE = 0xac -# response: get GUI variable -RESPONSE_GET_GUI_VARIABLE = 0xbc -# command: set GUI variable -CMD_SET_GUI_VARIABLE = 0xcc -# command: subscribe GUI variable -CMD_SUBSCRIBE_GUI_VARIABLE = 0xdc -# response: subscribe GUI variable -RESPONSE_SUBSCRIBE_GUI_VARIABLE = 0xec - -# command: subscribe lane area detector (e2) context -CMD_SUBSCRIBE_LANEAREA_CONTEXT = 0x8d -# response: subscribe lane area detector (e2) context -RESPONSE_SUBSCRIBE_LANEAREA_CONTEXT = 0x9d -# command: get lane area detector (e2) variable -CMD_GET_LANEAREA_VARIABLE = 0xad -# response: get lane area detector (e2) variable -RESPONSE_GET_LANEAREA_VARIABLE = 0xbd -# command: set lane area detector (e2) variable, not used yet -CMD_SET_LANEAREA_VARIABLE = 0xcd -# command: subscribe lane area detector (e2) variable -CMD_SUBSCRIBE_LANEAREA_VARIABLE = 0xdd -# response: subscribe lane area detector (e2) variable -RESPONSE_SUBSCRIBE_LANEAREA_VARIABLE = 0xed - -# command: subscribe person context -CMD_SUBSCRIBE_PERSON_CONTEXT = 0x8e -# response: subscribe person context -RESPONSE_SUBSCRIBE_PERSON_CONTEXT = 0x9e -# command: get person variable -CMD_GET_PERSON_VARIABLE = 0xae -# response: get person variable -RESPONSE_GET_PERSON_VARIABLE = 0xbe -# command: set person variable -CMD_SET_PERSON_VARIABLE = 0xce -# command: subscribe person variable -CMD_SUBSCRIBE_PERSON_VARIABLE = 0xde -# response: subscribe person variable -RESPONSE_SUBSCRIBE_PERSON_VARIABLE = 0xee - -# command: subscribe busstop context -CMD_SUBSCRIBE_BUSSTOP_CONTEXT = 0x8f -# response: subscribe busstop context -RESPONSE_SUBSCRIBE_BUSSTOP_CONTEXT = 0x9f -# command: get busstop variable -CMD_GET_BUSSTOP_VARIABLE = 0xaf -# response: get busstop variable -RESPONSE_GET_BUSSTOP_VARIABLE = 0xbf -# command: set busstop variable, not used yet -CMD_SET_BUSSTOP_VARIABLE = 0xcf -# command: subscribe busstop variable -CMD_SUBSCRIBE_BUSSTOP_VARIABLE = 0xdf -# response: subscribe busstop variable -RESPONSE_SUBSCRIBE_BUSSTOP_VARIABLE = 0xef - -# command: subscribe parkingarea context -CMD_SUBSCRIBE_PARKINGAREA_CONTEXT = 0x04 -# response: subscribe parkingarea context -RESPONSE_SUBSCRIBE_PARKINGAREA_CONTEXT = 0x14 -# command: get parkingarea variable -CMD_GET_PARKINGAREA_VARIABLE = 0x24 -# response: get parkingarea variable -RESPONSE_GET_PARKINGAREA_VARIABLE = 0x34 -# command: set parkingarea variable -CMD_SET_PARKINGAREA_VARIABLE = 0x44 -# command: subscribe parkingarea variable -CMD_SUBSCRIBE_PARKINGAREA_VARIABLE = 0x54 -# response: subscribe parkingarea variable -RESPONSE_SUBSCRIBE_PARKINGAREA_VARIABLE = 0x64 - -# command: subscribe chargingstation context -CMD_SUBSCRIBE_CHARGINGSTATION_CONTEXT = 0x05 -# response: subscribe chargingstation context -RESPONSE_SUBSCRIBE_CHARGINGSTATION_CONTEXT = 0x15 -# command: get chargingstation variable -CMD_GET_CHARGINGSTATION_VARIABLE = 0x25 -# response: get chargingstation variable -RESPONSE_GET_CHARGINGSTATION_VARIABLE = 0x35 -# command: set chargingstation variable -CMD_SET_CHARGINGSTATION_VARIABLE = 0x45 -# command: subscribe chargingstation variable -CMD_SUBSCRIBE_CHARGINGSTATION_VARIABLE = 0x55 -# response: subscribe chargingstation variable -RESPONSE_SUBSCRIBE_CHARGINGSTATION_VARIABLE = 0x65 - -# command: subscribe routeprobe context -CMD_SUBSCRIBE_ROUTEPROBE_CONTEXT = 0x06 -# response: subscribe routeprobe context -RESPONSE_SUBSCRIBE_ROUTEPROBE_CONTEXT = 0x16 -# command: get routeprobe variable -CMD_GET_ROUTEPROBE_VARIABLE = 0x26 -# response: get routeprobe variable -RESPONSE_GET_ROUTEPROBE_VARIABLE = 0x36 -# command: set routeprobe variable -CMD_SET_ROUTEPROBE_VARIABLE = 0x46 -# command: subscribe routeprobe variable -CMD_SUBSCRIBE_ROUTEPROBE_VARIABLE = 0x56 -# response: subscribe routeprobe variable -RESPONSE_SUBSCRIBE_ROUTEPROBE_VARIABLE = 0x66 - -# command: subscribe calibrator context -CMD_SUBSCRIBE_CALIBRATOR_CONTEXT = 0x07 -# response: subscribe calibrator context -RESPONSE_SUBSCRIBE_CALIBRATOR_CONTEXT = 0x17 -# command: get calibrator variable -CMD_GET_CALIBRATOR_VARIABLE = 0x27 -# response: get calibrator variable -RESPONSE_GET_CALIBRATOR_VARIABLE = 0x37 -# command: set calibrator variable -CMD_SET_CALIBRATOR_VARIABLE = 0x47 -# command: subscribe calibrator variable -CMD_SUBSCRIBE_CALIBRATOR_VARIABLE = 0x57 -# response: subscribe calibrator variable -RESPONSE_SUBSCRIBE_CALIBRATOR_VARIABLE = 0x67 - -# command: subscribe rerouter context -CMD_SUBSCRIBE_REROUTER_CONTEXT = 0x08 -# response: subscribe rerouter context -RESPONSE_SUBSCRIBE_REROUTER_CONTEXT = 0x18 -# command: get rerouter variable -CMD_GET_REROUTER_VARIABLE = 0x28 -# response: get rerouter variable -RESPONSE_GET_REROUTER_VARIABLE = 0x38 -# command: set rerouter variable -CMD_SET_REROUTER_VARIABLE = 0x48 -# command: subscribe rerouter variable -CMD_SUBSCRIBE_REROUTER_VARIABLE = 0x58 -# response: subscribe rerouter variable -RESPONSE_SUBSCRIBE_REROUTER_VARIABLE = 0x68 - -# command: subscribe variablespeedsign context -CMD_SUBSCRIBE_VARIABLESPEEDSIGN_CONTEXT = 0x09 -# response: subscribe variablespeedsign context -RESPONSE_SUBSCRIBE_VARIABLESPEEDSIGN_CONTEXT = 0x19 -# command: get variablespeedsign variable -CMD_GET_VARIABLESPEEDSIGN_VARIABLE = 0x29 -# response: get variablespeedsign variable -RESPONSE_GET_VARIABLESPEEDSIGN_VARIABLE = 0x39 -# command: set variablespeedsign variable -CMD_SET_VARIABLESPEEDSIGN_VARIABLE = 0x49 -# command: subscribe variablespeedsign variable -CMD_SUBSCRIBE_VARIABLESPEEDSIGN_VARIABLE = 0x59 -# response: subscribe variablespeedsign variable -RESPONSE_SUBSCRIBE_VARIABLESPEEDSIGN_VARIABLE = 0x69 - -# command: subscribe meandata context -CMD_SUBSCRIBE_MEANDATA_CONTEXT = 0x0a -# response: subscribe meandata context -RESPONSE_SUBSCRIBE_MEANDATA_CONTEXT = 0x1a -# command: get meandata variable -CMD_GET_MEANDATA_VARIABLE = 0x2a -# response: get meandata variable -RESPONSE_GET_MEANDATA_VARIABLE = 0x3a -# command: set meandata variable, not used yet -CMD_SET_MEANDATA_VARIABLE = 0x4a -# command: subscribe meandata variable -CMD_SUBSCRIBE_MEANDATA_VARIABLE = 0x5a -# response: subscribe meandata variable -RESPONSE_SUBSCRIBE_MEANDATA_VARIABLE = 0x6a - -# command: subscribe overheadwire context -CMD_SUBSCRIBE_OVERHEADWIRE_CONTEXT = 0x0b -# response: subscribe overheadwire context -RESPONSE_SUBSCRIBE_OVERHEADWIRE_CONTEXT = 0x1b -# command: get overheadwire variable -CMD_GET_OVERHEADWIRE_VARIABLE = 0x2b -# response: get overheadwire variable -RESPONSE_GET_OVERHEADWIRE_VARIABLE = 0x3b -# command: set overheadwire variable -CMD_SET_OVERHEADWIRE_VARIABLE = 0x4b -# command: subscribe overheadwire variable -CMD_SUBSCRIBE_OVERHEADWIRE_VARIABLE = 0x5b -# response: subscribe overheadwire variable -RESPONSE_SUBSCRIBE_OVERHEADWIRE_VARIABLE = 0x6b - - -# **************************************** -# POSITION REPRESENTATIONS -# **************************************** -# Position in geo-coordinates -POSITION_LON_LAT = 0x00 -# 2D cartesian coordinates -POSITION_2D = 0x01 -# Position in geo-coordinates with altitude -POSITION_LON_LAT_ALT = 0x02 -# 3D cartesian coordinates -POSITION_3D = 0x03 -# Position on road map -POSITION_ROADMAP = 0x04 - - -# **************************************** -# DATA TYPES -# **************************************** -# Polygon (2*n doubles) -TYPE_POLYGON = 0x06 -# unsigned byte -TYPE_UBYTE = 0x07 -# signed byte -TYPE_BYTE = 0x08 -# 32 bit signed integer -TYPE_INTEGER = 0x09 -# double precision float -TYPE_DOUBLE = 0x0B -# 8 bit ASCII string -TYPE_STRING = 0x0C -# list of strings -TYPE_STRINGLIST = 0x0E -# compound object -TYPE_COMPOUND = 0x0F -# list of double precision floats -TYPE_DOUBLELIST = 0x10 -# color (four ubytes) -TYPE_COLOR = 0x11 - - -# **************************************** -# RESULT TYPES -# **************************************** -# result type: Ok -RTYPE_OK = 0x00 -# result type: not implemented -RTYPE_NOTIMPLEMENTED = 0x01 -# result type: error -RTYPE_ERR = 0xFF - -# **************************************** -# special return or parameter values -# **************************************** -# return value for invalid queries (especially vehicle is not on the road), see Position::INVALID -INVALID_DOUBLE_VALUE = -1073741824.0 -# return value for invalid queries (especially vehicle is not on the road), see Position::INVALID -INVALID_INT_VALUE = -1073741824 -# maximum value for client ordering (2 ^ 30) -MAX_ORDER = 1073741824 -# default number of connection attempts -DEFAULT_NUM_RETRIES = 60 - - -# **************************************** -# DIFFERENT DISTANCE REQUESTS -# **************************************** -# air distance -REQUEST_AIRDIST = 0x00 -# driving distance -REQUEST_DRIVINGDIST = 0x01 - - -# **************************************** -# VEHICLE REMOVAL REASONS -# **************************************** -# vehicle started teleport -REMOVE_TELEPORT = 0x00 -# vehicle removed while parking -REMOVE_PARKING = 0x01 -# vehicle arrived -REMOVE_ARRIVED = 0x02 -# vehicle was vaporized -REMOVE_VAPORIZED = 0x03 -# vehicle finished route during teleport -REMOVE_TELEPORT_ARRIVED = 0x04 - -# **************************************** -# VEHICLE MOVE REASONS -# **************************************** -# infer reason from move distance -MOVE_AUTOMATIC = 0x00 -# vehicle teleports to another location -MOVE_TELEPORT = 0x01 -# vehicle moved normally -MOVE_NORMAL = 0x02 - -# **************************************** -# PERSON/CONTAINER STAGES -# **************************************** -# person / container stopping -STAGE_WAITING_FOR_DEPART = 0x00 -# person / container stopping -STAGE_WAITING = 0x01 -# person walking -STAGE_WALKING = 0x02 -# person riding / container being transported -STAGE_DRIVING = 0x03 -# person accessing stopping place -STAGE_ACCESS = 0x04 -# stage for encoding abstract travel demand -STAGE_TRIP = 0x05 -# person / container transhiping -STAGE_TRANSHIP = 0x06 - -# **************************************** -# Stop Flags -# **************************************** -STOP_DEFAULT = 0x00 -STOP_PARKING = 0x01 -STOP_TRIGGERED = 0x02 -STOP_CONTAINER_TRIGGERED = 0x04 -STOP_BUS_STOP = 0x08 -STOP_CONTAINER_STOP = 0x10 -STOP_CHARGING_STATION = 0x20 -STOP_PARKING_AREA = 0x40 -STOP_OVERHEAD_WIRE = 0x80 - -# **************************************** -# Departure Flags -# **************************************** -DEPARTFLAG_TRIGGERED = -0x01 -DEPARTFLAG_CONTAINER_TRIGGERED = -0x02 -DEPARTFLAG_NOW = -0x03 - -DEPARTFLAG_SPEED_RANDOM = -0x02 -DEPARTFLAG_SPEED_MAX = -0x03 - -DEPARTFLAG_LANE_RANDOM = -0x02 -DEPARTFLAG_LANE_FREE = -0x03 -DEPARTFLAG_LANE_ALLOWED_FREE = -0x04 -DEPARTFLAG_LANE_BEST_FREE = -0x05 -DEPARTFLAG_LANE_FIRST_ALLOWED = -0x06 - -DEPARTFLAG_POS_RANDOM = -0x02 -DEPARTFLAG_POS_FREE = -0x03 -DEPARTFLAG_POS_BASE = -0x04 -DEPARTFLAG_POS_LAST = -0x05 -DEPARTFLAG_POS_RANDOM_FREE = -0x06 - -ARRIVALFLAG_LANE_CURRENT = -0x02 -ARRIVALFLAG_SPEED_CURRENT = -0x02 - -ARRIVALFLAG_POS_RANDOM = -0x02 -ARRIVALFLAG_POS_MAX = -0x03 - -# **************************************** -# Routing modes -# **************************************** -# use custom weights if available, fall back to loaded weights and then to free-flow speed -ROUTING_MODE_DEFAULT = 0x00 -# use aggregated travel times from device.rerouting -ROUTING_MODE_AGGREGATED = 0x01 -# use loaded efforts -ROUTING_MODE_EFFORT = 0x02 -# use combined costs -ROUTING_MODE_COMBINED = 0x03 - -# **************************************** -# Traffic light types -# **************************************** -TRAFFICLIGHT_TYPE_STATIC = 0x00 -TRAFFICLIGHT_TYPE_ACTUATED = 0x03 -TRAFFICLIGHT_TYPE_DELAYBASED = 0x04 - -# **************************************** -# FILTER TYPES (for context subscription filters) -# **************************************** - -# Reset all filters -FILTER_TYPE_NONE = 0x00 - -# Filter by list of lanes relative to ego vehicle -FILTER_TYPE_LANES = 0x01 - -# Exclude vehicles on opposite (and other) lanes from context subscription result -FILTER_TYPE_NOOPPOSITE = 0x02 - -# Specify maximal downstream distance for vehicles in context subscription result -FILTER_TYPE_DOWNSTREAM_DIST = 0x03 - -# Specify maximal upstream distance for vehicles in context subscription result -FILTER_TYPE_UPSTREAM_DIST = 0x04 - -# Only return leader and follower on the specified lanes in context subscription result -FILTER_TYPE_LEAD_FOLLOW = 0x05 - -# Only return foes on upcoming junctions in context subscription result -FILTER_TYPE_TURN = 0x07 - -# Only return vehicles of the given vClass in context subscription result -FILTER_TYPE_VCLASS = 0x08 - -# Only return vehicles of the given vType in context subscription result -FILTER_TYPE_VTYPE = 0x09 - -# Only return vehicles within field of vision in context subscription result -FILTER_TYPE_FIELD_OF_VISION = 0x0A - -# Only return vehicles within the given lateral distance in context subscription result -FILTER_TYPE_LATERAL_DIST = 0x0B - -# **************************************** -# VARIABLE TYPES (for CMD_GET_*_VARIABLE) -# **************************************** -# list of instances' ids (get: all) -TRACI_ID_LIST = 0x00 - -# count of instances (get: all) -ID_COUNT = 0x01 - -# subscribe object variables (get: all) -AUTOMATIC_VARIABLES_SUBSCRIPTION = 0x02 - -# subscribe context variables (get: all) -AUTOMATIC_CONTEXT_SUBSCRIPTION = 0x03 - -# generic attributes (get/set: all) -GENERIC_ATTRIBUTE = 0x03 - -# last step vehicle number (get: induction loops, multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_VEHICLE_NUMBER = 0x10 - -# last step vehicle number (get: induction loops, multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_MEAN_SPEED = 0x11 - -# last step vehicle list (get: induction loops, multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_VEHICLE_ID_LIST = 0x12 - -# last step occupancy (get: induction loops, lanes, edges) -LAST_STEP_OCCUPANCY = 0x13 - -# last step vehicle halting number (get: multi-entry/multi-exit detector, lanes, edges) -LAST_STEP_VEHICLE_HALTING_NUMBER = 0x14 - -# last step mean vehicle length (get: induction loops, lanes, edges) -LAST_STEP_LENGTH = 0x15 - -# last step time since last detection (get: induction loops) -LAST_STEP_TIME_SINCE_DETECTION = 0x16 - -# entry times -LAST_STEP_VEHICLE_DATA = 0x17 - -# last step jam length in vehicles -JAM_LENGTH_VEHICLE = 0x18 - -# last step jam length in meters -JAM_LENGTH_METERS = 0x19 - -# last interval travel time (get: e3) -VAR_LAST_INTERVAL_TRAVELTIME = 0x58 - -# last step vehicle halting number (get: multi-entry/multi-exit detector) -VAR_LAST_INTERVAL_MEAN_HALTING_NUMBER = 0x20 - -# last interval vehicle count(get: e3) -VAR_LAST_INTERVAL_VEHICLE_NUMBER = 0x21 - -# last step person list (get: edges, vehicles) -LAST_STEP_PERSON_ID_LIST = 0x1a - -# full name (get: edges, simulation, trafficlight) -VAR_NAME = 0x1b - -# carFollowModel function followSpeed (get: vehicle) -VAR_FOLLOW_SPEED = 0x1c - -# carFollowModel function stopSpeed (get: vehicle) -VAR_STOP_SPEED = 0x1d - -# carFollowModel function getSecureGap (get: vehicle) -VAR_SECURE_GAP = 0x1e - -# estimated (depart) delay for next stop (get: vehicle) -VAR_STOP_DELAY = 0x1f - -# estimated arrival delay for next stop (get: vehicle) -VAR_STOP_ARRIVALDELAY = 0x22 - -# collected timeLoss since departure (get: vehicle, e3) -VAR_TIMELOSS = 0x8c - -# begin time(get: calibrator) -VAR_BEGIN = 0x1c - -# end time(get: calibrator, simulation) -VAR_END = 0x1d - -# vtype list (get: calibrator) -VAR_VTYPES = 0x1e - -# vehicles per hour (get: calibrator) -VAR_VEHSPERHOUR = 0x13 - -# passed vehicle count (get: calibrator) -VAR_PASSED = 0x14 - -# inserted vehicle count (get: calibrator) -VAR_INSERTED = 0x15 - -# removed vehicle count (get: calibrator) -VAR_REMOVED = 0x16 - -# routeProbe id (get: calibrator) -VAR_ROUTE_PROBE = 0x17 - -# routeProbe id (get: calibrator) -CMD_SET_FLOW = 0x18 - -# traffic light states, encoded as rRgGyYoO tuple (get: traffic lights) -TL_RED_YELLOW_GREEN_STATE = 0x20 - -# index of the phase (set: traffic lights) -TL_PHASE_INDEX = 0x22 - -# traffic light program (set: traffic lights) -TL_PROGRAM = 0x23 - -# phase duration (set: traffic lights) -TL_PHASE_DURATION = 0x24 - -# vehicles that block passing the given signal (get: traffic lights) -TL_BLOCKING_VEHICLES = 0x25 - -# controlled lanes (get: traffic lights) -TL_CONTROLLED_LANES = 0x26 - -# controlled links (get: traffic lights) -TL_CONTROLLED_LINKS = 0x27 - -# index of the current phase (get: traffic lights) -TL_CURRENT_PHASE = 0x28 - -# name of the current program (get: traffic lights) -TL_CURRENT_PROGRAM = 0x29 - -# vehicles that also wish to pass the given signal (get: traffic lights) -TL_RIVAL_VEHICLES = 0x30 - -# vehicles that also wish to pass the given signal and have higher priority (get: traffic lights) -TL_PRIORITY_VEHICLES = 0x31 - -# controlled junctions (get: traffic lights) -TL_CONTROLLED_JUNCTIONS = 0x2a - -# complete definition (get: traffic lights) -TL_COMPLETE_DEFINITION_RYG = 0x2b - -# complete program (set: traffic lights) -TL_COMPLETE_PROGRAM_RYG = 0x2c - -# assumed time to next switch (get: traffic lights) -TL_NEXT_SWITCH = 0x2d - -# current state, using external signal names (get: traffic lights) -TL_EXTERNAL_STATE = 0x2e - -# add/get rail signal constraints -TL_CONSTRAINT = 0x2f - -# switch order of trains encoded in rail signal constraints (set: traffic lights) -TL_CONSTRAINT_SWAP = 0x32 - -# add/get rail signal constraints by foeSignal (get: traffic lights) -TL_CONSTRAINT_BYFOE = 0x34 - -# add/get rail signal constraints by foeSignal (set: traffic lights) -TL_CONSTRAINT_REMOVE = 0x35 - -# outgoing link number (get: lanes) -LANE_LINK_NUMBER = 0x30 - -# id of parent edge (get: lanes) -LANE_EDGE_ID = 0x31 - -# outgoing link definitions (get: lanes) -LANE_LINKS = 0x33 - -# list of allowed vehicle classes (get&set: lanes) -LANE_ALLOWED = 0x34 - -# list of not allowed vehicle classes (get&set: lanes) -LANE_DISALLOWED = 0x35 - -# list of foe lanes (get: lanes) -VAR_FOES = 0x37 - -# slope (get: edge, lane, vehicle, person) -VAR_SLOPE = 0x36 - -# speed (get: vehicle) -VAR_SPEED = 0x40 - -# adapt previous speed (set: vehicle) -VAR_PREV_SPEED = 0x3c - -# lateral speed (get: vehicle) -VAR_SPEED_LAT = 0x32 - -# maximum allowed/possible speed (get: vehicle types, lanes, set: edges, lanes) -VAR_MAXSPEED = 0x41 - -# position (2D) (get: vehicle, poi, inductionloop, lane area detector; set: poi) -VAR_POSITION = 0x42 - -# position (3D) (get: vehicle, poi, set: poi) -VAR_POSITION3D = 0x39 - -# angle (get: vehicle, poi; set: poi) -VAR_ANGLE = 0x43 - -# length (get: vehicle types, lanes, lane area detector, set: lanes) -VAR_LENGTH = 0x44 - -# color (get: vehicles, vehicle types, polygons, pois) -VAR_COLOR = 0x45 - -# max. acceleration (get: vehicles, vehicle types) -VAR_ACCEL = 0x46 - -# max. comfortable deceleration (get: vehicles, vehicle types) -VAR_DECEL = 0x47 - -# max. (physically possible) deceleration (get: vehicles, vehicle types) -VAR_EMERGENCY_DECEL = 0x7b - -# apparent deceleration (get: vehicles, vehicle types) -VAR_APPARENT_DECEL = 0x7c - -# action step length (get: vehicles, vehicle types) -VAR_ACTIONSTEPLENGTH = 0x7d - -# last action time (get: vehicles) -VAR_LASTACTIONTIME = 0x7f - -# driver's desired headway (get: vehicle types) -VAR_TAU = 0x48 - -# vehicle class (get: vehicle types) -VAR_VEHICLECLASS = 0x49 - -# emission class (get: vehicle types) -VAR_EMISSIONCLASS = 0x4a - -# shape class (get: vehicle types) -VAR_SHAPECLASS = 0x4b - -# minimum gap (get: vehicle types) -VAR_MINGAP = 0x4c - -# width (get: vehicle types, lanes, polygons, poi) -VAR_WIDTH = 0x4d - -# shape (get: polygons) -VAR_SHAPE = 0x4e - -# type id (get: vehicles, polygons, pois) -VAR_TYPE = 0x4f - -# road id (get: vehicles) -VAR_ROAD_ID = 0x50 - -# lane id (get: vehicles, inductionloop, lane area detector) -VAR_LANE_ID = 0x51 - -# lane index (get: vehicle, edge) -VAR_LANE_INDEX = 0x52 - -# route id (get & set: vehicles) -VAR_ROUTE_ID = 0x53 - -# edges (get: routes, vehicles) -VAR_EDGES = 0x54 - -# lanes (get: variablespeedsign) -VAR_LANES = 0x30 - -# update bestLanes (set: vehicle) -VAR_UPDATE_BESTLANES = 0x6a - -# filled? (get: polygons) -VAR_FILL = 0x55 - -# get/set image file (poi, poly, vehicle, person, simulation) -VAR_IMAGEFILE = 0x93 - -# position (1D along lane) (get: vehicle) -VAR_LANEPOSITION = 0x56 - -# route (set: vehicles) -VAR_ROUTE = 0x57 - -# travel time information (get&set: vehicle) -VAR_EDGE_TRAVELTIME = 0x58 - -# effort information (get&set: vehicle) -VAR_EDGE_EFFORT = 0x59 - -# last step travel time (get: edge, lane, e3) -VAR_CURRENT_TRAVELTIME = 0x5a - -# signals state (get/set: vehicle) -VAR_SIGNALS = 0x5b - -# vehicle: new lane/position along (set: vehicle) -VAR_MOVE_TO = 0x5c - -# polygon: add dynamics (set: polygon) -VAR_ADD_DYNAMICS = 0x5c - -# vehicle: highlight (set: vehicle, poi) -VAR_HIGHLIGHT = 0x6c - -# driver imperfection (set: vehicle) -VAR_IMPERFECTION = 0x5d - -# speed factor (set: vehicle) -VAR_SPEED_FACTOR = 0x5e - -# speed deviation (set: vehicle) -VAR_SPEED_DEVIATION = 0x5f - -# routing mode (get/set: vehicle) -VAR_ROUTING_MODE = 0x89 - -# speed without TraCI influence (get: vehicle) -VAR_SPEED_WITHOUT_TRACI = 0xb1 - -# best lanes (get: vehicle) -VAR_BEST_LANES = 0xb2 - -# how speed is set (set: vehicle) -VAR_SPEEDSETMODE = 0xb3 - -# move vehicle to explicit (remote controlled) position (set: vehicle) -MOVE_TO_XY = 0xb4 - -# is the vehicle stopped, and if so parked and/or triggered? -# value = stopped + 2 * parking + 4 * triggered -VAR_STOPSTATE = 0xb5 - -# how lane changing is performed (get/set: vehicle) -VAR_LANECHANGE_MODE = 0xb6 - -# maximum speed regarding max speed on the current lane and speed factor (get: vehicle) -VAR_ALLOWED_SPEED = 0xb7 - -# position (1D lateral position relative to center of the current lane) (get: vehicle) -VAR_LANEPOSITION_LAT = 0xb8 - -# get/set prefered lateral alignment within the lane (vehicle) -VAR_LATALIGNMENT = 0xb9 - -# get/set maximum lateral speed (vehicle, vtypes) -VAR_MAXSPEED_LAT = 0xba - -# get/set minimum lateral gap (vehicle, vtypes) -VAR_MINGAP_LAT = 0xbb - -# get/set vehicle height (vehicle, vtypes, poi) -VAR_HEIGHT = 0xbc - -# get/set vehicle line -VAR_LINE = 0xbd - -# get/set vehicle via -VAR_VIA = 0xbe - -# get (lane change relevant) neighboring vehicles (vehicles) -VAR_NEIGHBORS = 0xbf - -# current CO2 emission of a node (get: vehicle, lane, edge) -VAR_CO2EMISSION = 0x60 - -# current CO emission of a node (get: vehicle, lane, edge) -VAR_COEMISSION = 0x61 - -# current HC emission of a node (get: vehicle, lane, edge) -VAR_HCEMISSION = 0x62 - -# current PMx emission of a node (get: vehicle, lane, edge) -VAR_PMXEMISSION = 0x63 - -# current NOx emission of a node (get: vehicle, lane, edge) -VAR_NOXEMISSION = 0x64 - -# current fuel consumption of a node (get: vehicle, lane, edge) -VAR_FUELCONSUMPTION = 0x65 - -# current noise emission of a node (get: vehicle, lane, edge) -VAR_NOISEEMISSION = 0x66 - -# current person number (get: vehicle, trafficlight) -VAR_PERSON_NUMBER = 0x67 - -# person capacity (vehicle , vehicle type) -VAR_PERSON_CAPACITY = 0x38 - -VAR_BUS_STOP_ID_LIST = 0x9f - -# number of persons waiting at a defined bus stop (get: simulation) -VAR_BUS_STOP_WAITING = 0x67 - -# ids of persons waiting at a defined bus stop (get: simulation) -VAR_BUS_STOP_WAITING_IDS = 0xef - -# current leader together with gap (get: vehicle) -VAR_LEADER = 0x68 - -# current leader together with gap (get: vehicle) -VAR_FOLLOWER = 0x78 - -# edge index in current route (get: vehicle) -VAR_ROUTE_INDEX = 0x69 - -# current waiting time (get: vehicle, lane) -VAR_WAITING_TIME = 0x7a - -# current waiting time (get: vehicle) -VAR_ACCUMULATED_WAITING_TIME = 0x87 - -# upcoming traffic lights (get: vehicle) -VAR_NEXT_TLS = 0x70 - -# upcoming stops (get: vehicle) -VAR_NEXT_STOPS = 0x73 - -# upcoming stops with selection (get: vehicle) -VAR_NEXT_STOPS2 = 0x74 - -# current acceleration (get: vehicle) -VAR_ACCELERATION = 0x72 - -# arrival position (get,set: vehicle) -VAR_ARRIVALPOS = 0x75 - -# arrival lane (get,set: vehicle) -VAR_ARRIVALLANE = 0x76 - -# arrival speed (get,set: vehicle) -VAR_ARRIVALSPEED = 0x77 - -# add log message (set: simulation) -CMD_MESSAGE = 0x65 - -# current time in seconds (get: simulation) -VAR_TIME = 0x66 - -# current time step (get: simulation) -VAR_TIME_STEP = 0x70 - -# current electricity consumption of a node (get: vehicle, lane, edge) -VAR_ELECTRICITYCONSUMPTION = 0x71 - -# number of loaded vehicles (get: simulation) -VAR_LOADED_VEHICLES_NUMBER = 0x71 - -# loaded vehicle ids (get: simulation) -VAR_LOADED_VEHICLES_IDS = 0x72 - -# number of departed vehicle (get: simulation) -VAR_DEPARTED_VEHICLES_NUMBER = 0x73 - -# departed vehicle ids (get: simulation) -VAR_DEPARTED_VEHICLES_IDS = 0x74 - -# number of vehicles starting to teleport (get: simulation) -VAR_TELEPORT_STARTING_VEHICLES_NUMBER = 0x75 - -# ids of vehicles starting to teleport (get: simulation) -VAR_TELEPORT_STARTING_VEHICLES_IDS = 0x76 - -# number of vehicles ending to teleport (get: simulation) -VAR_TELEPORT_ENDING_VEHICLES_NUMBER = 0x77 - -# ids of vehicles ending to teleport (get: simulation) -VAR_TELEPORT_ENDING_VEHICLES_IDS = 0x78 - -# number of arrived vehicles (get: simulation) -VAR_ARRIVED_VEHICLES_NUMBER = 0x79 - -# ids of arrived vehicles (get: simulation) -VAR_ARRIVED_VEHICLES_IDS = 0x7a - -# delta t (get: simulation) -VAR_DELTA_T = 0x7b - -# bounding box (get: simulation) -VAR_NET_BOUNDING_BOX = 0x7c - -# minimum number of expected vehicles (get: simulation) -VAR_MIN_EXPECTED_VEHICLES = 0x7d - -# number of departed persons (get: simulation) -VAR_DEPARTED_PERSONS_NUMBER = 0x24 - -# departed person ids (get: simulation) -VAR_DEPARTED_PERSONS_IDS = 0x25 - -# number of arrived persons (get: simulation) -VAR_ARRIVED_PERSONS_NUMBER = 0x26 - -# ids of arrived persons (get: simulation) -VAR_ARRIVED_PERSONS_IDS = 0x27 - -# number of vehicles starting to park (get: simulation) -VAR_STOP_STARTING_VEHICLES_NUMBER = 0x68 - -# ids of vehicles starting to park (get: simulation) -VAR_STOP_STARTING_VEHICLES_IDS = 0x69 - -# number of vehicles ending to park (get: simulation) -VAR_STOP_ENDING_VEHICLES_NUMBER = 0x6a - -# ids of vehicles ending to park (get: simulation) -VAR_STOP_ENDING_VEHICLES_IDS = 0x6b - -# number of vehicles starting to park (get: simulation) -VAR_PARKING_STARTING_VEHICLES_NUMBER = 0x6c - -# ids of vehicles starting to park (get: simulation) -VAR_PARKING_STARTING_VEHICLES_IDS = 0x6d - -# number of vehicles maneuvering (get: simulation) -VAR_PARKING_MANEUVERING_VEHICLES_NUMBER = 0x3a - -# ids of vehicles maneuvering (get: simulation) -VAR_PARKING_MANEUVERING_VEHICLES_IDS = 0x3b - -# number of vehicles ending to park (get: simulation) -VAR_PARKING_ENDING_VEHICLES_NUMBER = 0x6e - -# ids of vehicles ending to park (get: simulation) -VAR_PARKING_ENDING_VEHICLES_IDS = 0x6f - -# number of vehicles involved in a collision (get: simulation) -VAR_COLLIDING_VEHICLES_NUMBER = 0x80 - -# ids of vehicles involved in a collision (get: simulation) -VAR_COLLIDING_VEHICLES_IDS = 0x81 - -# number of vehicles involved in a collision (get: simulation) -VAR_EMERGENCYSTOPPING_VEHICLES_NUMBER = 0x89 - -# ids of vehicles involved in a collision (get: simulation) -VAR_EMERGENCYSTOPPING_VEHICLES_IDS = 0x8a - -# clears the simulation of all not inserted vehicles (set: simulation) -CMD_CLEAR_PENDING_VEHICLES = 0x94 - -# retrieve number of not inserted vehicles (get: simulation, edge, lane) -VAR_PENDING_VEHICLES = 0x94 - -# triggers saving simulation state (set: simulation) -CMD_SAVE_SIMSTATE = 0x95 - -# triggers saving simulation state (set: simulation) -CMD_LOAD_SIMSTATE = 0x96 - -# retrieve detail data for each collision -VAR_COLLISIONS = 0x23 - -# sets/retrieves abstract parameter -VAR_PARAMETER = 0x7e - -# retrieves abstract parameter and returns (key, value) tuple -VAR_PARAMETER_WITH_KEY = 0x3e - - -# add an instance (poi, polygon, vehicle, person, route) -ADD = 0x80 - -# remove an instance (poi, polygon, vehicle, person) -REMOVE = 0x81 - -# copy an instance (vehicle type, other TBD.) -COPY = 0x88 - -# convert coordinates -POSITION_CONVERSION = 0x82 - -# distance between points or vehicles -DISTANCE_REQUEST = 0x83 - -# the current driving distance -VAR_DISTANCE = 0x84 - -# add a fully specified instance (vehicle) -ADD_FULL = 0x85 - -# find a car based route -FIND_ROUTE = 0x86 - -# find an intermodal route -FIND_INTERMODAL_ROUTE = 0x87 - -# force rerouting based on travel time (vehicles) -CMD_REROUTE_TRAVELTIME = 0x90 - -# force rerouting based on effort (vehicles) -CMD_REROUTE_EFFORT = 0x91 - -# validates current route (vehicles) -VAR_ROUTE_VALID = 0x92 - -# retrieve information regarding the current person/container stage -VAR_STAGE = 0xc0 - -# retrieve information regarding the next edge including crossings and walkingAreas (pedestrians only) -VAR_NEXT_EDGE = 0xc1 - -# retrieve information regarding the number of remaining stages -VAR_STAGES_REMAINING = 0xc2 - -# retrieve the current vehicle id for the driving stage (person, container) -VAR_VEHICLE = 0xc3 - -# append a person stage (person) -APPEND_STAGE = 0xc4 - -# replace a person stage (person) -REPLACE_STAGE = 0xcd - -# append a person stage (person) -REMOVE_STAGE = 0xc5 - -# retrieve taxi reservation (person) -VAR_TAXI_RESERVATIONS = 0xc6 - -# manipulate taxi reservation (person) -SPLIT_TAXI_RESERVATIONS = 0xc7 - -# sample last route (routeprobe) -VAR_SAMPLE_LAST = 0x20 - -# sample current route (routeprobe) -VAR_SAMPLE_CURRENT = 0x21 - -# zoom -VAR_VIEW_ZOOM = 0xa0 - -# view position -VAR_VIEW_OFFSET = 0xa1 - -# view schema -VAR_VIEW_SCHEMA = 0xa2 - -# view by boundary -VAR_VIEW_BOUNDARY = 0xa3 - -# select/deselect object (gui) -VAR_SELECT = 0xa4 - -# screenshot -VAR_SCREENSHOT = 0xa5 - -# track vehicle -VAR_TRACK_VEHICLE = 0xa6 - -# presence of view -VAR_HAS_VIEW = 0xa7 - -# @name currently wanted lane-change action -# @{ -# @brief No action desired -LCA_NONE = 0 -# @brief Needs to stay on the current lane -LCA_STAY = 1 << 0 -# @brief Wants go to the left -LCA_LEFT = 1 << 1 -# @brief Wants go to the right -LCA_RIGHT = 1 << 2 -# @brief The action is needed to follow the route (navigational lc) -LCA_STRATEGIC = 1 << 3 -# @brief The action is done to help someone else -LCA_COOPERATIVE = 1 << 4 -# @brief The action is due to the wish to be faster (tactical lc) -LCA_SPEEDGAIN = 1 << 5 -# @brief The action is due to the default of keeping right "Rechtsfahrgebot" -LCA_KEEPRIGHT = 1 << 6 -# @brief The action is due to a TraCI request -LCA_TRACI = 1 << 7 -# @brief The action is urgent (to be defined by lc-model) -LCA_URGENT = 1 << 8 -# @brief The action has not been determined -LCA_UNKNOWN = 1 << 30 -# @} - -# @name External state -# @{ -# @brief The vehicle is blocked by left leader -LCA_BLOCKED_BY_LEFT_LEADER = 1 << 9 -# @brief The vehicle is blocked by left follower -LCA_BLOCKED_BY_LEFT_FOLLOWER = 1 << 10 -# @brief The vehicle is blocked by right leader -LCA_BLOCKED_BY_RIGHT_LEADER = 1 << 11 -# @brief The vehicle is blocked by right follower -LCA_BLOCKED_BY_RIGHT_FOLLOWER = 1 << 12 -# @brief The vehicle is blocked being overlapping -LCA_OVERLAPPING = 1 << 13 -# @brief The vehicle does not have enough space to complete a continuous change before the next turn -LCA_INSUFFICIENT_SPACE = 1 << 14 -# @brief used by the sublane model -LCA_SUBLANE = 1 << 15 -# @brief Vehicle is too slow to complete a continuous lane change (in case that maxSpeedLatStanding==0) -LCA_INSUFFICIENT_SPEED = 1 << 28 -# @brief lane can change -LCA_WANTS_LANECHANGE = LCA_LEFT | LCA_RIGHT -# @brief lane can change or stay -LCA_WANTS_LANECHANGE_OR_STAY = LCA_WANTS_LANECHANGE | LCA_STAY -# @brief blocked left -LCA_BLOCKED_LEFT = LCA_BLOCKED_BY_LEFT_LEADER | LCA_BLOCKED_BY_LEFT_FOLLOWER -# @brief blocked right -LCA_BLOCKED_RIGHT = LCA_BLOCKED_BY_RIGHT_LEADER | LCA_BLOCKED_BY_RIGHT_FOLLOWER -# @brief blocked by leader -LCA_BLOCKED_BY_LEADER = LCA_BLOCKED_BY_LEFT_LEADER | LCA_BLOCKED_BY_RIGHT_LEADER -# @brief blocker by follower -LCA_BLOCKED_BY_FOLLOWER = LCA_BLOCKED_BY_LEFT_FOLLOWER | LCA_BLOCKED_BY_RIGHT_FOLLOWER -# @brief blocked in all directions -LCA_BLOCKED = LCA_BLOCKED_LEFT | LCA_BLOCKED_RIGHT | LCA_INSUFFICIENT_SPACE | LCA_INSUFFICIENT_SPEED -# @brief reasons of lane change -LCA_CHANGE_REASONS = (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_SPEEDGAIN | LCA_KEEPRIGHT | LCA_SUBLANE | LCA_TRACI) -# LCA_BLOCKED_BY_CURRENT_LEADER = 1 << 28 -# LCA_BLOCKED_BY_CURRENT_FOLLOWER = 1 << 29 -# @} - -# @name originally model specific states (migrated here since -# they were duplicated in all current models) -# @{ -LCA_AMBLOCKINGLEADER = 1 << 16 -LCA_AMBLOCKINGFOLLOWER = 1 << 17 -LCA_MRIGHT = 1 << 18 -LCA_MLEFT = 1 << 19 -# !!! never set LCA_UNBLOCK = 1 << 20, -LCA_AMBLOCKINGFOLLOWER_DONTBRAKE = 1 << 21 -# !!! never used LCA_AMBLOCKINGSECONDFOLLOWER = 1 << 22, -LCA_CHANGE_TO_HELP = 1 << 23 -# !!! never read LCA_KEEP1 = 1 << 24, -# !!! never used LCA_KEEP2 = 1 << 25, -LCA_AMBACKBLOCKER = 1 << 26 -LCA_AMBACKBLOCKER_STANDING = 1 << 27 -# @} diff --git a/co-simulation/patch/main.py b/co-simulation/patch/main.py deleted file mode 100644 index 33f2cb99..00000000 --- a/co-simulation/patch/main.py +++ /dev/null @@ -1,326 +0,0 @@ -# -*- coding: utf-8 -*- -# Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo -# Copyright (C) 2008-2022 German Aerospace Center (DLR) and others. -# This program and the accompanying materials are made available under the -# terms of the Eclipse Public License 2.0 which is available at -# https://www.eclipse.org/legal/epl-2.0/ -# This Source Code may also be made available under the following Secondary -# Licenses when the conditions for such availability set forth in the Eclipse -# Public License 2.0 are satisfied: GNU General Public License, version 2 -# or later which is available at -# https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html -# SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later - -# @file main.py -# @author Michael Behrisch -# @author Lena Kalleske -# @author Mario Krumnow -# @author Daniel Krajzewicz -# @author Jakob Erdmann -# @date 2008-10-09 - -# pylint: disable=E1101 - -from __future__ import print_function -from __future__ import absolute_import -import socket -import time -import subprocess -import warnings -import sys -import os -from functools import wraps - -if 'SUMO_HOME' in os.environ: - sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools')) -else: - sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) - -import sumolib # noqa -from sumolib.miscutils import getFreeSocketPort # noqa - -from .domain import _defaultDomains # noqa -# StepListener needs to be imported for backwards compatibility -from .connection import Connection, StepListener # noqa -from .exceptions import FatalTraCIError, TraCIException # noqa -from . import _inductionloop, _lanearea, _multientryexit, _trafficlight # noqa -from . import _variablespeedsign, _meandata # noqa -from . import _lane, _person, _route, _vehicle, _vehicletype # noqa -from . import _edge, _gui, _junction, _poi, _polygon, _simulation # noqa -from . import _calibrator, _routeprobe, _rerouter # noqa -from . import _busstop, _parkingarea, _chargingstation, _overheadwire # noqa -from . import constants as tc # noqa - -inductionloop = _inductionloop.InductionLoopDomain() -lanearea = _lanearea.LaneAreaDomain() -multientryexit = _multientryexit.MultiEntryExitDomain() -trafficlight = _trafficlight.TrafficLightDomain() -variablespeedsign = _variablespeedsign.VariableSpeedSignDomain() -meandata = _meandata.MeanDataDomain() -lane = _lane.LaneDomain() -person = _person.PersonDomain() -route = _route.RouteDomain() -vehicle = _vehicle.VehicleDomain() -vehicletype = _vehicletype.VehicleTypeDomain() -edge = _edge.EdgeDomain() -gui = _gui.GuiDomain() -junction = _junction.JunctionDomain() -poi = _poi.PoiDomain() -polygon = _polygon.PolygonDomain() -simulation = _simulation.SimulationDomain() -calibrator = _calibrator.CalibratorDomain() -busstop = _busstop.BusStopDomain() -parkingarea = _parkingarea.ParkingAreaDomain() -chargingstation = _chargingstation.ChargingStationDomain() -overheadwire = _overheadwire.OverheadWireDomain() -routeprobe = _routeprobe.RouteProbeDomain() -rerouter = _rerouter.RerouterDomain() - -_connections = {} -_traceFile = {} -_traceGetters = {} -# cannot use immutable type as global variable -_currentLabel = [""] -_connectHook = None - - -def _STEPS2TIME(step): - """Conversion from time steps in milliseconds to seconds as float""" - return step / 1000. - - -def setConnectHook(hookFunc): - global _connectHook - _connectHook = hookFunc - - -def _addTracing(method): - @wraps(method) - def tracingWrapper(*args, **kwargs): - _traceFile[_currentLabel[0]].write("traci.%s(%s)\n" % ( - method.__name__, - ', '.join(list(map(repr, args)) + ["%s=%s" % (n, repr(v)) for n, v in kwargs.items()]))) - return method(*args, **kwargs) - return tracingWrapper - - -def connect(port=8813, numRetries=tc.DEFAULT_NUM_RETRIES, host="localhost", proc=None, waitBetweenRetries=1): - """ - Establish a connection to a TraCI-Server and return the - connection object. The connection is not saved in the pool and not - accessible via traci.switch. It should be safe to use different - connections established by this method in different threads. - """ - for retry in range(1, numRetries + 2): - try: - conn = Connection(host, port, proc) - if _connectHook is not None: - _connectHook(conn) - return conn - except socket.error as e: - if proc is not None and proc.poll() is not None: - raise TraCIException("TraCI server already finished") - if retry > 1: - print("Could not connect to TraCI server at %s:%s" % (host, port), e) - if retry < numRetries + 1: - print(" Retrying in %s seconds" % waitBetweenRetries) - time.sleep(waitBetweenRetries) - raise FatalTraCIError("Could not connect in %s tries" % (numRetries + 1)) - -def getV2xMessage(): - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].getV2xMessage() - -def setV2xMessage(message): - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].setV2xMessage(message) - - -def init(port=8813, numRetries=tc.DEFAULT_NUM_RETRIES, host="localhost", label="default", proc=None, doSwitch=True): - """ - Establish a connection to a TraCI-Server and store it under the given - label. This method is not thread-safe. It accesses the connection - pool concurrently. - """ - _connections[label] = connect(port, numRetries, host, proc) - if doSwitch: - switch(label) - return _connections[label].getVersion() - - -def start(cmd, port=None, numRetries=tc.DEFAULT_NUM_RETRIES, label="default", verbose=False, - traceFile=None, traceGetters=True, stdout=None, doSwitch=True): - """ - Start a sumo server using cmd, establish a connection to it and - store it under the given label. This method is not thread-safe. - - - cmd (list): uses the Popen syntax. i.e. ['sumo', '-c', 'run.sumocfg']. The remote - port option will be added automatically - - numRetries (int): retries on failing to connect to sumo (more retries are needed - if a big .net.xml file must be loaded) - - label (string) : distinguish multiple traci connections used in the same script - - verbose (bool): print complete cmd - - traceFile (string): write all traci commands to FILE for debugging - - traceGetters (bool): whether to include get-commands in traceFile - - stdout (iostream): where to pipe sumo process stdout - """ - if label in _connections: - raise TraCIException("Connection '%s' is already active." % label) - if traceFile is not None: - _startTracing(traceFile, cmd, port, label, traceGetters) - while numRetries >= 0 and label not in _connections: - sumoPort = sumolib.miscutils.getFreeSocketPort() if port is None else port - cmd2 = cmd + ["--remote-port", str(sumoPort)] - if verbose: - print("Calling " + ' '.join(cmd2)) - sumoProcess = subprocess.Popen(cmd2, stdout=stdout) - try: - return init(sumoPort, numRetries, "localhost", label, sumoProcess, doSwitch) - except TraCIException as e: - if port is not None: - break - warnings.warn(("Could not connect to TraCI server using port %s (%s)." + - " Retrying with different port.") % (sumoPort, e)) - numRetries -= 1 - raise FatalTraCIError("Could not connect.") - - -def _startTracing(traceFile, cmd, port, label, traceGetters): - _traceFile[label] = open(traceFile, 'w') - _traceFile[label].write("traci.start(%s, port=%s, label=%s)\n" % ( - repr(cmd), repr(port), repr(label))) - _traceGetters[label] = traceGetters - - -def isLibsumo(): - return False - - -def isLibtraci(): - return False - - -def hasGUI(): - """ - Return whether a GUI and the corresponding GUI commands are available for the current connection. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].hasGUI() - - -def load(args): - """load([optionOrParam, ...]) - Let sumo load a simulation using the given command line like options - Example: - load(['-c', 'run.sumocfg']) - load(['-n', 'net.net.xml', '-r', 'routes.rou.xml']) - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].load(args) - - -def isLoaded(): - return "" in _connections - - -def simulationStep(step=0): - """ - Make a simulation step and simulate up to the given second in sim time. - If the given value is 0 or absent, exactly one step is performed. - Values smaller than or equal to the current sim time result in no action. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].simulationStep(step) - - -def addStepListener(listener): - """addStepListener(traci.StepListener) -> int - - Append the step listener (its step function is called at the end of every call to traci.simulationStep()) - to the current connection. - Returns the ID assigned to the listener if it was added successfully, None otherwise. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].addStepListener(listener) - - -def removeStepListener(listenerID): - """removeStepListener(traci.StepListener) -> bool - - Remove the step listener from the current connection's step listener container. - Returns True if the listener was removed successfully, False if it wasn't registered. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].removeStepListener(listenerID) - - -def getVersion(): - """getVersion() -> tuple - - Returns a tuple containing the TraCI API version number (integer) - and a string identifying the SUMO version running on the TraCI server in human-readable form. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].getVersion() - - -def setOrder(order): - """ - Tells TraCI to give the current client the given position in the - execution order. It is mandatory to send this as the first command after - connecting to the TraCI server when using multiple clients. Each client - must be assigned a unique integer but there are not further restrictions - on numbering. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - return _connections[""].setOrder(order) - - -def close(wait=True): - """ - Tells TraCI to close the connection. - """ - if "" not in _connections: - raise FatalTraCIError("Not connected.") - _connections[""].close(wait) - _connections[""].simulation._setConnection(None) - del _connections[_currentLabel[0]] - del _connections[""] - if _currentLabel[0] in _traceFile: - del _traceFile[_currentLabel[0]] - - -def switch(label): - con = getConnection(label) - _connections[""] = con - _currentLabel[0] = label - for domain in _defaultDomains: - domain._setConnection(con) - if label in _traceFile: - domain._setTraceFile(_traceFile[label], _traceGetters[label]) - # connection holds a copy of each domain - getattr(con, domain._name)._setTraceFile(_traceFile[label], _traceGetters[label]) - con._traceFile = _traceFile[label] - - -def getLabel(): - return _currentLabel[0] - - -def getConnection(label="default"): - if label not in _connections: - raise TraCIException("Connection '%s' is not known." % label) - return _connections[label] - - -def setLegacyGetLeader(enabled): - _vehicle._legacyGetLeader = enabled diff --git a/docker/install.sh b/docker/install.sh index e953e71d..a49939f0 100755 --- a/docker/install.sh +++ b/docker/install.sh @@ -58,15 +58,12 @@ cd /home/carma/src #make check #sudo make install -# Install SUMO-1.12.0 +# Install SUMO-1.15.0 cd /home/carma/src/ -wget "https://github.com/eclipse/sumo/archive/refs/tags/v1_12_0.tar.gz" +wget "https://github.com/eclipse/sumo/archive/refs/tags/v1_15_0.tar.gz" sudo mkdir -p /opt/sumo sudo chown -R carma:carma /opt/sumo tar xvf v1_15_0.tar.gz -C /opt/sumo -sudo cp co-simulation/patch/constants.py /opt/sumo/sumo-1_15_0/tools/traci -sudo cp co-simulation/patch/connection.py /opt/sumo/sumo-1_15_0/tools/traci -sudo cp co-simulation/patch/main.py /opt/sumo/sumo-1_15_0/tools/traci cd /opt/sumo/sumo-1_15_0 mkdir -p build/cmake-build && cd build/cmake-build cmake ../.. From fd00ade3416cf7afe4381c1d13fb366361c8107a Mon Sep 17 00:00:00 2001 From: Cody Garver Date: Thu, 13 Apr 2023 09:07:58 -0400 Subject: [PATCH 082/124] README.md: add status badge for CI and Sonar (#124) # PR Details ## Description ## Related Issue Closes usdot-fhwa-stol/devops#77 ## Motivation and Context ## How Has This Been Tested? ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [ ] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. --- .github/workflows/{runtest.yml => ci.yml} | 0 README.md | 3 +++ 2 files changed, 3 insertions(+) rename .github/workflows/{runtest.yml => ci.yml} (100%) diff --git a/.github/workflows/runtest.yml b/.github/workflows/ci.yml similarity index 100% rename from .github/workflows/runtest.yml rename to .github/workflows/ci.yml diff --git a/README.md b/README.md index c89a3f9b..c4de76fa 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,6 @@ +| CI Build Status | Docker Build | Docker Hub Push | Sonar Code Quality | +|----------------------|---------------------|---------------------|---------------------| +|[![CI](https://github.com/usdot-fhwa-stol/carma-simulation/actions/workflows/ci.yml/badge.svg)](https://github.com/usdot-fhwa-stol/carma-simulation/actions/workflows/ci.yml) | [![Docker](https://github.com/usdot-fhwa-stol/carma-simulation/actions/workflows/docker.yml/badge.svg)](https://github.com/usdot-fhwa-stol/carma-simulation/actions/workflows/docker.yml) | [![Docker Hub](https://github.com/usdot-fhwa-stol/carma-simulation/actions/workflows/dockerhub.yml/badge.svg)](https://github.com/usdot-fhwa-stol/carma-simulation/actions/workflows/dockerhub.yml) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_carma-simulation&metric=alert_status)](https://sonarcloud.io/dashboard?id=usdot-fhwa-stol_carma-simulation)| # CARMASimulation This repository will host the CARMA Everything-in-the-Loop Co-Simulation tool. This XiL simulation platform will support CARLA and SUMO simulation environments as a co-simulation using the MOSAIC framework to facilitate coordination and data exchange. This co-simulation environment will also utilize NS-3 to simulate the communications used by the C-ADS systems. From aa890085d0f40c4855cabf36999fd9f2f01c6166 Mon Sep 17 00:00:00 2001 From: EricChen-Lei <122404059+EricChen-Lei@users.noreply.github.com> Date: Thu, 13 Apr 2023 14:54:21 -0400 Subject: [PATCH 083/124] Correct func call and add file correct sync func call and add evc scenario file --- .../carla_integration/synchronization.py | 2 +- evc-sumo/src/resources/148.cfg | Bin 0 -> 147474 bytes evc-sumo/src/resources/278.cfg | Bin 0 -> 147474 bytes evc-sumo/src/resources/916.cfg | Bin 0 -> 147474 bytes evc-sumo/src/resources/evc_sumo_cfg.json | 38 +++++++++++++----- 5 files changed, 28 insertions(+), 12 deletions(-) create mode 100644 evc-sumo/src/resources/148.cfg create mode 100644 evc-sumo/src/resources/278.cfg create mode 100644 evc-sumo/src/resources/916.cfg diff --git a/co-simulation/bridge/carla_integration/synchronization.py b/co-simulation/bridge/carla_integration/synchronization.py index cb7ce917..7627593a 100644 --- a/co-simulation/bridge/carla_integration/synchronization.py +++ b/co-simulation/bridge/carla_integration/synchronization.py @@ -140,7 +140,7 @@ def tick(self): elif self.tls_manager == 'EVC': common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids for landmark_id in common_landmarks: - sumo_tl_state = self.sumo.get_traffic_light_live_state(landmark_id) + sumo_tl_state = self.sumo.get_traffic_light_state_from_sumo(landmark_id) carla_tl_state = BridgeHelper.get_carla_traffic_light_state(sumo_tl_state) self.carla.synchronize_traffic_light(landmark_id, carla_tl_state) diff --git a/evc-sumo/src/resources/148.cfg b/evc-sumo/src/resources/148.cfg new file mode 100644 index 0000000000000000000000000000000000000000..85a4c9d1c72090ea7215fc863fd75c2fdc98fe07 GIT binary patch literal 147474 zcmeI5S#TWH6^2ju%t)irSeC)80cX5{Ar2UeHLH!h1e+u_Hd|K9mJ9-0GO}!VOSiJI zr?OUMA>{=K7%=;qK%9h-uqI@y%31~t6|xmCsZ{df+@4We_aC2@dahJRmi``(`}}?H zIj8&U)63i$&B!H9tMV$o+PQKs zA1|E}8_sh*OXYPz9Q2sjaGvW~aOrgC=&>Wli(d9G){Bc#nadhDoYDa6g?c_%0rp=W7?P}hNS5qg#) 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zR87!%gap?q9Y}H_r*s6;^%{%yly1%0iv&o31W14cNPq-LfCNZ@1W14cNPq-LfCNZ@ z1SUFx{rjVL!Y1B=!zN(ctPRqz3D`DkgEVXcw$0ig4V!>%vo=V>CScpF4brd)&?W&AAOR8}0TLhq z5+DH*AOR8}0TLhq5+DH*AOR8}0TLhq5+DH*AOR8}0TLhq5+DH*AOR8>{{;Rw>;DuM Bg0KJp literal 0 HcmV?d00001 diff --git a/evc-sumo/src/resources/evc_sumo_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json index 96f8a031..72f24771 100644 --- a/evc-sumo/src/resources/evc_sumo_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -2,34 +2,50 @@ "controllers": [ { "controllerId": 1, - "controllerCfgPath": "resources/1008.cfg", + "controllerCfgPath": "resources/278.cfg", "start_time": null, "https_port": 0, "web_port": 0, "snmp_port": 0, "harness_port": 0, "controller_speed": null, - "sumoTlId": 1008, + "sumoTlId": 278, "enableWebPanel": true, - "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[1,5], "sumoInductionLoopId": "e1_0"}, - {"evcPhaseId": 6, "sumoTlStateIndex":[3,4], "sumoInductionLoopId": "e1_1"}, - {"evcPhaseId": 4, "sumoTlStateIndex":[0,2], "sumoInductionLoopId": "e1_2"} ] + "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[0,3], "sumoInductionLoopId": "e1_0"}, + {"evcPhaseId": 6, "sumoTlStateIndex":[1,4], "sumoInductionLoopId": "e1_1"}, + {"evcPhaseId": 4, "sumoTlStateIndex":[2,5], "sumoInductionLoopId": "e1_2"} ] }, { "controllerId": 2, - "controllerCfgPath": "resources/skip_setup.cfg", + "controllerCfgPath": "resources/148.cfg", "start_time": null, "https_port": 0, "web_port": 0, "snmp_port": 0, "harness_port": 0, "controller_speed": null, - "sumoTlId": 621, + "sumoTlId": 148, "enableWebPanel": true, - "evcPhases": [{"evcPhaseId": 1, "sumoTlStateIndex":[1,8,10], "sumoInductionLoopId": "e1_6"}, - {"evcPhaseId": 2, "sumoTlStateIndex":[0,5,11], "sumoInductionLoopId": "e1_5"}, - {"evcPhaseId": 3, "sumoTlStateIndex":[3,4,9], "sumoInductionLoopId": "e1_4"}, - {"evcPhaseId": 4, "sumoTlStateIndex":[2,6,7], "sumoInductionLoopId": "e1_3"} ] + "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[7,8,10], "sumoInductionLoopId": "e1_3"}, + {"evcPhaseId": 6, "sumoTlStateIndex":[4,5,6], "sumoInductionLoopId": "e1_4"}, + {"evcPhaseId": 4, "sumoTlStateIndex":[2,3,11], "sumoInductionLoopId": "e1_5"}, + {"evcPhaseId": 8, "sumoTlStateIndex":[0,1,9], "sumoInductionLoopId": "e1_6"} ] + }, + { + "controllerId": 3, + "controllerCfgPath": "resources/916.cfg", + "start_time": null, + "https_port": 0, + "web_port": 0, + "snmp_port": 0, + "harness_port": 0, + "controller_speed": null, + "sumoTlId": 916, + "enableWebPanel": true, + "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[4,10,11], "sumoInductionLoopId": "e1_7"}, + {"evcPhaseId": 6, "sumoTlStateIndex":[0,2,6], "sumoInductionLoopId": "e1_8"}, + {"evcPhaseId": 4, "sumoTlStateIndex":[1,3,8], "sumoInductionLoopId": "e1_9"}, + {"evcPhaseId": 8, "sumoTlStateIndex":[5,7,9], "sumoInductionLoopId": "e1_10"} ] } ] } \ No newline at end of file From ed6feb22389ed285aec4c290b039aebeca6d602f Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 20 Apr 2023 03:48:42 -0400 Subject: [PATCH 084/124] Update Tiergarten scenario for testing infrastructure and NS3 --- .../Tiergarten/infrastructure/infrastructure_config.json | 4 ++++ .../resources/scenarios/Tiergarten/scenario_config.json | 5 +++-- 2 files changed, 7 insertions(+), 2 deletions(-) create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/infrastructure/infrastructure_config.json diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/infrastructure/infrastructure_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/infrastructure/infrastructure_config.json new file mode 100644 index 00000000..179bfc13 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/infrastructure/infrastructure_config.json @@ -0,0 +1,4 @@ +{ + "updateInterval": 1000, + "senderRSUId": "rsu_0" +} diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json index bcd90c80..b7d36544 100644 --- a/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Tiergarten/scenario_config.json @@ -1,7 +1,7 @@ { "simulation": { "id": "Tiergarten", - "duration": "180s", + "duration": "9999s", "randomSeed": 268965854, "projection": { "centerCoordinates": { @@ -31,6 +31,7 @@ "ns3": true, "omnetpp": false, "output": true, - "sumo": true + "sumo": true, + "infrastructure": true } } From 8b10dfa986f6c05d9c63dbf382a4eba602e7c638 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 20 Apr 2023 03:49:24 -0400 Subject: [PATCH 085/124] Added log when receive new infrastructure registration --- .../ambassador/InfrastructureInstanceManager.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 23e499dd..5e8828ae 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -43,8 +43,7 @@ public class InfrastructureInstanceManager { private Map managedInstances = new HashMap<>(); private double currentSimulationTime; - private static final Logger log = LoggerFactory.getLogger(InfrastructureInstanceManager.class); - + private final Logger log = LoggerFactory.getLogger(this.getClass()); /** * Register a new infrastructure instance with the MOSAIC system. * @@ -94,6 +93,7 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe timeSyncPort, location); try { tmp.bind(); + log.info("New infrastructure registration received with ID '{}'", infrastructureId); } catch (IOException e) { log.error("Failed to bind infrastructure instance with ID '{}' to its RX message socket: {}", infrastructureId, e.getMessage()); From 21a02ea74169fae74bf9107d9b24333fde76a675 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 20 Apr 2023 03:52:03 -0400 Subject: [PATCH 086/124] Updated missing initialize call --- .../ambassador/InfrastructureMessageAmbassador.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 356661e2..6f28a6c7 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -64,7 +64,7 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador private Thread v2xTimeRxBackgroundThread; private InfrastructureInstanceManager infrastructureInstanceManager = new InfrastructureInstanceManager(); - private InfrastructureTimeInterface infrastructureTimeInterface; + private InfrastructureTimeInterface infrastructureTimeInterface = new InfrastructureTimeInterface(infrastructureInstanceManager); private int timeSyncSeq = 0; @@ -162,6 +162,7 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i * * Note: This function should be called after the * onRsuRegistrationRequest + * @throws UnknownHostException */ private void onDsrcRegistrationRequest(String infrastructureId) { // Create an InterfaceConfiguration object to represent the configuration of the From a199f8f0e826ebad843e05caaa3c6ac02605ff12 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 20 Apr 2023 03:52:30 -0400 Subject: [PATCH 087/124] Updated missing initialize call and adjusted log level --- .../ambassador/InfrastructureTimeInterface.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java index 2ebe2174..e9b7df99 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeInterface.java @@ -19,6 +19,7 @@ import java.io.IOException; import org.slf4j.Logger; +import org.slf4j.LoggerFactory; import com.google.gson.Gson; @@ -27,7 +28,7 @@ public class InfrastructureTimeInterface { // set to false on init release private boolean await_infrastructure_advance_request = false; - protected Logger log; + private final Logger log = LoggerFactory.getLogger(this.getClass()); public InfrastructureTimeInterface(InfrastructureInstanceManager manager) { this.manager = manager; @@ -58,7 +59,7 @@ public byte[] encodeTimeMessage(InfrastructureTimeMessage message) { */ public void onTimeStepUpdate(InfrastructureTimeMessage message) throws IOException { if (this.manager.getManagedInstances().size() == 0) { - log.info("There are no registered instances"); + log.debug("There are no registered instances"); } for (InfrastructureInstance currentInstance : manager.getManagedInstances().values()) { From 81a64a9e8f76236fd0ad2802a6decca5b559b6d2 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Thu, 20 Apr 2023 10:07:50 -0400 Subject: [PATCH 088/124] Updated DSRC parameters --- .../ambassador/InfrastructureMessageAmbassador.java | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 6f28a6c7..dff13b70 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -37,7 +37,9 @@ import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; import java.io.IOException; +import java.net.Inet4Address; import java.net.InetAddress; +import java.net.UnknownHostException; import java.util.ArrayList; import java.util.HashMap; import java.util.List; @@ -164,15 +166,15 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i * onRsuRegistrationRequest * @throws UnknownHostException */ - private void onDsrcRegistrationRequest(String infrastructureId) { + private void onDsrcRegistrationRequest(String infrastructureId) throws UnknownHostException { // Create an InterfaceConfiguration object to represent the configuration of the // Ad-Hoc interface // Set the IP address and subnet mask to null for now // Set the transmit power to 50 dBm and the maximum range to 100 meters // NOTE: TODO Setup the IP address and subnet InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) - .ip(null) - .subnet(null) + .ip( (Inet4Address) Inet4Address.getByName("192.168.0.1") ) //TODO + .subnet((Inet4Address) Inet4Address.getByName("255.255.255.0")) //TODO .power(50) .radius(100.0) .create(); From f012c0613ae12fcc3870d9e93d5d86ef8fd5c2fe Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 24 Apr 2023 23:12:38 -0400 Subject: [PATCH 089/124] Completed doc --- .../ambassador/InfrastructureMessageAmbassador.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index dff13b70..2184e0e4 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -171,10 +171,9 @@ private void onDsrcRegistrationRequest(String infrastructureId) throws UnknownHo // Ad-Hoc interface // Set the IP address and subnet mask to null for now // Set the transmit power to 50 dBm and the maximum range to 100 meters - // NOTE: TODO Setup the IP address and subnet InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) - .ip( (Inet4Address) Inet4Address.getByName("192.168.0.1") ) //TODO - .subnet((Inet4Address) Inet4Address.getByName("255.255.255.0")) //TODO + .ip( (Inet4Address) Inet4Address.getByName("192.168.0.1") ) //TODO: set IP address if needed + .subnet((Inet4Address) Inet4Address.getByName("255.255.255.0")) //TODO: set subnet if needed .power(50) .radius(100.0) .create(); From 2f6e030bc8a54feb2fd240b934dc7474c1673c8c Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 24 Apr 2023 23:39:55 -0400 Subject: [PATCH 090/124] Fix port conflict --- .../ambassador/InfrastructureRegistrationReceiver.java | 2 +- .../ambassador/InfrastructureTimeMessageReceiver.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java index 7f8c2b06..cb763f06 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -40,7 +40,7 @@ public class InfrastructureRegistrationReceiver implements Runnable { private DatagramSocket listenSocket = null; private static final int listenPort = 1515; private boolean running = false; - private static final int UDP_MTU = 1535; + private static final int UDP_MTU = 1534; /** * Initialize the listen socket for messages from the Infrastructure Device NS-3 diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java index 038f5b38..3030f8c7 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java @@ -39,9 +39,9 @@ public class InfrastructureTimeMessageReceiver implements Runnable { private Queue> rxQueue = new LinkedList<>(); private DatagramSocket listenSocket = null; - private static final int listenPort = 1516; // TODO + private static final int listenPort = 1514; // TODO private boolean running = false; - private static final int UDP_MTU = 1535; // TOD OMaximum Transmission Unit + private static final int UDP_MTU = 1533; // TOD OMaximum Transmission Unit /** * Initialize the listen socket for messages from the Infrastructure Device NS-3 Adapter From b08542fb70680cda02ad41a2a32a611bd5f7e7e9 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 25 Apr 2023 00:23:30 -0400 Subject: [PATCH 091/124] Assigned and fix port conflict --- .../mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java | 2 +- .../ambassador/InfrastructureRegistrationReceiver.java | 2 +- .../ambassador/InfrastructureTimeMessageReceiver.java | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java index 222ff5cb..3db371f3 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java @@ -40,7 +40,7 @@ public class CarmaV2xMessageReceiver implements Runnable { private DatagramSocket listenSocket = null; private static final int listenPort = 1516; private boolean running = true; - private static final int UDP_MTU = 1535; + private static final int UDP_MTU = 1536; /** * Initialize the listen socket for messages from the CARMA Platform NS-3 Adapter diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java index cb763f06..75c93b62 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -38,7 +38,7 @@ public class InfrastructureRegistrationReceiver implements Runnable { private Queue rxQueue = new LinkedList<>(); private DatagramSocket listenSocket = null; - private static final int listenPort = 1515; + private static final int listenPort = 1615; private boolean running = false; private static final int UDP_MTU = 1534; diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java index 3030f8c7..3a05c6ff 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessageReceiver.java @@ -39,9 +39,9 @@ public class InfrastructureTimeMessageReceiver implements Runnable { private Queue> rxQueue = new LinkedList<>(); private DatagramSocket listenSocket = null; - private static final int listenPort = 1514; // TODO + private static final int listenPort = 1616; private boolean running = false; - private static final int UDP_MTU = 1533; // TOD OMaximum Transmission Unit + private static final int UDP_MTU = 1636; /** * Initialize the listen socket for messages from the Infrastructure Device NS-3 Adapter From 3865f5744bd8536498c0607e23cb1731a26a7e8e Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 25 Apr 2023 00:48:40 -0400 Subject: [PATCH 092/124] Added MOSAIC Town04 scenario for K900 test --- .../scenarios/Town04/application/Town04.db | Bin 0 -> 419840 bytes .../scenarios/Town04/carla/bridge.sh | 6 + .../scenarios/Town04/carla/carla_config.json | 6 + .../scenarios/Town04/carma/carma_config.json | 25 + .../infrastructure/infrastructure_config.json | 4 + .../Town04/mapping/mapping_config.json | 6 + .../scenarios/Town04/ns3/ns3_config.json | 20 + .../Town04/ns3/ns3_federate_config.xml | 93 + .../scenarios/Town04/output/output_config.xml | 204 + .../scenarios/Town04/scenario_config.json | 40 + .../scenarios/Town04/sumo/Town04.net.xml | 5373 +++++++++++++++++ .../scenarios/Town04/sumo/Town04.rou.xml | 16 + .../scenarios/Town04/sumo/Town04.sumocfg | 17 + .../scenarios/Town04/sumo/detector.xml | 19 + .../scenarios/Town04/sumo/sumo_config.json | 4 + 15 files changed, 5833 insertions(+) create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/application/Town04.db create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/carla/bridge.sh create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/carla/carla_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/carma/carma_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/infrastructure/infrastructure_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/mapping/mapping_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/ns3/ns3_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/ns3/ns3_federate_config.xml create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/output/output_config.xml create mode 100755 co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.net.xml create mode 100755 co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.sumocfg create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/detector.xml create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/sumo_config.json diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/application/Town04.db b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/application/Town04.db new file mode 100644 index 0000000000000000000000000000000000000000..627afa8dec3af4e6e94762085b60676e07cda12e GIT binary 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/output/output_config.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/output/output_config.xml new file mode 100644 index 00000000..5a71e921 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/output/output_config.xml @@ -0,0 +1,204 @@ + + + + + + output.csv + . + ; + + + + "VEHICLE_UPDATES" + Time + Updated:Name + Updated:Speed + Updated:Heading + Updated:Position.Latitude + Updated:Position.Longitude + Updated:Position.Altitude + Updated:DistanceDriven + Updated:LongitudinalAcceleration + Updated:Slope + Updated:Stopped + Updated:RouteId + Updated:RoadPosition.Connection.Id + Updated:RoadPosition.LaneIndex + Updated:VehicleEmissions.CurrentEmissions.Co2 + Updated:VehicleEmissions.CurrentEmissions.Co + Updated:VehicleEmissions.CurrentEmissions.Hc + Updated:VehicleEmissions.CurrentEmissions.Pmx + Updated:VehicleEmissions.CurrentEmissions.Nox + Updated:VehicleConsumptions.CurrentConsumptions.Fuel + Updated:VehicleEmissions.AllEmissions.Co2 + Updated:VehicleEmissions.AllEmissions.Co + Updated:VehicleEmissions.AllEmissions.Hc + Updated:VehicleEmissions.AllEmissions.Pmx + Updated:VehicleEmissions.AllEmissions.Nox + Updated:VehicleConsumptions.AllConsumptions.Fuel + Updated:VehicleSignals.BlinkerRight + Updated:VehicleSignals.BlinkerLeft + Updated:VehicleSignals.BrakeLight + + + + + "V2X_MESSAGE_RECEPTION" + Time + Type + MessageId + ReceiverName + ReceiverInformation.ReceiveSignalStrength + + + + + "V2X_MESSAGE_TRANSMISSION" + Time + Type + MessageId + SourceName + SourcePosition.Latitude + SourcePosition.Longitude + SourcePosition.Altitude + Message.Routing.Destination.Type + Message.Routing.Destination.Address.IPv4Address + Message.Routing.Destination.AdhocChannelId + + + + + "VEHICLE_REGISTRATION" + Time + Mapping.Name + Mapping.VehicleType.VehicleClass + Mapping.VehicleType.Color + Mapping.Group + Mapping.VehicleType.Length + Mapping.VehicleType.MinGap + Mapping.VehicleType.MaxSpeed + Mapping.VehicleType.Accel + Mapping.VehicleType.Decel + Mapping.VehicleType.Sigma + Mapping.VehicleType.Tau + Mapping.VehicleType.SpeedFactor + Departure.RouteId + Departure.DepartureLane + Departure.DeparturePos + + + + + "TRAFFICLIGHT_REGISTRATION" + Time + Mapping.Name + Mapping.Applications + TrafficLightGroup.FirstPosition.Latitude + TrafficLightGroup.FirstPosition.Longitude + + + + + "TRAFFICSIGN_REGISTRATION" + Time + TrafficSign.Id + TrafficSign.GeoPosition.Latitude + TrafficSign.GeoPosition.Longitude + TrafficSign.GeoPosition.Altitude + TrafficSign.Angle + TrafficSign.ConnectionId + TrafficSign.Lane + TrafficSign.TypeId + TrafficSign.SignContents + + + + + "CHANGE_SPEED" + Time + VehicleId + Type + Speed + Interval + Acceleration + + + + + "RSU_REGISTRATION" + Time + Mapping.Name + Mapping.Position.Latitude + Mapping.Position.Longitude + Mapping.Position.Altitude + Mapping.Group + Mapping.Applications + + + + + "ADHOC_CONFIGURATION" + Time + Configuration.NodeId + Configuration.RadioMode + Configuration.Conf0.NewIP + Configuration.Conf0.NewPower + Configuration.Conf0.Channel0 + Configuration.Conf0.Channel1 + Configuration.Conf1.NewIP + Configuration.Conf1.NewPower + Configuration.Conf1.Channel0 + Configuration.Conf1.Channel1 + + + + + "CELL_CONFIGURATION" + Time + Configuration.NodeId + Configuration.Enabled + Configuration.MaxDownlinkBitrate + Configuration.MaxUplinkBitrate + + + + + "DETECTOR_UPDATES" + Time + UpdatedInductionLoops:VehicleCount + UpdatedInductionLoops:MeanSpeed + UpdatedInductionLoops:TrafficFlow + UpdatedLaneAreaDetectors:Length + UpdatedLaneAreaDetectors:VehicleCount + UpdatedLaneAreaDetectors:MeanSpeed + + + + + "LANE_PROPERTY_CHANGE" + Time + EdgeId + LaneIndex + AllowedVehicleClasses + DisallowedVehicleClasses + MaxSpeed + + + + + + + true + 46587 + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json new file mode 100755 index 00000000..c70915d4 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json @@ -0,0 +1,40 @@ +{ + "simulation": { + "id": "Town04", + "duration": "600s", + "randomSeed": 212323853, + "projection": { + "centerCoordinates": { + "latitude": 52.63, + "longitude": 13.56 + }, + "cartesianOffset": { + "x": 503.02, + "y": 423.76 + } + }, + "network": { + "netMask": "255.255.0.0", + "vehicleNet": "10.1.0.0", + "rsuNet": "10.2.0.0", + "tlNet": "10.3.0.0", + "csNet": "10.4.0.0", + "serverNet": "10.5.0.0", + "tmcNet": "10.6.0.0" + } + }, + "federates": { + "application": true, + "cell": false, + "environment": false, + "sns": false, + "ns3": true, + "omnetpp": false, + "output": false, + "sumo": true, + "carla": true, + "carma": true, + "infrastructure": true + + } +} diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.net.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.net.xml new file mode 100644 index 00000000..46d8e7a9 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.net.xml @@ -0,0 +1,5373 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml new file mode 100755 index 00000000..351f1680 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.sumocfg b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.sumocfg new file mode 100644 index 00000000..f22dda7c --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.sumocfg @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/detector.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/detector.xml new file mode 100644 index 00000000..d39b9527 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/detector.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/sumo_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/sumo_config.json new file mode 100644 index 00000000..413def8c --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/sumo_config.json @@ -0,0 +1,4 @@ +{ + "sumoConfigurationFile": "Town04.sumocfg", + "updateInterval": 100 +} From 55d7ae02263a041f14b1b1c978b681eb6cecef45 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 25 Apr 2023 00:49:20 -0400 Subject: [PATCH 093/124] Update InfrastructureRegistrationReceiver.java --- .../ambassador/InfrastructureRegistrationReceiver.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java index 75c93b62..3437535f 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -40,7 +40,7 @@ public class InfrastructureRegistrationReceiver implements Runnable { private DatagramSocket listenSocket = null; private static final int listenPort = 1615; private boolean running = false; - private static final int UDP_MTU = 1534; + private static final int UDP_MTU = 1635; /** * Initialize the listen socket for messages from the Infrastructure Device NS-3 From 064633572e6ce9fe08747242b9d9765ca8ad3645 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 25 Apr 2023 00:57:39 -0400 Subject: [PATCH 094/124] Update InfrastructureRegistrationReceiverTest.java --- .../ambassador/InfrastructureRegistrationReceiverTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java index 183db72b..2cd893c5 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java @@ -29,7 +29,7 @@ public class InfrastructureRegistrationReceiverTest { - private static final int TEST_PORT = 1515; + private static final int TEST_PORT = 1615; private DatagramSocket sendSocket; private InfrastructureRegistrationReceiver receiver; From 509d4a758e188afdbad1a1459e717f9fe61c5708 Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Tue, 25 Apr 2023 09:17:26 -0400 Subject: [PATCH 095/124] Migrate logic for v2x messaging from platform to infrastructure (#127) Refactored existing logic into new maven module to re-use for infrastructure ambassador # PR Details ## Description ## Related Issue ## Motivation and Context Migrating the v2x-message reception logic into a shared library so it can be easily incorporated into the infrastructure ambassador without code duplication. ## How Has This Been Tested? Hasn't been tested yet, original module wasn't unit tested so I'll write some tonight but wanted to get this review out before COB. ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [x] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [x] I have added any new packages to the sonar-scanner.properties file - [] My change requires a change to the documentation. - [x] I have updated the documentation accordingly. - [x] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [x] All new and existing tests passed. --- co-simulation/NOTICE-THIRD-PARTY.md | 8 +++ co-simulation/fed/mosaic-carma/pom.xml | 5 ++ .../ambassador/CarmaInstanceManager.java | 15 ++--- .../ambassador/CarmaMessageAmbassador.java | 35 +++++----- .../fed/mosaic-infrastructure/pom.xml | 5 ++ .../InfrastructureInstanceManager.java | 48 ++++++++++--- .../InfrastructureMessageAmbassador.java | 67 ++++++++++++------- .../InfrastructureMessageAmbassadorTest.java | 18 ++--- co-simulation/lib/mosaic-carma-utils/pom.xml | 53 +++++++++++++++ .../gov/dot/fhwa/saxton}/CarmaV2xMessage.java | 2 +- .../fhwa/saxton}/CarmaV2xMessageReceiver.java | 25 ++++++- co-simulation/pom.xml | 1 + 12 files changed, 211 insertions(+), 71 deletions(-) create mode 100644 co-simulation/lib/mosaic-carma-utils/pom.xml rename co-simulation/{fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador => lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton}/CarmaV2xMessage.java (99%) rename co-simulation/{fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador => lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton}/CarmaV2xMessageReceiver.java (79%) diff --git a/co-simulation/NOTICE-THIRD-PARTY.md b/co-simulation/NOTICE-THIRD-PARTY.md index 2f8c463d..3f1d33c3 100644 --- a/co-simulation/NOTICE-THIRD-PARTY.md +++ b/co-simulation/NOTICE-THIRD-PARTY.md @@ -245,6 +245,14 @@ Logback Core Module (1.2.3) * Source: https://github.com/ceki/logback/logback-core +mosaic-carma-utils (22.1-SNAPSHOT) + + * License: Eclipse Public License - v 2.0 + * Maven artifact: `gov.dot.fhwa.saxton:mosaic-carma-utils:22.1-SNAPSHOT` + * Project: not available + * Source: https://github.com/eclipse/mosaic/lib/mosaic-carma-utils + + org.leadpony.justify (1.1.0) * License: The Apache Software License, Version 2.0 diff --git a/co-simulation/fed/mosaic-carma/pom.xml b/co-simulation/fed/mosaic-carma/pom.xml index 59b560b4..8e14a5a6 100644 --- a/co-simulation/fed/mosaic-carma/pom.xml +++ b/co-simulation/fed/mosaic-carma/pom.xml @@ -25,6 +25,11 @@ mosaic-objects ${mosaic.version} + + gov.dot.fhwa.saxton + mosaic-carma-utils + ${mosaic.version} + com.google.code.gson gson diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java index 409b49a1..02b511bf 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java @@ -16,14 +16,7 @@ package org.eclipse.mosaic.fed.carma.ambassador; -import java.io.IOException; -import java.net.InetAddress; -import java.net.SocketException; -import java.net.UnknownHostException; -import java.util.HashMap; -import java.util.Map; - -import org.eclipse.mosaic.fed.carma.ambassador.CarmaRegistrationMessage; +import gov.dot.fhwa.saxton.CarmaV2xMessage; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; import org.eclipse.mosaic.lib.enums.AdHocChannel; @@ -33,6 +26,12 @@ import org.eclipse.mosaic.lib.objects.v2x.MessageRouting; import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; +import java.io.IOException; +import java.net.InetAddress; +import java.net.UnknownHostException; +import java.util.HashMap; +import java.util.Map; + /** * Session management class for CARMA Platform instances communicating with MOSAIC */ diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java index fe8fe979..5a1fa2ef 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java @@ -13,42 +13,37 @@ package org.eclipse.mosaic.fed.carma.ambassador; +import gov.dot.fhwa.saxton.CarmaV2xMessage; +import gov.dot.fhwa.saxton.CarmaV2xMessageReceiver; +import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel; +import org.eclipse.mosaic.fed.carma.configuration.CarmaConfiguration; +import org.eclipse.mosaic.fed.carma.configuration.CarmaVehicleConfiguration; +import org.eclipse.mosaic.interactions.application.CarmaV2xMessageReception; +import org.eclipse.mosaic.interactions.application.ExternalMessage; import org.eclipse.mosaic.interactions.communication.V2xMessageReception; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; +import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; +import org.eclipse.mosaic.interactions.vehicle.VehicleFederateAssignment; +import org.eclipse.mosaic.lib.enums.DriveDirection; import org.eclipse.mosaic.lib.misc.Tuple; -import org.eclipse.mosaic.lib.objects.addressing.DestinationAddressContainer; import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; -import org.eclipse.mosaic.lib.objects.v2x.MessageRouting; import org.eclipse.mosaic.lib.objects.v2x.V2xMessage; +import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; +import org.eclipse.mosaic.lib.objects.vehicle.VehicleDeparture; +import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; import org.eclipse.mosaic.rti.TIME; import org.eclipse.mosaic.rti.api.AbstractFederateAmbassador; import org.eclipse.mosaic.rti.api.IllegalValueException; +import org.eclipse.mosaic.rti.api.Interaction; import org.eclipse.mosaic.rti.api.InternalFederateException; import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; -import org.eclipse.mosaic.fed.carma.ambassador.CarmaRegistrationMessage; - -import org.eclipse.mosaic.fed.carma.configuration.CarmaConfiguration; -import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel; -import org.eclipse.mosaic.fed.carma.configuration.CarmaVehicleConfiguration; - +import javax.xml.bind.DatatypeConverter; import java.net.InetAddress; import java.util.ArrayList; import java.util.HashMap; import java.util.List; -import org.eclipse.mosaic.rti.api.Interaction; -import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; -import org.eclipse.mosaic.lib.objects.vehicle.VehicleDeparture; -import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; -import org.eclipse.mosaic.interactions.application.CarmaV2xMessageReception; -import org.eclipse.mosaic.interactions.application.ExternalMessage; -import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; -import org.eclipse.mosaic.interactions.vehicle.VehicleFederateAssignment; -import org.eclipse.mosaic.lib.enums.DriveDirection; - -import javax.xml.bind.DatatypeConverter; - /** * Implementation of a {@link AbstractFederateAmbassador} for CARMA message * ambassador. diff --git a/co-simulation/fed/mosaic-infrastructure/pom.xml b/co-simulation/fed/mosaic-infrastructure/pom.xml index 011094c7..49fe34bc 100644 --- a/co-simulation/fed/mosaic-infrastructure/pom.xml +++ b/co-simulation/fed/mosaic-infrastructure/pom.xml @@ -25,6 +25,11 @@ mosaic-objects ${mosaic.version} + + gov.dot.fhwa.saxton + mosaic-carma-utils + ${mosaic.version} + org.eclipse.mosaic mosaic-interactions diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 23e499dd..6539fde8 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -16,21 +16,23 @@ package org.eclipse.mosaic.fed.infrastructure.ambassador; -import java.io.IOException; -import java.net.InetAddress; -import java.net.SocketException; -import java.net.UnknownHostException; -import java.util.HashMap; -import java.util.Map; - -import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; +import gov.dot.fhwa.saxton.CarmaV2xMessage; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.lib.enums.AdHocChannel; import org.eclipse.mosaic.lib.geo.GeoPoint; - +import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder; +import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xContent; +import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; +import org.eclipse.mosaic.lib.objects.v2x.MessageRouting; import org.slf4j.Logger; import org.slf4j.LoggerFactory; +import java.io.IOException; +import java.net.InetAddress; +import java.net.UnknownHostException; +import java.util.HashMap; +import java.util.Map; + /** * Session management class for Infrastructure instances communicating with * MOSAIC. @@ -102,6 +104,34 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe managedInstances.put(infrastructureId, tmp); } + /** + * Callback to be invoked when CARMA Platform receives a V2X Message from the NS-3 simulation + * @param sourceAddr The V2X Message received + * @param txMsg The Host ID of the vehicle receiving the data + * @throws RuntimeException If the socket used to communicate with the platform experiences failure + */ + public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMessage txMsg) { + InfrastructureInstance sender = null; + for (InfrastructureInstance ci : managedInstances.values()) { + if (ci.getTargetAddress().equals(sourceAddr)) { + sender = ci; + } + } + + if (sender == null) { + // Unregistered instance attempting to send messages + throw new IllegalStateException("Unregistered CARMA Platform instance attempting to send messages via MOSAIC"); + } + + AdHocMessageRoutingBuilder messageRoutingBuilder = new AdHocMessageRoutingBuilder( + sender.getInfrastructureId(), sender.getLocation()).viaChannel(AdHocChannel.CCH); + + MessageRouting routing = messageRoutingBuilder.topoBroadCast(1); + + return new V2xMessageTransmission((long) currentSimulationTime, new ExternalV2xMessage(routing, + new ExternalV2xContent((long) currentSimulationTime, sender.getLocation(), txMsg.getPayload()))); + } + /** * External helper function to allow the ambassador to check if a given vehicle * ID is a registered CARMA Platform instance diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 356661e2..74d9da70 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -16,30 +16,30 @@ package org.eclipse.mosaic.fed.infrastructure.ambassador; -import org.eclipse.mosaic.rti.TIME; -import org.eclipse.mosaic.rti.api.AbstractFederateAmbassador; -import org.eclipse.mosaic.rti.api.IllegalValueException; -import org.eclipse.mosaic.rti.api.Interaction; -import org.eclipse.mosaic.rti.api.InternalFederateException; -import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; +import gov.dot.fhwa.saxton.CarmaV2xMessage; +import gov.dot.fhwa.saxton.CarmaV2xMessageReceiver; import org.eclipse.mosaic.fed.infrastructure.configuration.InfrastructureConfiguration; +import org.eclipse.mosaic.interactions.application.ExternalMessage; +import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; +import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; +import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; +import org.eclipse.mosaic.interactions.mapping.RsuRegistration; import org.eclipse.mosaic.lib.enums.AdHocChannel; import org.eclipse.mosaic.lib.geo.GeoPoint; +import org.eclipse.mosaic.lib.misc.Tuple; import org.eclipse.mosaic.lib.objects.communication.AdHocConfiguration; import org.eclipse.mosaic.lib.objects.communication.InterfaceConfiguration; import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; -import org.eclipse.mosaic.interactions.application.ExternalMessage; -import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; -import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; -import org.eclipse.mosaic.interactions.mapping.RsuRegistration; - -import java.util.Collections; -import org.eclipse.mosaic.fed.infrastructure.ambassador.InfrastructureRegistrationMessage; +import org.eclipse.mosaic.rti.TIME; +import org.eclipse.mosaic.rti.api.AbstractFederateAmbassador; +import org.eclipse.mosaic.rti.api.IllegalValueException; +import org.eclipse.mosaic.rti.api.Interaction; +import org.eclipse.mosaic.rti.api.InternalFederateException; +import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; import java.io.IOException; import java.net.InetAddress; -import java.util.ArrayList; -import java.util.HashMap; +import java.util.Collections; import java.util.List; /** @@ -60,8 +60,9 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador private InfrastructureRegistrationReceiver infrastructureRegistrationReceiver; private Thread registrationRxBackgroundThread; - private InfrastructureTimeMessageReceiver infrastructureTimeMessageReceiver; - private Thread v2xTimeRxBackgroundThread; + + private CarmaV2xMessageReceiver v2xMessageReceiver = new CarmaV2xMessageReceiver(1515); + private Thread v2xMessageBackgroundThread; private InfrastructureInstanceManager infrastructureInstanceManager = new InfrastructureInstanceManager(); private InfrastructureTimeInterface infrastructureTimeInterface; @@ -106,18 +107,24 @@ public InfrastructureMessageAmbassador(AmbassadorParameter ambassadorParameter) public void initialize(long startTime, long endTime) throws InternalFederateException { super.initialize(startTime, endTime); currentSimulationTime = startTime; - try { - rti.requestAdvanceTime(currentSimulationTime, 0, (byte) 1); - } catch (IllegalValueException e) { - log.error("Error during advanceTime request", e); - throw new InternalFederateException(e); - } infrastructureRegistrationReceiver = new InfrastructureRegistrationReceiver(); infrastructureRegistrationReceiver.init(); registrationRxBackgroundThread = new Thread(infrastructureRegistrationReceiver); registrationRxBackgroundThread.start(); + // TODO: Port 1517 assumed to be available. Need to double check. + v2xMessageReceiver = new CarmaV2xMessageReceiver(1517); + v2xMessageReceiver.init(); + v2xMessageBackgroundThread = new Thread(v2xMessageReceiver); + v2xMessageBackgroundThread.start(); + + try { + rti.requestAdvanceTime(currentSimulationTime, 0, (byte) 1); + } catch (IllegalValueException e) { + log.error("Error during advanceTime request", e); + throw new InternalFederateException(e); + } } /** @@ -245,6 +252,12 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder onDsrcRegistrationRequest(reg.getInfrastructureId()); } + List> newMessages = v2xMessageReceiver.getReceivedMessages(); + for (Tuple msg : newMessages) { + V2xMessageTransmission msgInt = infrastructureInstanceManager.onV2XMessageTx(msg.getA(), msg.getB()); + this.rti.triggerInteraction(msgInt); + } + timeSyncSeq += 1; InfrastructureTimeMessage timeSyncMessage = new InfrastructureTimeMessage(); timeSyncMessage.setSeq(timeSyncSeq); @@ -304,4 +317,12 @@ public boolean isTimeConstrained() { public boolean isTimeRegulating() { return false; } + + /** + * Test helper function to cleanup sockets and threads. + */ + protected void close() { + v2xMessageReceiver.stop(); + infrastructureRegistrationReceiver.stop(); + } } diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java index 99c5e75f..07014bb7 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java @@ -16,28 +16,25 @@ package org.eclipse.mosaic.fed.infrastructure.ambassador; -import org.junit.Test; -import static org.mockito.ArgumentMatchers.eq; -import static org.mockito.Mockito.mock; -import static org.mockito.Mockito.times; -import static org.mockito.Mockito.verify; -import static org.mockito.Mockito.when; - import org.eclipse.mosaic.lib.util.junit.TestFileRule; import org.eclipse.mosaic.rti.TIME; import org.eclipse.mosaic.rti.api.RtiAmbassador; import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; import org.eclipse.mosaic.rti.api.parameters.FederateDescriptor; import org.eclipse.mosaic.rti.config.CLocalHost; - +import org.junit.After; import org.junit.Before; import org.junit.Rule; +import org.junit.Test; import org.junit.rules.RuleChain; import org.junit.rules.TemporaryFolder; import java.io.File; import java.io.IOException; +import static org.mockito.ArgumentMatchers.eq; +import static org.mockito.Mockito.*; + /** * Tests for {@link InfrastructureMessageAmbassador}. */ @@ -79,6 +76,11 @@ public void setup() throws IOException { ambassador.setFederateDescriptor(handleMock); } + @After + public void teardown() throws IOException { + ambassador.close(); + } + @Test public void initialize() throws Throwable { diff --git a/co-simulation/lib/mosaic-carma-utils/pom.xml b/co-simulation/lib/mosaic-carma-utils/pom.xml new file mode 100644 index 00000000..cd4b087c --- /dev/null +++ b/co-simulation/lib/mosaic-carma-utils/pom.xml @@ -0,0 +1,53 @@ + + + 4.0.0 + + org.eclipse.mosaic + mosaic-parent + 22.1-SNAPSHOT + ../../pom.xml + + + gov.dot.fhwa.saxton + mosaic-carma-utils + + + + org.eclipse.mosaic + mosaic-rti-api + ${mosaic.version} + + + org.eclipse.mosaic + mosaic-objects + ${mosaic.version} + + + org.eclipse.mosaic + mosaic-interactions + ${mosaic.version} + + + org.eclipse.mosaic + mosaic-utils + ${mosaic.version} + + + org.eclipse.mosaic + mosaic-geomath + ${mosaic.version} + + + ch.qos.logback + logback-classic + + + junit + junit + 4.11 + test + + + \ No newline at end of file diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessage.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java similarity index 99% rename from co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessage.java rename to co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java index 9ce2cff4..91ce3e0c 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessage.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java @@ -14,7 +14,7 @@ * the License. */ -package org.eclipse.mosaic.fed.carma.ambassador; +package gov.dot.fhwa.saxton; import java.net.InetAddress; import java.nio.charset.StandardCharsets; diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java similarity index 79% rename from co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java rename to co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java index 222ff5cb..08ab0939 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaV2xMessageReceiver.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java @@ -14,7 +14,7 @@ * the License. */ -package org.eclipse.mosaic.fed.carma.ambassador; +package gov.dot.fhwa.saxton; import org.eclipse.mosaic.lib.misc.Tuple; @@ -38,10 +38,31 @@ public class CarmaV2xMessageReceiver implements Runnable { private Queue> rxQueue = new LinkedList<>(); private DatagramSocket listenSocket = null; - private static final int listenPort = 1516; + private int listenPort; private boolean running = true; private static final int UDP_MTU = 1535; + /** + * Default constructor added to preserve prior behavior after refactor into new package for re-use in Infrastructure + * Ambassador. + * + * Assumes a desired listen port of 1516. + */ + public CarmaV2xMessageReceiver() { + this.listenPort = 1516; + } + + /** + * Recommended constructor for CarmaV2XMessageReceiver. + * + * @param listenPort The host port that should be used to bind a UDP socket for receiving V2X message transmission + * events from connected CARMA software instances. An exception will be thrown in init() if this + * port is unavailable or socket binding fails for other reasons. + */ + public CarmaV2xMessageReceiver(int listenPort) { + this.listenPort = listenPort; + } + /** * Initialize the listen socket for messages from the CARMA Platform NS-3 Adapter * @throws RuntimeException iff socket instantiation fails diff --git a/co-simulation/pom.xml b/co-simulation/pom.xml index 34dc9d97..6ca1e3c5 100644 --- a/co-simulation/pom.xml +++ b/co-simulation/pom.xml @@ -80,6 +80,7 @@ app/tutorials/traffic-light-communication app/tutorials/weather-warning app/tutorials/external-communication + lib/mosaic-carma-utils From 8d632d9aa7f9e17f07f7922d633d73468035c630 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 25 Apr 2023 10:12:31 -0400 Subject: [PATCH 096/124] Added log when infrastructure instance message being received --- .../ambassador/InfrastructureRegistrationReceiver.java | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java index 3437535f..246d8d38 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiver.java @@ -24,8 +24,13 @@ import java.util.LinkedList; import java.util.List; import java.util.Queue; + + import com.google.gson.Gson; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + /** * Worker thread Runnable for operating a listen socket to receive outbound * Infrastructure Messages from Infrastructure Device instances @@ -41,6 +46,7 @@ public class InfrastructureRegistrationReceiver implements Runnable { private static final int listenPort = 1615; private boolean running = false; private static final int UDP_MTU = 1635; + private final Logger log = LoggerFactory.getLogger(this.getClass()); /** * Initialize the listen socket for messages from the Infrastructure Device NS-3 @@ -82,6 +88,7 @@ public void run() { // Enqueue message for processing on main thread synchronized (rxQueue) { + log.info("New Infrastructure instance '{}' received with Infrastructure Registration Receiver.", parsedMessage.getInfrastructureId()); rxQueue.add(parsedMessage); } } From bc15efab653d353bfcabdfc01fc9a4bb8fbfc895 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Tue, 25 Apr 2023 10:14:04 -0400 Subject: [PATCH 097/124] Rephrased log to make it clearer --- .../ambassador/InfrastructureInstanceManager.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 5e8828ae..0b84fd2b 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -93,7 +93,7 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe timeSyncPort, location); try { tmp.bind(); - log.info("New infrastructure registration received with ID '{}'", infrastructureId); + log.info("New Infrastructure instance '{}' registered with Infrastructure Instance Manager.", infrastructureId); } catch (IOException e) { log.error("Failed to bind infrastructure instance with ID '{}' to its RX message socket: {}", infrastructureId, e.getMessage()); From eab7859a7d5b62997f0d518456ba96e6d511c2c4 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Tue, 25 Apr 2023 15:39:23 -0400 Subject: [PATCH 098/124] Added log to CARMA vehicle registration receiver --- .../fed/carma/ambassador/CarmaRegistrationReceiver.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java index 6d419d5c..7ea8ae95 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java @@ -26,6 +26,8 @@ import java.util.List; import java.util.Queue; import com.google.gson.Gson; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; /** * Worker thread Runnable for operating a listen socket to receive outbound V2X Messages from CARMA Platform instances @@ -39,6 +41,7 @@ public class CarmaRegistrationReceiver implements Runnable { private static final int listenPort = 1515; private boolean running = true; private static final int UDP_MTU = 1535; + private final Logger log = LoggerFactory.getLogger(this.getClass()); /** * Initialize the listen socket for messages from the CARMA Platform NS-3 Adapter @@ -70,6 +73,7 @@ public void run() { // Enqueue message for processing on main thread synchronized (rxQueue) { + log.info("New Infrastructure instance '{}' received with Infrastructure Registration Receiver.", parsedMessage.getCarmaVehicleId()); rxQueue.add(parsedMessage); } } From 224ee63f4ff967ba16b3be9c90b0889a112e9c24 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 26 Apr 2023 12:06:06 -0400 Subject: [PATCH 099/124] Updated Town04 test scenario --- .../scenarios/Town04/carma/carma_config.json | 27 +++---------------- .../infrastructure/infrastructure_config.json | 3 +-- 2 files changed, 4 insertions(+), 26 deletions(-) diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/carma/carma_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/carma/carma_config.json index 7a49b85b..31046b6a 100644 --- a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/carma/carma_config.json +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/carma/carma_config.json @@ -1,25 +1,4 @@ { - "updateInterval": 100, - "carmaVehicles":[ -{ - "routeID": "0", - "lane": 1, - "position": 0, - "departSpeed": 0, - "vehicleType": "vehicle.chevrolet.impala", - "applications":["org.eclipse.mosaic.app.tutorial.VehicleCommunicationApp"], - "geoPosition": { - "latitude": 52.579272059028646, - "longitude": 13.467165499469328 - }, - "projectedPosition": - { - "x": 501.62, - "y": 116.95 - }, - - "heading": 24.204351784500364, - "slope": 0.0 -}], -"senderCarmaVehicleId":"carma_0" -} + "updateInterval": 100, + "carmaVehicles": [] +} \ No newline at end of file diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/infrastructure/infrastructure_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/infrastructure/infrastructure_config.json index 179bfc13..196145f7 100644 --- a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/infrastructure/infrastructure_config.json +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/infrastructure/infrastructure_config.json @@ -1,4 +1,3 @@ { - "updateInterval": 1000, - "senderRSUId": "rsu_0" + "updateInterval": 100 } From 49f0caa2420dee6d9f5383ddb2bb9edff14fdb3a Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 26 Apr 2023 12:07:10 -0400 Subject: [PATCH 100/124] Fixed the dependency issue (modified by Kyle) --- co-simulation/bundle/pom.xml | 7 ++++++- co-simulation/bundle/src/assembly/mosaic-bundle.xml | 1 + 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/co-simulation/bundle/pom.xml b/co-simulation/bundle/pom.xml index 6b17b9df..a411a546 100644 --- a/co-simulation/bundle/pom.xml +++ b/co-simulation/bundle/pom.xml @@ -37,6 +37,11 @@ + + gov.dot.fhwa.saxton + mosaic-carma-utils + ${mosaic.version} + org.eclipse.mosaic mosaic-objects @@ -257,4 +262,4 @@ - + \ No newline at end of file diff --git a/co-simulation/bundle/src/assembly/mosaic-bundle.xml b/co-simulation/bundle/src/assembly/mosaic-bundle.xml index d7444c27..5381df6b 100644 --- a/co-simulation/bundle/src/assembly/mosaic-bundle.xml +++ b/co-simulation/bundle/src/assembly/mosaic-bundle.xml @@ -108,6 +108,7 @@ lib/mosaic org.eclipse.mosaic:mosaic-* + gov.dot.fhwa.saxton:mosaic-carma-utils From 2ae1ac50b9862fbba72cc84eeb9aab3aaabdc41f Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Wed, 26 Apr 2023 13:46:12 -0400 Subject: [PATCH 101/124] Add more descriptive comments to onDsrcRegistrationRequest method --- .../InfrastructureMessageAmbassador.java | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index cb059ed7..980ccda2 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -69,7 +69,8 @@ public class InfrastructureMessageAmbassador extends AbstractFederateAmbassador private Thread v2xMessageBackgroundThread; private InfrastructureInstanceManager infrastructureInstanceManager = new InfrastructureInstanceManager(); - private InfrastructureTimeInterface infrastructureTimeInterface = new InfrastructureTimeInterface(infrastructureInstanceManager); + private InfrastructureTimeInterface infrastructureTimeInterface = new InfrastructureTimeInterface( + infrastructureInstanceManager); private int timeSyncSeq = 0; @@ -178,11 +179,13 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i private void onDsrcRegistrationRequest(String infrastructureId) throws UnknownHostException { // Create an InterfaceConfiguration object to represent the configuration of the // Ad-Hoc interface - // Set the IP address and subnet mask to null for now - // Set the transmit power to 50 dBm and the maximum range to 100 meters + // TODO: Replace the IP address of the ad-hoc interface if necessary + // TODO: Replace the subnet mask of the ad-hoc interface if necessary + // TODO: Replace the transmit power of the ad-hoc interface (in dBm) if necessary + // TODO: Replace the communication range of the ad-hoc interface (in meters) if necessary InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) - .ip( (Inet4Address) Inet4Address.getByName("192.168.0.1") ) //TODO: set IP address if needed - .subnet((Inet4Address) Inet4Address.getByName("255.255.255.0")) //TODO: set subnet if needed + .ip((Inet4Address) Inet4Address.getByName("192.168.0.1")) + .subnet((Inet4Address) Inet4Address.getByName("255.255.255.0")) .power(50) .radius(100.0) .create(); @@ -207,6 +210,7 @@ private void onDsrcRegistrationRequest(String infrastructureId) throws UnknownHo } } + /** * Performs registration of a new infrastructure instance and sets up * communication interfaces. From 8655813597339691dff9e0410b7311118eb95f7d Mon Sep 17 00:00:00 2001 From: paulbourelly999 <77466294+paulbourelly999@users.noreply.github.com> Date: Wed, 26 Apr 2023 16:24:40 -0400 Subject: [PATCH 102/124] Fixed Infrastructure Time message to use timestep in milliseconds (#129) # PR Details ## Description Updated infrastructure time message to use millisecond timestep instead of nanosecond time step since that is what V2X-Hub and CARMA-Streets expect and we do not do any nanosecond level logic on infrastructure. ## Related Issue ## Motivation and Context Fix bugs related to V2X-Hub/CARMA Streets Time Synchronization ## How Has This Been Tested? ## Types of changes - [ x] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] I have added any new packages to the sonar-scanner.properties file - [ x] My change requires a change to the documentation. - [ x] I have updated the documentation accordingly. - [x ] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. --- .../ambassador/InfrastructureMessageAmbassador.java | 5 +++-- .../infrastructure/ambassador/InfrastructureTimeMessage.java | 2 ++ 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 980ccda2..4b79d82f 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -236,7 +236,7 @@ private void onRsuRegistrationRequest(String infrastructureId, GeoPoint location * time advance to the federate. Any unprocessed interactions are forwarded to * the federate using the processInteraction method before this call is made. * - * @param time The timestamp indicating the time to which the federate can + * @param time The timestamp (in nanoseconds) indicating the time to which the federate can * advance its local time. */ @Override @@ -269,7 +269,8 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder timeSyncSeq += 1; InfrastructureTimeMessage timeSyncMessage = new InfrastructureTimeMessage(); timeSyncMessage.setSeq(timeSyncSeq); - timeSyncMessage.setTimestep(currentSimulationTime); + // nanoseconds to milliseconds for InfrastructureTimeMessage + timeSyncMessage.setTimestep(currentSimulationTime/1000000); infrastructureTimeInterface.onTimeStepUpdate(timeSyncMessage); // TODO: Handle any queued V2X message receiver's received messages diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java index 821aed0b..85eff91b 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureTimeMessage.java @@ -25,7 +25,9 @@ * */ public class InfrastructureTimeMessage { + // Timestamp in milliseconds private long timestep; + // Sequence number for time message private int seq; public InfrastructureTimeMessage() { From 4bedd5c68eec30da064dc1f2f3bc3aaee3892f67 Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Thu, 27 Apr 2023 12:40:57 -0700 Subject: [PATCH 103/124] Resolve parser tokenization error in CarmaV2xMessage. Parser for AMF format was incorrectly tokenizing on '=' instead of also on linebreaks --- .../gov/dot/fhwa/saxton/CarmaV2xMessage.java | 13 +++++++- .../dot/fhwa/saxton/CarmaV2xMessageTest.java | 32 +++++++++++++++++++ 2 files changed, 44 insertions(+), 1 deletion(-) create mode 100644 co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java diff --git a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java index 91ce3e0c..7f78890d 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java @@ -18,6 +18,8 @@ import java.net.InetAddress; import java.nio.charset.StandardCharsets; +import java.util.Arrays; +import java.util.regex.Pattern; /** * Message to be sent or received by the CARMA Platform NS-3 Adapater interface @@ -122,7 +124,16 @@ public boolean isEncryption() { */ private void parseV2xMessage(byte[] buf) { String msg = new String(buf, StandardCharsets.UTF_8); - String[] msgParts = msg.split("="); + + // Modeled after Stackoverflow answer by user Eritrean: https://stackoverflow.com/users/5176992/eritrean + // On Question: https://stackoverflow.com/questions/61029164/how-to-split-string-by-comma-and-newline-n-in-java + // Asked by user: https://stackoverflow.com/users/12315939/kopite1905 + // Used under CC BY-SA 4.0 license: https://creativecommons.org/licenses/by-sa/4.0/ + String[] msgParts = Pattern.compile("\\R") + .splitAsStream(msg) + .map(s -> s.split("=")) + .flatMap(Arrays::stream) + .toArray(String[]::new); for (int i = 0; i < msgParts.length; i++) { if (msgParts[i].equals("Version")) { diff --git a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java new file mode 100644 index 00000000..ecbb5300 --- /dev/null +++ b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java @@ -0,0 +1,32 @@ +package gov.dot.fhwa.saxton; + +import org.junit.Before; +import org.junit.Test; + +public class CarmaV2xMessageTest { + + private final String sampleMessage = "Version=0.7\n" + +"Type=BSM\n" + +"PSID=0020\n" + +"Priority=6\n" + +"TxMode=ALT\n" + +"TxChannel=172\n" + +"TxInterval=0\n" + +"DeliveryStart=\n" + +"DeliveryStop=\n" + +"Signature=False\n" + +"Encryption=False\n" + +"Payload=00142500400000000f0e35a4e900eb49d20000007fffffff8ffff080fdfa1fa1007fff8000960fa0\n"; + + @Before + public void setUp() throws Exception { + //manager = new InfrastructureInstanceManager(); + //registration = mock(InfrastructureRegistrationMessage.class); + } + + @Test + public void testCarmaV2xMessageParse() { + CarmaV2xMessage test = new CarmaV2xMessage(sampleMessage.getBytes()); + } + +} From fea19145fcf09d689a9977487878f731425910de Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Thu, 27 Apr 2023 12:42:23 -0700 Subject: [PATCH 104/124] Cleanup test file --- .../dot/fhwa/saxton/CarmaV2xMessageTest.java | 44 +++++++++++++------ 1 file changed, 30 insertions(+), 14 deletions(-) diff --git a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java index ecbb5300..28a68dda 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java +++ b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java @@ -1,3 +1,19 @@ +/* + * Copyright (C) 2019-2022 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + package gov.dot.fhwa.saxton; import org.junit.Before; @@ -5,28 +21,28 @@ public class CarmaV2xMessageTest { - private final String sampleMessage = "Version=0.7\n" + -"Type=BSM\n" + -"PSID=0020\n" + -"Priority=6\n" + -"TxMode=ALT\n" + -"TxChannel=172\n" + -"TxInterval=0\n" + -"DeliveryStart=\n" + -"DeliveryStop=\n" + -"Signature=False\n" + -"Encryption=False\n" + -"Payload=00142500400000000f0e35a4e900eb49d20000007fffffff8ffff080fdfa1fa1007fff8000960fa0\n"; + private final String sampleMessage = + "Version=0.7\n" + + "Type=BSM\n" + + "PSID=0020\n" + + "Priority=6\n" + + "TxMode=ALT\n" + + "TxChannel=172\n" + + "TxInterval=0\n" + + "DeliveryStart=\n" + + "DeliveryStop=\n" + + "Signature=False\n" + + "Encryption=False\n" + + "Payload=00142500400000000f0e35a4e900eb49d20000007fffffff8ffff080fdfa1fa1007fff8000960fa0\n"; @Before public void setUp() throws Exception { - //manager = new InfrastructureInstanceManager(); - //registration = mock(InfrastructureRegistrationMessage.class); } @Test public void testCarmaV2xMessageParse() { CarmaV2xMessage test = new CarmaV2xMessage(sampleMessage.getBytes()); + assert(test != null); } } From d492bd7da40d1dd1d71b344b10a0c8290fb00ffa Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Thu, 27 Apr 2023 14:03:33 -0700 Subject: [PATCH 105/124] Add logic to find start of AMF message --- .../src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java | 5 +++-- .../test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java | 7 +++++++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java index 7f78890d..298d0615 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java @@ -123,7 +123,8 @@ public boolean isEncryption() { * @param buf A binary array containing the data sent from the CARMA Platform's ns3 adapter */ private void parseV2xMessage(byte[] buf) { - String msg = new String(buf, StandardCharsets.UTF_8); + String rawMsg = new String(buf, StandardCharsets.UTF_8); + String msg = rawMsg.substring(rawMsg.indexOf("Version"), rawMsg.length()); // Modeled after Stackoverflow answer by user Eritrean: https://stackoverflow.com/users/5176992/eritrean // On Question: https://stackoverflow.com/questions/61029164/how-to-split-string-by-comma-and-newline-n-in-java @@ -161,7 +162,7 @@ private void parseV2xMessage(byte[] buf) { } else if (msgParts[i].equals("Payload")) { payload = msgParts[++i]; } else { - throw new IllegalArgumentException("No such field in CarmaV2xMessage."); + throw new IllegalArgumentException("No such field in CarmaV2xMessage: " + msgParts[i]); } } } diff --git a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java index 28a68dda..e5f28b58 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java +++ b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java @@ -45,4 +45,11 @@ public void testCarmaV2xMessageParse() { assert(test != null); } + @Test + public void testCarmaV2xMessageParse2() { + String sampleMessage2 = "jaksldfjkl;asdfjkl;asdfjkalsdfjkdjjsdjdf" + sampleMessage; + CarmaV2xMessage test = new CarmaV2xMessage(sampleMessage.getBytes()); + assert(test != null); + } + } From e87a2dcff020b2fda7c0f7fd6c736058823c9661 Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Thu, 27 Apr 2023 14:16:08 -0700 Subject: [PATCH 106/124] Add logs for message processing --- .../fhwa/saxton/CarmaV2xMessageReceiver.java | 23 ++++++++++++++----- 1 file changed, 17 insertions(+), 6 deletions(-) diff --git a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java index 07410c15..27c6303a 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java @@ -17,6 +17,8 @@ package gov.dot.fhwa.saxton; import org.eclipse.mosaic.lib.misc.Tuple; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; import java.io.IOException; import java.net.DatagramPacket; @@ -42,6 +44,8 @@ public class CarmaV2xMessageReceiver implements Runnable { private boolean running = true; private static final int UDP_MTU = 1536; + private final Logger log = LoggerFactory.getLogger(this.getClass()); + /** * Default constructor added to preserve prior behavior after refactor into new package for re-use in Infrastructure * Ambassador. @@ -70,6 +74,7 @@ public CarmaV2xMessageReceiver(int listenPort) { public void init() { try { listenSocket = new DatagramSocket(listenPort); + log.info("CarmaV2xMessageReceiver started listening on UDP port: " + listenPort); } catch (SocketException e) { throw new RuntimeException(e); } @@ -86,17 +91,23 @@ public void run() { try { listenSocket.receive(msg); + log.info("CarmaV2xMessageReceiver received message of size: " + msg.getLength() + " from client " + msg.getAddress().toString() + "."); } catch (IOException e) { throw new RuntimeException(e); } // parse message - CarmaV2xMessage parsedMessage = new CarmaV2xMessage(msg.getData()); - - // Enqueue message for processing on main thread - synchronized (rxQueue) { - rxQueue.add(new Tuple<>(senderAddr, parsedMessage)); - } + try { + CarmaV2xMessage parsedMessage = new CarmaV2xMessage(msg.getData()); + + // Enqueue message for processing on main thread + synchronized (rxQueue) { + rxQueue.add(new Tuple<>(senderAddr, parsedMessage)); + log.info("CarmaV2xMessageReceiver enqueued message of size: " + msg.getLength() + " from client " + msg.getAddress().toString() + "."); + } + } catch (IllegalArgumentException parseError) { + log.warn("CarmaV2xMessageReceiver received malformed message with length: " + msg.getLength() + " from client " + msg.getAddress().toString() + "! Reason: " + parseError.getMessage() +". Discarding..."); + } } } From 316ddd3cf0a3f85adef07865ad1faec2519119a9 Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Thu, 27 Apr 2023 14:20:00 -0700 Subject: [PATCH 107/124] Fix typo in unit test --- .../src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java index e5f28b58..476f3fd9 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java +++ b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java @@ -48,7 +48,7 @@ public void testCarmaV2xMessageParse() { @Test public void testCarmaV2xMessageParse2() { String sampleMessage2 = "jaksldfjkl;asdfjkl;asdfjkalsdfjkdjjsdjdf" + sampleMessage; - CarmaV2xMessage test = new CarmaV2xMessage(sampleMessage.getBytes()); + CarmaV2xMessage test = new CarmaV2xMessage(sampleMessage2.getBytes()); assert(test != null); } From 955e396acf27a5501cb6b1b2677e7e40dd74f776 Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Fri, 28 Apr 2023 10:56:29 -0700 Subject: [PATCH 108/124] Break after parsing the final field of the message --- co-simulation/lib/mosaic-carma-utils/pom.xml | 6 +++++ .../gov/dot/fhwa/saxton/CarmaV2xMessage.java | 4 +-- .../dot/fhwa/saxton/CarmaV2xMessageTest.java | 27 +++++++++++++++++++ 3 files changed, 35 insertions(+), 2 deletions(-) diff --git a/co-simulation/lib/mosaic-carma-utils/pom.xml b/co-simulation/lib/mosaic-carma-utils/pom.xml index cd4b087c..3c605899 100644 --- a/co-simulation/lib/mosaic-carma-utils/pom.xml +++ b/co-simulation/lib/mosaic-carma-utils/pom.xml @@ -49,5 +49,11 @@ 4.11 test + + commons-codec + commons-codec + 1.15 + test + \ No newline at end of file diff --git a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java index 298d0615..d29de5c7 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java @@ -17,7 +17,6 @@ package gov.dot.fhwa.saxton; import java.net.InetAddress; -import java.nio.charset.StandardCharsets; import java.util.Arrays; import java.util.regex.Pattern; @@ -123,7 +122,7 @@ public boolean isEncryption() { * @param buf A binary array containing the data sent from the CARMA Platform's ns3 adapter */ private void parseV2xMessage(byte[] buf) { - String rawMsg = new String(buf, StandardCharsets.UTF_8); + String rawMsg = new String(buf); String msg = rawMsg.substring(rawMsg.indexOf("Version"), rawMsg.length()); // Modeled after Stackoverflow answer by user Eritrean: https://stackoverflow.com/users/5176992/eritrean @@ -161,6 +160,7 @@ private void parseV2xMessage(byte[] buf) { encryption = Boolean.parseBoolean(msgParts[++i]); } else if (msgParts[i].equals("Payload")) { payload = msgParts[++i]; + break; // Break on the final field of the message } else { throw new IllegalArgumentException("No such field in CarmaV2xMessage: " + msgParts[i]); } diff --git a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java index 476f3fd9..6e7e99be 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java +++ b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java @@ -16,8 +16,10 @@ package gov.dot.fhwa.saxton; +import org.apache.commons.codec.DecoderException; import org.junit.Before; import org.junit.Test; +import org.apache.commons.codec.binary.Hex; public class CarmaV2xMessageTest { @@ -35,6 +37,24 @@ public class CarmaV2xMessageTest { "Encryption=False\n" + "Payload=00142500400000000f0e35a4e900eb49d20000007fffffff8ffff080fdfa1fa1007fff8000960fa0\n"; + private final String sampleMessage2 = "450001039c69400040119f7e7f000001" + + "7f0000018fdc05ec00efff0256657273" + + "696f6e3d302e370a547970653d42534d" + + "0a505349443d303032300a5072696f72" + + "6974793d360a54784d6f64653d414c54" + + "0a54784368616e6e656c3d3137320a54" + + "78496e74657276616c3d300a44656c69" + + "7665727953746172743d0a44656c6976" + + "65727953746f703d0a5369676e617475" + + "72653d46616c73650a456e6372797074" + + "696f6e3d46616c73650a5061796c6f61" + + "643d3030313432353032633030303030" + + "30303239316562356134653930306562" + + "34396432303030303030376666666666" + + "66663866666666303830666466613166" + + "61313030376666663830303039363066" + + "61300a"; + @Before public void setUp() throws Exception { } @@ -52,4 +72,11 @@ public void testCarmaV2xMessageParse2() { assert(test != null); } + @Test + public void testCarmaV2xMessageParse3() throws DecoderException { + byte[] bytes = Hex.decodeHex(sampleMessage2.toCharArray()); + CarmaV2xMessage test = new CarmaV2xMessage(bytes); + assert(test != null); + } + } From a17a975db79cabdf8c9ad11be492721319eff787 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Fri, 12 May 2023 17:10:03 -0400 Subject: [PATCH 109/124] added ip argument for traci to connect with sumo --- evc-sumo/src/evc_sumo_bridge.py | 5 ++++- evc-sumo/src/sumo_connector.py | 5 +++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/evc-sumo/src/evc_sumo_bridge.py b/evc-sumo/src/evc_sumo_bridge.py index 03a31782..a6f566f1 100644 --- a/evc-sumo/src/evc_sumo_bridge.py +++ b/evc-sumo/src/evc_sumo_bridge.py @@ -23,7 +23,7 @@ from sumo_connector import SumoConnector def run(args): - sumo_connector = SumoConnector(args.traci_port, args.traci_order_num) + sumo_connector = SumoConnector(arg.traci_ip, args.traci_port, args.traci_order_num) evc_connector = EvcConnector(args.asc3app_path, args.evc_sumo_cfg_path) evc_connector.run(sumo_connector) @@ -32,6 +32,9 @@ def run(args): arg.add_argument('--asc3app-path', required=True, help='asc3app-application file path') + arg.add_argument('--traci-ip', + default="localhost", + help='Traci ip to connect to SUMO') arg.add_argument('--traci-port', default=2010, help='Traci port to connect to SUMO') diff --git a/evc-sumo/src/sumo_connector.py b/evc-sumo/src/sumo_connector.py index a0fe6f5f..6a3fc049 100644 --- a/evc-sumo/src/sumo_connector.py +++ b/evc-sumo/src/sumo_connector.py @@ -26,7 +26,7 @@ from contextlib import contextmanager class SumoConnector: - def __init__(self, port, order_num): + def __init__(self, ip, port, order_num): """ Initialize SumoConnector object @@ -37,6 +37,7 @@ def __init__(self, port, order_num): - order_num: The priority order number of the connection to SUMO, which should be consistent with other SUMO connections if any type: string """ + self.ip = ip self.port = port self.order_num = order_num self.traci = traci @@ -52,7 +53,7 @@ def traci_handler(self): """ Initialize traci """ - self.traci.init(int(self.port)) + self.traci.init(self.ip, int(self.port)) self.traci.setOrder(self.order_num) yield self.traci.close() From 1c4a74fa78f9d57c0bb72a536fb83742f06d5ed2 Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 15 May 2023 13:51:31 -0400 Subject: [PATCH 110/124] Update evc_sumo_bridge.py --- evc-sumo/src/evc_sumo_bridge.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/evc-sumo/src/evc_sumo_bridge.py b/evc-sumo/src/evc_sumo_bridge.py index a6f566f1..138f013c 100644 --- a/evc-sumo/src/evc_sumo_bridge.py +++ b/evc-sumo/src/evc_sumo_bridge.py @@ -23,7 +23,7 @@ from sumo_connector import SumoConnector def run(args): - sumo_connector = SumoConnector(arg.traci_ip, args.traci_port, args.traci_order_num) + sumo_connector = SumoConnector(args.traci_ip, args.traci_port, args.traci_order_num) evc_connector = EvcConnector(args.asc3app_path, args.evc_sumo_cfg_path) evc_connector.run(sumo_connector) From e6b897d895fb2dcf5dd4f0ceb3957586f6648d0c Mon Sep 17 00:00:00 2001 From: Cheng Yuan Date: Mon, 15 May 2023 13:51:35 -0400 Subject: [PATCH 111/124] Update sumo_connector.py --- evc-sumo/src/sumo_connector.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/evc-sumo/src/sumo_connector.py b/evc-sumo/src/sumo_connector.py index 6a3fc049..d7a27a6d 100644 --- a/evc-sumo/src/sumo_connector.py +++ b/evc-sumo/src/sumo_connector.py @@ -53,7 +53,7 @@ def traci_handler(self): """ Initialize traci """ - self.traci.init(self.ip, int(self.port)) + self.traci.init(host=self.ip, port=int(self.port)) self.traci.setOrder(self.order_num) yield self.traci.close() From 17407f2ff1501815bee317b461c0f7e475a1b738 Mon Sep 17 00:00:00 2001 From: Kyle Rush Date: Wed, 17 May 2023 17:35:45 -0400 Subject: [PATCH 112/124] Fix/add missing msg rx logic for infra (#135) # PR Details ## Description ## Related Issue Fixes a variety of issues related to NS-3 integration with CARMA Streets and platform. Integration is not functional to the point that messages from streets and platform can enter NS-3 and be simulated, and then exit NS-3 and be received by their respective systems. ## How Has This Been Tested? Tested on local simulation PCs prior to full-system integration and verificaiton ## Types of changes - [x] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [x] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [x] I have updated the documentation accordingly. - [x] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [x] I have added tests to cover my changes. - [x] All new and existing tests passed. --------- Co-authored-by: Cheng Yuan Co-authored-by: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> --- co-simulation/NOTICE-THIRD-PARTY.md | 58 +- .../src/assembly/resources/etc/logback.xml | 54 +- .../src/assembly/resources/etc/runtime.json | 7 +- .../Town04_test/application/Town04.db | Bin 0 -> 462848 bytes .../scenarios/Town04_test/carla/bridge.sh | 6 + .../Town04_test/carla/carla_config.json | 6 + .../Town04_test/carma/carma_config.json | 4 + .../infrastructure/infrastructure_config.json | 3 + .../Town04_test/mapping/mapping_config.json | 6 + .../scenarios/Town04_test/ns3/ns3_config.json | 20 + .../Town04_test/ns3/ns3_federate_config.xml | 93 + .../Town04_test/output/output_config.xml | 204 + .../Town04_test/scenario_config.json | 40 + .../scenarios/Town04_test/sumo/Town04.net.xml | 5373 +++++++++++++++++ .../scenarios/Town04_test/sumo/Town04.rou.xml | 16 + .../scenarios/Town04_test/sumo/Town04.sumocfg | 17 + .../scenarios/Town04_test/sumo/detector.xml | 19 + .../Town04_test/sumo/sumo_config.json | 4 + co-simulation/fed/mosaic-carla/pom.xml | 5 + .../fed/carla/ambassador/CarlaAmbassador.java | 36 +- co-simulation/fed/mosaic-carma/pom.xml | 15 + .../fed/carma/ambassador/CarmaInstance.java | 3 +- .../ambassador/CarmaInstanceManager.java | 31 +- .../ambassador/CarmaMessageAmbassador.java | 248 +- .../ambassador/CarmaRegistrationReceiver.java | 2 +- .../fed/mosaic-infrastructure/pom.xml | 16 + .../InfrastructureInstanceManager.java | 33 +- .../InfrastructureMessageAmbassador.java | 103 +- co-simulation/lib/mosaic-carma-utils/pom.xml | 11 +- .../gov/dot/fhwa/saxton/CarmaV2xMessage.java | 6 +- .../fhwa/saxton/CarmaV2xMessageReceiver.java | 7 +- .../dot/fhwa/saxton/CarmaV2xMessageTest.java | 84 + .../advanced/ExternalVehicleRegistration.java | 97 + .../coupling/AbstractNetworkAmbassador.java | 38 +- 34 files changed, 6437 insertions(+), 228 deletions(-) create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/application/Town04.db create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/bridge.sh create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/carla_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carma/carma_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/infrastructure/infrastructure_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/mapping/mapping_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_federate_config.xml create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/output/output_config.xml create mode 100755 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/scenario_config.json create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.net.xml create mode 100755 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.sumocfg create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/detector.xml create mode 100644 co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/sumo_config.json create mode 100644 co-simulation/lib/mosaic-interactions/src/main/java/org/eclipse/mosaic/interactions/mapping/advanced/ExternalVehicleRegistration.java diff --git a/co-simulation/NOTICE-THIRD-PARTY.md b/co-simulation/NOTICE-THIRD-PARTY.md index 3f1d33c3..43f89a85 100644 --- a/co-simulation/NOTICE-THIRD-PARTY.md +++ b/co-simulation/NOTICE-THIRD-PARTY.md @@ -13,6 +13,14 @@ Apache Commons CLI (1.4) * Source: https://svn.apache.org/viewvc/commons/proper/cli/trunk/ +Apache Commons Codec (1.15) + + * License: Apache License, Version 2.0 + * Maven artifact: `commons-codec:commons-codec:1.15` + * Project: https://commons.apache.org/proper/commons-codec/ + * Source: https://github.com/apache/commons-codec + + Apache Commons Configuration (2.5) * License: Apache License, Version 2.0 @@ -77,6 +85,22 @@ Commons JXPath (1.3) * Source: https://svn.apache.org/repos/asf/commons/proper/jxpath/trunk +Extended StAX API (1.8.1) + + * License: Eclipse Distribution License - v 1.0 + * Maven artifact: `org.jvnet.staxex:stax-ex:1.8.1` + * Project: https://projects.eclipse.org/projects/ee4j/stax-ex + * Source: https://github.com/eclipse-ee4j/jaxb-stax-ex + + +fastinfoset (1.2.16) + + * License: Apache License, Version 2.0, Eclipse Distribution License - v 1.0 + * Maven artifact: `com.sun.xml.fastinfoset:FastInfoset:1.2.16` + * Project: https://projects.eclipse.org/projects/ee4j.jaxb-impl/FastInfoset + * Source: https://github.com/eclipse-ee4j/jaxb-fi/FastInfoset + + Findbugs Annotations under Apache License (1.3.9-1) * License: Apache License, Version 2.0 @@ -133,6 +157,14 @@ HPPC Collections (0.8.1) * Source: https://github.com/carrotsearch/hppc/hppc +istack common utility code runtime (3.0.8) + + * License: Eclipse Distribution License - v 1.0 + * Maven artifact: `com.sun.istack:istack-commons-runtime:3.0.8` + * Project: https://projects.eclipse.org/projects/ee4j/istack-commons/istack-commons-runtime + * Source: https://github.com/eclipse-ee4j/jaxb-istack-commons/istack-commons-runtime + + Jackson module: JAXB Annotations (2.9.9) * License: The Apache Software License, Version 2.0 @@ -173,6 +205,14 @@ Jackson-dataformat-XML (2.9.9) * Source: https://github.com/FasterXML/jackson-dataformat-xml +jakarta.xml.bind-api (2.3.2) + + * License: Eclipse Distribution License - v 1.0 + * Maven artifact: `jakarta.xml.bind:jakarta.xml.bind-api:2.3.2` + * Project: https://github.com/eclipse-ee4j/jaxb-api/jakarta.xml.bind-api + * Source: https://github.com/eclipse-ee4j/jaxb-api/jakarta.xml.bind-api + + Janino (2.7.5) * License: New BSD License @@ -191,12 +231,20 @@ Java-WebSocket (1.3.9) JavaBeans Activation Framework API jar (1.2.0) - * License: CDDL/GPLv2+CE + * License: CDDL/GPLv2+CE, EDL 1.0 * Maven artifact: `javax.activation:javax.activation-api:1.2.0` * Project: http://java.net/all/javax.activation-api/ * Source: https://github.com/javaee/activation/javax.activation-api +JAXB Runtime (2.3.2) + + * License: Eclipse Distribution License - v 1.0 + * Maven artifact: `org.glassfish.jaxb:jaxb-runtime:2.3.2` + * Project: https://javaee.github.io/jaxb-v2/jaxb-runtime-parent/jaxb-runtime/ + * Source: https://github.com/eclipse-ee4j/jaxb-ri/jaxb-runtime-parent/jaxb-runtime + + jaxb-api (2.3.1) * License: CDDL 1.1, GPL2 w/ CPE @@ -293,6 +341,14 @@ Stax2 API (3.1.4) * Source: https://github.com/FasterXML/stax2-api +TXW2 Runtime (2.3.2) + + * License: Eclipse Distribution License - v 1.0 + * Maven artifact: `org.glassfish.jaxb:txw2:2.3.2` + * Project: https://javaee.github.io/jaxb-v2/jaxb-txw-parent/txw2/ + * Source: https://github.com/eclipse-ee4j/jaxb-ri/jaxb-txw-parent/txw2 + + Woodstox (5.1.0) * License: The Apache License, Version 2.0 diff --git a/co-simulation/bundle/src/assembly/resources/etc/logback.xml b/co-simulation/bundle/src/assembly/resources/etc/logback.xml index 638d6257..b3ffd0e3 100644 --- a/co-simulation/bundle/src/assembly/resources/etc/logback.xml +++ b/co-simulation/bundle/src/assembly/resources/etc/logback.xml @@ -138,95 +138,99 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + + + + + - + diff --git a/co-simulation/bundle/src/assembly/resources/etc/runtime.json b/co-simulation/bundle/src/assembly/resources/etc/runtime.json index 78f582e6..9fba1c56 100644 --- a/co-simulation/bundle/src/assembly/resources/etc/runtime.json +++ b/co-simulation/bundle/src/assembly/resources/etc/runtime.json @@ -63,7 +63,7 @@ "deploy": false, "start": false, "subscriptions": [ - "CarmaV2xMessageReception" + "V2xMessageReception" ], "javaClasspathEntries": [] }, @@ -114,7 +114,7 @@ "deploy": false, "start": false, "subscriptions": [ - "InfrastructureV2xMessageReception" + "V2xMessageReception" ], "javaClasspathEntries": [] }, @@ -174,7 +174,8 @@ "TrafficLightRegistration", "VehicleUpdates", "V2xMessageTransmission", - "AdHocCommunicationConfiguration" + "AdHocCommunicationConfiguration", + "ExternalVehicleRegistration" ], "javaClasspathEntries": [] }, diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/application/Town04.db b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/application/Town04.db new file mode 100644 index 0000000000000000000000000000000000000000..dbdf4a4c0bf9e399d82c44a9ebbefe9404ec9d72 GIT binary patch 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+++++++++---------- 1 file changed, 14 insertions(+), 14 deletions(-) mode change 100644 => 100755 co-simulation/bundle/src/assembly/resources/etc/logback.xml diff --git a/co-simulation/bundle/src/assembly/resources/etc/logback.xml b/co-simulation/bundle/src/assembly/resources/etc/logback.xml old mode 100644 new mode 100755 index b3ffd0e3..5577b9c1 --- a/co-simulation/bundle/src/assembly/resources/etc/logback.xml +++ b/co-simulation/bundle/src/assembly/resources/etc/logback.xml @@ -144,34 +144,34 @@ - + - + - + - + - + - + - + - + - + @@ -209,7 +209,7 @@ - + @@ -217,20 +217,20 @@ - + - + - + - + From a9aa2448943e73ad250d31bcf69c2d1937fbb6cb Mon Sep 17 00:00:00 2001 From: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Date: Fri, 16 Jun 2023 15:20:39 -0400 Subject: [PATCH 123/124] update checkout.sh to point 4.4.3 release images --- docker/checkout.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docker/checkout.sh b/docker/checkout.sh index ad545521..47d97242 100755 --- a/docker/checkout.sh +++ b/docker/checkout.sh @@ -39,6 +39,6 @@ if [[ "$BRANCH" = "develop" ]]; then git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/carma-msgs --branch $BRANCH --depth 1 git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/carma-utils --branch $BRANCH --depth 1 else - git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch develop --depth 1 - git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch develop --depth 1 + git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/carma-msgs --branch carma-system-4.4.3 --depth 1 + git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/carma-utils --branch carma-system-4.4.3 --depth 1 fi From 0861bed069dd224a703cc1b6c7a5aacbfab440f6 Mon Sep 17 00:00:00 2001 From: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Date: Tue, 20 Jun 2023 10:33:43 -0400 Subject: [PATCH 124/124] Update Dockerfile with new reponame cdasim --- Dockerfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Dockerfile b/Dockerfile index 1ffcc7db..256cd1bb 100644 --- a/Dockerfile +++ b/Dockerfile @@ -25,12 +25,12 @@ ARG VCS_REF ARG BUILD_DATE LABEL org.label-schema.schema-version="1.0" -LABEL org.label-schema.name="carma-simulation" +LABEL org.label-schema.name="cdasim" LABEL org.label-schema.description="XIL Simulation environment for evaluation and testing of the CARMA Platform" LABEL org.label-schema.vendor="Leidos" LABEL org.label-schema.version=${VERSION} LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA" -LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-simulation/" +LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/cdasim/" LABEL org.label-schema.vcs-ref=${VCS_REF} LABEL org.label-schema.build-date=${BUILD_DATE}

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100644 index 00000000..7e7ec854 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/bridge.sh @@ -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_test/sumo/Town04.net.xml --step-length 0.1 --tls-manager EVC diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/carla_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/carla_config.json new file mode 100644 index 00000000..51bc8ef2 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/carla_config.json @@ -0,0 +1,6 @@ +{ + "updateInterval": 100, + "carlaUE4Path": "/opt/carla/", + "bridgePath": "/opt/carma-simulation/scenarios/Town04_test/carla; bridge.sh", + "carlaConnectionPort": 8913 +} diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carma/carma_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carma/carma_config.json new file mode 100644 index 00000000..31046b6a --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carma/carma_config.json @@ -0,0 +1,4 @@ +{ + "updateInterval": 100, + "carmaVehicles": [] +} \ No newline at end of file diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/infrastructure/infrastructure_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/infrastructure/infrastructure_config.json new file mode 100644 index 00000000..196145f7 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/infrastructure/infrastructure_config.json @@ -0,0 +1,3 @@ +{ + "updateInterval": 100 +} diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/mapping/mapping_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/mapping/mapping_config.json new file mode 100644 index 00000000..c37205e6 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/mapping/mapping_config.json @@ -0,0 +1,6 @@ +{ + "prototypes": [], + "chargingStations": [], + "vehicles": [ + ] +} diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_config.json new file mode 100644 index 00000000..8e021047 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_config.json @@ -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 + } + } +} diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_federate_config.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_federate_config.xml new file mode 100644 index 00000000..61332733 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/ns3/ns3_federate_config.xml @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/output/output_config.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/output/output_config.xml new file mode 100644 index 00000000..5a71e921 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/output/output_config.xml @@ -0,0 +1,204 @@ + + + + + + output.csv + . + ; + + + + "VEHICLE_UPDATES" + Time + Updated:Name + Updated:Speed + Updated:Heading + Updated:Position.Latitude + Updated:Position.Longitude + Updated:Position.Altitude + Updated:DistanceDriven + Updated:LongitudinalAcceleration + Updated:Slope + Updated:Stopped + Updated:RouteId + Updated:RoadPosition.Connection.Id + Updated:RoadPosition.LaneIndex + Updated:VehicleEmissions.CurrentEmissions.Co2 + Updated:VehicleEmissions.CurrentEmissions.Co + Updated:VehicleEmissions.CurrentEmissions.Hc + Updated:VehicleEmissions.CurrentEmissions.Pmx + Updated:VehicleEmissions.CurrentEmissions.Nox + Updated:VehicleConsumptions.CurrentConsumptions.Fuel + Updated:VehicleEmissions.AllEmissions.Co2 + Updated:VehicleEmissions.AllEmissions.Co + Updated:VehicleEmissions.AllEmissions.Hc + Updated:VehicleEmissions.AllEmissions.Pmx + Updated:VehicleEmissions.AllEmissions.Nox + Updated:VehicleConsumptions.AllConsumptions.Fuel + Updated:VehicleSignals.BlinkerRight + Updated:VehicleSignals.BlinkerLeft + Updated:VehicleSignals.BrakeLight + + + + + "V2X_MESSAGE_RECEPTION" + Time + Type + MessageId + ReceiverName + ReceiverInformation.ReceiveSignalStrength + + + + + "V2X_MESSAGE_TRANSMISSION" + Time + Type + MessageId + SourceName + SourcePosition.Latitude + SourcePosition.Longitude + SourcePosition.Altitude + Message.Routing.Destination.Type + Message.Routing.Destination.Address.IPv4Address + Message.Routing.Destination.AdhocChannelId + + + + + "VEHICLE_REGISTRATION" + Time + Mapping.Name + Mapping.VehicleType.VehicleClass + Mapping.VehicleType.Color + Mapping.Group + Mapping.VehicleType.Length + Mapping.VehicleType.MinGap + Mapping.VehicleType.MaxSpeed + Mapping.VehicleType.Accel + Mapping.VehicleType.Decel + Mapping.VehicleType.Sigma + Mapping.VehicleType.Tau + Mapping.VehicleType.SpeedFactor + Departure.RouteId + Departure.DepartureLane + Departure.DeparturePos + + + + + "TRAFFICLIGHT_REGISTRATION" + Time + Mapping.Name + Mapping.Applications + TrafficLightGroup.FirstPosition.Latitude + TrafficLightGroup.FirstPosition.Longitude + + + + + "TRAFFICSIGN_REGISTRATION" + Time + TrafficSign.Id + TrafficSign.GeoPosition.Latitude + TrafficSign.GeoPosition.Longitude + TrafficSign.GeoPosition.Altitude + TrafficSign.Angle + TrafficSign.ConnectionId + TrafficSign.Lane + TrafficSign.TypeId + TrafficSign.SignContents + + + + + "CHANGE_SPEED" + Time + VehicleId + Type + Speed + Interval + Acceleration + + + + + "RSU_REGISTRATION" + Time + Mapping.Name + Mapping.Position.Latitude + Mapping.Position.Longitude + Mapping.Position.Altitude + Mapping.Group + Mapping.Applications + + + + + "ADHOC_CONFIGURATION" + Time + Configuration.NodeId + Configuration.RadioMode + Configuration.Conf0.NewIP + Configuration.Conf0.NewPower + Configuration.Conf0.Channel0 + Configuration.Conf0.Channel1 + Configuration.Conf1.NewIP + Configuration.Conf1.NewPower + Configuration.Conf1.Channel0 + Configuration.Conf1.Channel1 + + + + + "CELL_CONFIGURATION" + Time + Configuration.NodeId + Configuration.Enabled + Configuration.MaxDownlinkBitrate + Configuration.MaxUplinkBitrate + + + + + "DETECTOR_UPDATES" + Time + UpdatedInductionLoops:VehicleCount + UpdatedInductionLoops:MeanSpeed + UpdatedInductionLoops:TrafficFlow + UpdatedLaneAreaDetectors:Length + UpdatedLaneAreaDetectors:VehicleCount + UpdatedLaneAreaDetectors:MeanSpeed + + + + + "LANE_PROPERTY_CHANGE" + Time + EdgeId + LaneIndex + AllowedVehicleClasses + DisallowedVehicleClasses + MaxSpeed + + + + + + + true + 46587 + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/scenario_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/scenario_config.json new file mode 100755 index 00000000..2103391b --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/scenario_config.json @@ -0,0 +1,40 @@ +{ + "simulation": { + "id": "Town04", + "duration": "600s", + "randomSeed": 212323853, + "projection": { + "centerCoordinates": { + "latitude": 0, + "longitude": 0 + }, + "cartesianOffset": { + "x": 0, + "y": 0 + } + }, + "network": { + "netMask": "255.255.0.0", + "vehicleNet": "10.1.0.0", + "rsuNet": "10.2.0.0", + "tlNet": "10.3.0.0", + "csNet": "10.4.0.0", + "serverNet": "10.5.0.0", + "tmcNet": "10.6.0.0" + } + }, + "federates": { + "application": true, + "cell": false, + "environment": false, + "sns": false, + "ns3": true, + "omnetpp": false, + "output": false, + "sumo": true, + "carla": true, + "carma": true, + "infrastructure": true + + } +} diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.net.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.net.xml new file mode 100644 index 00000000..46d8e7a9 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.net.xml @@ -0,0 +1,5373 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml new file mode 100755 index 00000000..351f1680 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.sumocfg b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.sumocfg new file mode 100644 index 00000000..8ac4c13c --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.sumocfg @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/detector.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/detector.xml new file mode 100644 index 00000000..d39b9527 --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/detector.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/sumo_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/sumo_config.json new file mode 100644 index 00000000..413def8c --- /dev/null +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/sumo_config.json @@ -0,0 +1,4 @@ +{ + "sumoConfigurationFile": "Town04.sumocfg", + "updateInterval": 100 +} diff --git a/co-simulation/fed/mosaic-carla/pom.xml b/co-simulation/fed/mosaic-carla/pom.xml index 20a3e551..dd2e3d8f 100644 --- a/co-simulation/fed/mosaic-carla/pom.xml +++ b/co-simulation/fed/mosaic-carla/pom.xml @@ -59,6 +59,11 @@ 4.11 test + + commons-codec + commons-codec + 1.15 + diff --git a/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java b/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java index 75be4598..e5d3a47f 100644 --- a/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java +++ b/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java @@ -13,43 +13,33 @@ package org.eclipse.mosaic.fed.carla.ambassador; -import java.io.File; -import java.io.InputStream; -import java.util.ArrayList; -import java.util.Arrays; -import java.util.List; -import java.util.concurrent.PriorityBlockingQueue; -import java.util.concurrent.TimeUnit; - -import javax.annotation.Nonnull; - import com.google.common.collect.Lists; - +import org.apache.commons.codec.binary.Hex; import org.apache.commons.lang3.StringUtils; import org.eclipse.mosaic.fed.carla.carlaconnect.CarlaConnection; import org.eclipse.mosaic.fed.carla.config.CarlaConfiguration; import org.eclipse.mosaic.fed.sumo.traci.constants.CommandSimulationControl; import org.eclipse.mosaic.fed.sumo.traci.writer.ListTraciWriter; import org.eclipse.mosaic.fed.sumo.traci.writer.StringTraciWriter; -import org.eclipse.mosaic.interactions.application.CarlaTraciRequest; -import org.eclipse.mosaic.interactions.application.CarlaTraciResponse; -import org.eclipse.mosaic.interactions.application.CarlaV2xMessageReception; -import org.eclipse.mosaic.interactions.application.ExternalMessage; -import org.eclipse.mosaic.interactions.application.SimulationStep; -import org.eclipse.mosaic.interactions.application.SimulationStepResponse; +import org.eclipse.mosaic.interactions.application.*; import org.eclipse.mosaic.lib.util.ProcessLoggingThread; import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; import org.eclipse.mosaic.rti.TIME; -import org.eclipse.mosaic.rti.api.AbstractFederateAmbassador; -import org.eclipse.mosaic.rti.api.FederateExecutor; -import org.eclipse.mosaic.rti.api.IllegalValueException; -import org.eclipse.mosaic.rti.api.Interaction; -import org.eclipse.mosaic.rti.api.InternalFederateException; +import org.eclipse.mosaic.rti.api.*; import org.eclipse.mosaic.rti.api.federatestarter.ExecutableFederateExecutor; import org.eclipse.mosaic.rti.api.federatestarter.NopFederateExecutor; import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; import org.eclipse.mosaic.rti.config.CLocalHost; +import javax.annotation.Nonnull; +import java.io.File; +import java.io.InputStream; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; +import java.util.concurrent.PriorityBlockingQueue; +import java.util.concurrent.TimeUnit; + /** * Implementation of a {@link AbstractFederateAmbassador} for the vehicle * simulator CARLA. It is used to visualize the traffic simulation in 3D @@ -448,6 +438,8 @@ public synchronized void triggerInteraction(int length, byte[] command) throws I // message: {}", message[0], // message[1]); } + } else if (command[5] == 0x85) { + log.info("Received vehicle add command from CARLA " + Hex.encodeHex(command)); } else { rti.triggerInteraction(new CarlaTraciRequest(this.nextTimeStep, length, command)); } diff --git a/co-simulation/fed/mosaic-carma/pom.xml b/co-simulation/fed/mosaic-carma/pom.xml index 8e14a5a6..a3957af7 100644 --- a/co-simulation/fed/mosaic-carma/pom.xml +++ b/co-simulation/fed/mosaic-carma/pom.xml @@ -75,6 +75,21 @@ jaxb-api 2.3.1 + + commons-codec + commons-codec + 1.15 + + + jakarta.xml.bind + jakarta.xml.bind-api + 2.3.2 + + + org.glassfish.jaxb + jaxb-runtime + 2.3.2 + diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstance.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstance.java index 8ab40727..affba737 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstance.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstance.java @@ -22,7 +22,6 @@ import java.net.DatagramPacket; import java.net.DatagramSocket; import java.net.InetAddress; -import java.net.SocketException; /** * Connection manager and data object to associate with a single CARMA Platform instance in XIL @@ -34,7 +33,7 @@ public class CarmaInstance { private InetAddress targetAddress; private int port; - private GeoPoint location = null; + private GeoPoint location = GeoPoint.ORIGO; public CarmaInstance(String carmaVehicleId, String carlaRoleName, InetAddress targetAddress, int port) { this.carmaVehicleId = carmaVehicleId; diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java index 02b511bf..68ca2810 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaInstanceManager.java @@ -20,11 +20,14 @@ import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; import org.eclipse.mosaic.lib.enums.AdHocChannel; +import org.eclipse.mosaic.lib.geo.GeoCircle; import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder; import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xContent; import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; import org.eclipse.mosaic.lib.objects.v2x.MessageRouting; import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; import java.io.IOException; import java.net.InetAddress; @@ -37,10 +40,10 @@ */ public class CarmaInstanceManager { private Map managedInstances = new HashMap<>(); - private double currentSimulationTime; // TODO: Verify actual port for CARMA Platform NS-3 adapter private static final int TARGET_PORT = 5374; + private final Logger log = LoggerFactory.getLogger(this.getClass()); /** * Callback to invoked when a new CARMA Platform instance registers with the mosaic-carma ambassador for the first time @@ -60,20 +63,24 @@ public void onNewRegistration(CarmaRegistrationMessage registration) { } } else { // log warning + log.warn("Received duplicate registration for vehicle " + registration.getCarlaVehicleRole()); } } /** * Callback to be invoked when CARMA Platform receives a V2X Message from the NS-3 simulation * @param sourceAddr The V2X Message received * @param txMsg The Host ID of the vehicle receiving the data + * @param time The timestamp at which the interaction occurs * @throws RuntimeException If the socket used to communicate with the platform experiences failure */ - public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMessage txMsg) { + public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMessage txMsg, long time) { CarmaInstance sender = null; for (CarmaInstance ci : managedInstances.values()) { if (ci.getTargetAddress().equals(sourceAddr)) { sender = ci; + break; } + log.info("Instance {} with target address {} can not match with source address {}", ci.getCarlaRoleName(), ci.getTargetAddress(), sourceAddr.toString()); } if (sender == null) { @@ -84,11 +91,17 @@ public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMes AdHocMessageRoutingBuilder messageRoutingBuilder = new AdHocMessageRoutingBuilder( sender.getCarlaRoleName(), sender.getLocation()).viaChannel(AdHocChannel.CCH); - MessageRouting routing = messageRoutingBuilder.topoBroadCast(1); - - return new V2xMessageTransmission((long) currentSimulationTime, new ExternalV2xMessage(routing, - new ExternalV2xContent((long) currentSimulationTime, sender.getLocation(), txMsg.getPayload()))); - + // TODO: Get maximum broadcast radius from configuration file. + MessageRouting routing = messageRoutingBuilder.geoBroadCast(new GeoCircle(sender.getLocation(), 300)); + + log.info("Preparing to generate V2XMessageTransmission interaction for transmission on MOSAIC event bus..."); + log.info("sim time: " + time); + log.info("sender id: " + sender.getCarlaRoleName()); + log.info("location: " + sender.getLocation().toString()); + log.info("txMsg non-null? " + (txMsg != null)); + log.info("payload: " + txMsg.getPayload()); + return new V2xMessageTransmission((long) time, new ExternalV2xMessage(routing, + new ExternalV2xContent((long) time, sender.getLocation(), txMsg.getPayload()))); } /** @@ -134,7 +147,11 @@ private void newCarmaInstance(String carmaVehId, String carlaRoleName, InetAddre CarmaInstance tmp = new CarmaInstance(carmaVehId, carlaRoleName, targetAddress, targetPort); try { tmp.bind(); + log.info("New CARMA instance '{}' registered with CARMA Instance Manager.", carlaRoleName); } catch (IOException e) { + log.error("Failed to bind CARMA instance with ID '{}' to its RX message socket: {}", + carlaRoleName, e.getMessage()); + log.error("Stack trace:", e); throw new RuntimeException(e); } managedInstances.put(carlaRoleName, tmp); diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java index 5a1fa2ef..aa877b63 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaMessageAmbassador.java @@ -17,19 +17,27 @@ import gov.dot.fhwa.saxton.CarmaV2xMessageReceiver; import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel; import org.eclipse.mosaic.fed.carma.configuration.CarmaConfiguration; -import org.eclipse.mosaic.fed.carma.configuration.CarmaVehicleConfiguration; import org.eclipse.mosaic.interactions.application.CarmaV2xMessageReception; -import org.eclipse.mosaic.interactions.application.ExternalMessage; +import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; import org.eclipse.mosaic.interactions.communication.V2xMessageReception; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; +import org.eclipse.mosaic.interactions.mapping.advanced.ExternalVehicleRegistration; import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; -import org.eclipse.mosaic.interactions.vehicle.VehicleFederateAssignment; +import org.eclipse.mosaic.lib.enums.AdHocChannel; import org.eclipse.mosaic.lib.enums.DriveDirection; +import org.eclipse.mosaic.lib.geo.CartesianPoint; +import org.eclipse.mosaic.lib.geo.GeoPoint; import org.eclipse.mosaic.lib.misc.Tuple; +import org.eclipse.mosaic.lib.objects.addressing.IpResolver; +import org.eclipse.mosaic.lib.objects.communication.AdHocConfiguration; +import org.eclipse.mosaic.lib.objects.communication.InterfaceConfiguration; +import org.eclipse.mosaic.lib.objects.road.IRoadPosition; +import org.eclipse.mosaic.lib.objects.road.SimpleRoadPosition; import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; import org.eclipse.mosaic.lib.objects.v2x.V2xMessage; -import org.eclipse.mosaic.lib.objects.vehicle.VehicleData; -import org.eclipse.mosaic.lib.objects.vehicle.VehicleDeparture; +import org.eclipse.mosaic.lib.objects.vehicle.*; +import org.eclipse.mosaic.lib.objects.vehicle.sensor.DistanceSensor; +import org.eclipse.mosaic.lib.objects.vehicle.sensor.RadarSensor; import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; import org.eclipse.mosaic.rti.TIME; import org.eclipse.mosaic.rti.api.AbstractFederateAmbassador; @@ -39,9 +47,11 @@ import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; import javax.xml.bind.DatatypeConverter; +import java.net.Inet4Address; import java.net.InetAddress; +import java.net.UnknownHostException; import java.util.ArrayList; -import java.util.HashMap; +import java.util.Arrays; import java.util.List; /** @@ -60,16 +70,6 @@ public class CarmaMessageAmbassador extends AbstractFederateAmbassador { */ CarmaConfiguration carmaConfiguration; - /** - * List of vehicles that are controlled by CARMA platform. - */ - private final HashMap carmaVehicleMap = new HashMap<>(); - - /** - * The number of CARMA vehicles. - */ - int numberOfCarmaVehicle = 0; - private CarmaRegistrationReceiver carmaRegistrationReceiver; private Thread registrationRxBackgroundThread; private CarmaV2xMessageReceiver v2xMessageReceiver; @@ -133,28 +133,6 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce v2xMessageReceiver.init(); v2xRxBackgroundThread = new Thread(v2xMessageReceiver); v2xRxBackgroundThread.start(); - - // Register CARMA vehicles - for (CarmaVehicleConfiguration carmaVehicleConfiguration : carmaConfiguration.carmaVehicles) { - VehicleDeparture vehicleDeparture = new VehicleDeparture.Builder(carmaVehicleConfiguration.routeID) - .departureLane(VehicleDeparture.LaneSelectionMode.BEST, carmaVehicleConfiguration.lane, - carmaVehicleConfiguration.position) - .departureSpeed(VehicleDeparture.DepartSpeedMode.MAXIMUM, carmaVehicleConfiguration.departSpeed) - .create(); - - VehicleFederateAssignment carmaVehicleRegistration = new VehicleFederateAssignment(currentSimulationTime, - "carma_" + numberOfCarmaVehicle, "carma", 50, carmaVehicleConfiguration.vehicleType, - vehicleDeparture, carmaVehicleConfiguration.applications); - - numberOfCarmaVehicle++; - - try { - this.rti.triggerInteraction(carmaVehicleRegistration); - carmaVehicleMap.put(carmaVehicleRegistration.getVehicleId(), false); - } catch (InternalFederateException | IllegalValueException e) { - log.error(e.getMessage()); - } - } } /** @@ -175,39 +153,34 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder } try { - List newRegistrations = carmaRegistrationReceiver.getReceivedMessages(); for (CarmaRegistrationMessage reg : newRegistrations) { carmaInstanceManager.onNewRegistration(reg); + onDsrcRegistrationRequest(reg.getCarlaVehicleRole()); } - List> newMessages = v2xMessageReceiver.getReceivedMessages(); - for (Tuple msg : newMessages) { - V2xMessageTransmission msgInt = carmaInstanceManager.onV2XMessageTx(msg.getA(), msg.getB()); - this.rti.triggerInteraction(msgInt); - } - // Update CARMA vehicle - updateCarmaVehicles(); + if (currentSimulationTime == 0) { + // For the first timestep, clear the message receive queues. + v2xMessageReceiver.getReceivedMessages(); // Automatically empties the queues. + } else { + List> newMessages = v2xMessageReceiver.getReceivedMessages(); + for (Tuple msg : newMessages) { + V2xMessageTransmission msgInt = carmaInstanceManager.onV2XMessageTx(msg.getA(), msg.getB(), time); + SimulationKernel.SimulationKernel.getV2xMessageCache().putItem(currentSimulationTime, msgInt.getMessage()); + rti.triggerInteraction(msgInt); + } + } currentSimulationTime += carmaConfiguration.updateInterval * TIME.MILLI_SECOND; rti.requestAdvanceTime(currentSimulationTime, 0, (byte) 2); - - // Send CARMA external messages - String message = "Message to CARMA vehicles: Carma Vehicles update at time: " + currentSimulationTime; - ExternalMessage externalMessage = new ExternalMessage(currentSimulationTime, message, - carmaConfiguration.senderCarmaVehicleId); - try { - this.rti.triggerInteraction(externalMessage); - } catch (InternalFederateException | IllegalValueException e) { - log.error(e.getMessage()); - } - log.debug("trigger external message interaction at time: " + currentSimulationTime + " ."); - } catch (IllegalValueException e) { log.error("Error during advanceTime(" + time + ")", e); throw new InternalFederateException(e); + } catch (UnknownHostException e) { + log.error("Error during advanceTime(" + time + ")", e); + throw new InternalFederateException(e); } } @@ -256,10 +229,14 @@ public void processInteraction(Interaction interaction) throws InternalFederateE receiveInteraction((CarmaV2xMessageReception) interaction); } if (interaction.getTypeId().equals(VehicleUpdates.TYPE_ID)) { - carmaInstanceManager.onVehicleUpdates((VehicleUpdates) interaction); + receiveVehicleUpdateInteraction((VehicleUpdates) interaction); } } + private synchronized void receiveVehicleUpdateInteraction(VehicleUpdates interaction) { + carmaInstanceManager.onVehicleUpdates(interaction); + } + /** * Helper function to retrieve previously transmitted messages by ID from the buffer * @param id The id of the message to return @@ -275,11 +252,11 @@ private V2xMessage lookupV2xMsgIdInBuffer(int id) { */ private synchronized void receiveV2xReceptionInteraction(V2xMessageReception interaction) { String carlaRoleName = interaction.getReceiverName(); - if (!carmaInstanceManager.checkIfRegistered(carlaRoleName)) { // Abort early as we only are concerned with CARMA Platform vehicles return; } + log.info("Processing V2X message reception event for " + interaction.getReceiverName() + " of msg id " + interaction.getMessageId()); int messageId = interaction.getMessageId(); V2xMessage msg = lookupV2xMsgIdInBuffer(messageId); @@ -287,65 +264,120 @@ private synchronized void receiveV2xReceptionInteraction(V2xMessageReception int if (msg != null && msg instanceof ExternalV2xMessage) { ExternalV2xMessage msg2 = (ExternalV2xMessage) msg; carmaInstanceManager.onV2XMessageRx(DatatypeConverter.parseHexBinary(msg2.getMessage()), carlaRoleName); + log.info("Sending V2X message reception event for " + interaction.getReceiverName() + " of msg id " + interaction.getMessageId() + " of size " + msg2.getPayLoad().getBytes().length); } else { - // TODO: Log warning as message was no longer in buffer to be received + log.warn("Message with id " + interaction.getMessageId() + " received by " + interaction.getReceiverName() + " is no longer in the message buffer to be retrieved! Message transmission failed!!!"); } } - /** - * Extract external message from received {@link CarmaV2xMessageReception} - * interaction. - * - * @param carmaV2xMessageReception Interaction indicates that the external - * message is received by a CARMA vehicle. - * @throws InternalFederateException Exception if a invalid value is used. - */ - private synchronized void receiveInteraction(CarmaV2xMessageReception carmaV2xMessageReception) - throws InternalFederateException { - log.info("CARMA vehicle: " + carmaV2xMessageReception.getReceiverID() - + " received an external message at time: " + carmaV2xMessageReception.getTime() + "."); - log.info("The received message is " + carmaV2xMessageReception.getMessage() + " ."); + private void onDsrcRegistrationRequest(String vehicleId) throws UnknownHostException { + ExternalVehicleRegistration tempRegistration = new ExternalVehicleRegistration( + currentSimulationTime, + vehicleId, + "carma", + null, + new VehicleType("carma")); - } + try { + // Trigger RTI interaction to MOSAIC to exchange the Ad-Hoc configuration + this.rti.triggerInteraction(tempRegistration); + } catch (InternalFederateException | IllegalValueException e) { + // Log error message if there was an issue with the RTI interaction + log.error(e.getMessage()); + } - /** - * Update CARMA vehicles position. - */ - private final void updateCarmaVehicles() { - - List addedVehicle = new ArrayList<>(); - List updatedVehicle = new ArrayList<>(); - List removedNames = new ArrayList<>(); - - for (String vehicleName : carmaVehicleMap.keySet()) { - final int firstUnderscorePosition = vehicleName.indexOf('_'); - final int vehicleNumber = Integer.parseInt(vehicleName.substring(firstUnderscorePosition + 1)); - - VehicleData vehicleData = new VehicleData.Builder(currentSimulationTime, vehicleName) - .position(carmaConfiguration.carmaVehicles.get(vehicleNumber).geoPosition, - carmaConfiguration.carmaVehicles.get(vehicleNumber).projectedPosition) - .orientation(DriveDirection.UNAVAILABLE, - carmaConfiguration.carmaVehicles.get(vehicleNumber).heading, - carmaConfiguration.carmaVehicles.get(vehicleNumber).slope) - .create(); - - if (!carmaVehicleMap.get(vehicleName)) { - // update the new added CARMA vehicles - addedVehicle.add(vehicleData); - carmaVehicleMap.put(vehicleName, true); - } else { - // update the registed CARMA vehicles - updatedVehicle.add(vehicleData); - } + VehicleSignals tmpSignals = new VehicleSignals( + false, + false, + false, + false, + false); + + VehicleEmissions tmpEmissions = new VehicleEmissions( + new Emissions( + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ), + new Emissions( + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + )); + + VehicleBatteryState tmpBattery = new VehicleBatteryState("", currentSimulationTime); + IRoadPosition tmpPos = new SimpleRoadPosition("", 0, 0.0, 0.0); + VehicleSensors tmpSensors = new VehicleSensors( + new DistanceSensor(0.0, + 0.0, + 0.0, + 0.0), + new RadarSensor(0.0)); + VehicleConsumptions tmpConsumptions = new VehicleConsumptions( + new Consumptions(0.0, 0.0), + new Consumptions(0.0, 0.0)); + VehicleData tmpVehicle = new VehicleData.Builder(currentSimulationTime, vehicleId) + .position(GeoPoint.ORIGO, CartesianPoint.ORIGO) + .movement(0.0, 0.0, 0.0) + .consumptions(tmpConsumptions) + .emissions(tmpEmissions) + .electric(tmpBattery) + .laneArea("") + .sensors(tmpSensors) + .road(tmpPos) + .signals(tmpSignals) + .orientation(DriveDirection.FORWARD, 0.0, 0.0) + .stopped(false) + .route("") + .create(); + VehicleUpdates tempUpdates = new VehicleUpdates( + currentSimulationTime, + new ArrayList<>(Arrays.asList(tmpVehicle)), + new ArrayList<>(), + new ArrayList<>()); + + try { + // Trigger RTI interaction to MOSAIC to exchange the Ad-Hoc configuration + this.rti.triggerInteraction(tempUpdates); + } catch (InternalFederateException | IllegalValueException e) { + // Log error message if there was an issue with the RTI interaction + log.error(e.getMessage()); } - VehicleUpdates vehicleUpdates = new VehicleUpdates(currentSimulationTime, addedVehicle, updatedVehicle, - removedNames); - // trigger VehicleUpdates interaction + // Create an InterfaceConfiguration object to represent the configuration of the + // Ad-Hoc interface + // TODO: Replace the transmit power of the ad-hoc interface (in dBm) if necessary + // TODO: Replace the communication range of the ad-hoc interface (in meters) if necessary + Inet4Address vehAddress = IpResolver.getSingleton().registerHost(vehicleId); + log.info("Assigned registered comms device " + vehicleId + " with IP address " + vehAddress.toString()); + InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.CCH) + .ip(vehAddress) + .subnet(IpResolver.getSingleton().getNetMask()) + .power(50) + .radius(300.0) + .create(); + + // Create an AdHocConfiguration object to associate the Ad-Hoc interface + // configuration with the infrastructure instance's ID + AdHocConfiguration adHocConfig = new AdHocConfiguration.Builder(vehicleId) + .addInterface(interfaceConfig) + .create(); + + // Create an AdHocCommunicationConfiguration object to specify the time and + // Ad-Hoc configuration for exchange with another vehicle or component + AdHocCommunicationConfiguration communicationConfig = new AdHocCommunicationConfiguration(currentSimulationTime, + adHocConfig); + log.info("Communications comms device " + vehicleId + " with IP address " + vehAddress.toString() + " success!"); try { - this.rti.triggerInteraction(vehicleUpdates); + // Trigger RTI interaction to MOSAIC to exchange the Ad-Hoc configuration + this.rti.triggerInteraction(communicationConfig); } catch (InternalFederateException | IllegalValueException e) { + // Log error message if there was an issue with the RTI interaction log.error(e.getMessage()); } } diff --git a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java index 7ea8ae95..7d609327 100644 --- a/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java +++ b/co-simulation/fed/mosaic-carma/src/main/java/org/eclipse/mosaic/fed/carma/ambassador/CarmaRegistrationReceiver.java @@ -73,7 +73,7 @@ public void run() { // Enqueue message for processing on main thread synchronized (rxQueue) { - log.info("New Infrastructure instance '{}' received with Infrastructure Registration Receiver.", parsedMessage.getCarmaVehicleId()); + log.info("New CARMA instance '{}' received with CARMA Registration Receiver.", parsedMessage.getCarmaVehicleId()); rxQueue.add(parsedMessage); } } diff --git a/co-simulation/fed/mosaic-infrastructure/pom.xml b/co-simulation/fed/mosaic-infrastructure/pom.xml index 49fe34bc..15a1bd00 100644 --- a/co-simulation/fed/mosaic-infrastructure/pom.xml +++ b/co-simulation/fed/mosaic-infrastructure/pom.xml @@ -59,6 +59,22 @@ 4.11 test + + org.eclipse.mosaic + mosaic-application + 22.1-SNAPSHOT + compile + + + jakarta.xml.bind + jakarta.xml.bind-api + 2.3.2 + + + org.glassfish.jaxb + jaxb-runtime + 2.3.2 + diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 5682f3c2..09889470 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -19,6 +19,7 @@ import gov.dot.fhwa.saxton.CarmaV2xMessage; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.lib.enums.AdHocChannel; +import org.eclipse.mosaic.lib.geo.GeoCircle; import org.eclipse.mosaic.lib.geo.GeoPoint; import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder; import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xContent; @@ -44,7 +45,7 @@ */ public class InfrastructureInstanceManager { private Map managedInstances = new HashMap<>(); - private double currentSimulationTime; + private final Logger log = LoggerFactory.getLogger(this.getClass()); /** * Register a new infrastructure instance with the MOSAIC system. @@ -110,7 +111,7 @@ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMe * @param txMsg The Host ID of the vehicle receiving the data * @throws RuntimeException If the socket used to communicate with the platform experiences failure */ - public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMessage txMsg) { + public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMessage txMsg, long time) { InfrastructureInstance sender = null; for (InfrastructureInstance ci : managedInstances.values()) { if (ci.getTargetAddress().equals(sourceAddr)) { @@ -120,16 +121,36 @@ public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMes if (sender == null) { // Unregistered instance attempting to send messages - throw new IllegalStateException("Unregistered CARMA Platform instance attempting to send messages via MOSAIC"); + throw new IllegalStateException("Unregistered CARMA Streets/V2XHub instance attempting to send messages via MOSAIC"); } AdHocMessageRoutingBuilder messageRoutingBuilder = new AdHocMessageRoutingBuilder( sender.getInfrastructureId(), sender.getLocation()).viaChannel(AdHocChannel.CCH); - MessageRouting routing = messageRoutingBuilder.topoBroadCast(1); + // TODO: Get maximum broadcast radius from configuration file. + MessageRouting routing = messageRoutingBuilder.geoBroadCast(new GeoCircle(sender.getLocation(), 300)); + + return new V2xMessageTransmission(time, new ExternalV2xMessage(routing, + new ExternalV2xContent(time, sender.getLocation(), txMsg.getPayload()))); + } + + /** + * Callback to be invoked when CARMA Platform receives a V2X Message from the NS-3 simulation + * @param rxMsg The V2X Message received + * @param rxRsuId The Host ID of the vehicle receiving the data + * @throws RuntimeException If the socket used to communicate with the platform experiences failure + */ + public void onV2XMessageRx(byte[] rxMsg, String rxRsuId) { + if (!managedInstances.containsKey(rxRsuId)) { + return; + } - return new V2xMessageTransmission((long) currentSimulationTime, new ExternalV2xMessage(routing, - new ExternalV2xContent((long) currentSimulationTime, sender.getLocation(), txMsg.getPayload()))); + InfrastructureInstance rsu = managedInstances.get(rxRsuId); + try { + rsu.sendMsgs(rxMsg); + } catch (IOException e) { + throw new RuntimeException(e); + } } /** diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 4b79d82f..7919b562 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -18,17 +18,22 @@ import gov.dot.fhwa.saxton.CarmaV2xMessage; import gov.dot.fhwa.saxton.CarmaV2xMessageReceiver; +import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel; import org.eclipse.mosaic.fed.infrastructure.configuration.InfrastructureConfiguration; -import org.eclipse.mosaic.interactions.application.ExternalMessage; import org.eclipse.mosaic.interactions.application.InfrastructureV2xMessageReception; import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; +import org.eclipse.mosaic.interactions.communication.V2xMessageReception; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.interactions.mapping.RsuRegistration; import org.eclipse.mosaic.lib.enums.AdHocChannel; +import org.eclipse.mosaic.lib.geo.CartesianPoint; import org.eclipse.mosaic.lib.geo.GeoPoint; import org.eclipse.mosaic.lib.misc.Tuple; +import org.eclipse.mosaic.lib.objects.addressing.IpResolver; import org.eclipse.mosaic.lib.objects.communication.AdHocConfiguration; import org.eclipse.mosaic.lib.objects.communication.InterfaceConfiguration; +import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; +import org.eclipse.mosaic.lib.objects.v2x.V2xMessage; import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation; import org.eclipse.mosaic.rti.TIME; import org.eclipse.mosaic.rti.api.AbstractFederateAmbassador; @@ -37,12 +42,11 @@ import org.eclipse.mosaic.rti.api.InternalFederateException; import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; +import javax.xml.bind.DatatypeConverter; import java.io.IOException; import java.net.Inet4Address; import java.net.InetAddress; import java.net.UnknownHostException; -import java.util.ArrayList; -import java.util.HashMap; import java.util.Collections; import java.util.List; @@ -145,6 +149,9 @@ public void processInteraction(Interaction interaction) throws InternalFederateE long interactionTime = interaction.getTime(); log.trace("Process interaction with type '{}' at time: {}", type, interactionTime); // Infrastructure message reception + if (interaction.getTypeId().equals(V2xMessageReception.TYPE_ID)) { + this.receiveV2xReceptionInteraction((V2xMessageReception) interaction); + } if (interaction.getTypeId().equals(InfrastructureV2xMessageReception.TYPE_ID)) { this.receiveInteraction((InfrastructureV2xMessageReception) interaction); } @@ -154,14 +161,35 @@ public void processInteraction(Interaction interaction) throws InternalFederateE * Extract external message from received * {@link InfrastructureV2xMessageReception} interaction. * - * @param infrastructureV2xMessageReception Interaction indicates that the + * @param interaction Interaction indicates that the * external message is received by a * rsu. */ - private synchronized void receiveInteraction(InfrastructureV2xMessageReception infrastructureV2xMessageReception) { - log.info(infrastructureV2xMessageReception.getReceiverID() + " received V2X messages at time: " - + infrastructureV2xMessageReception.getTime() + "."); - log.info("The received message is " + infrastructureV2xMessageReception.getMessage() + " ."); + private synchronized void receiveV2xReceptionInteraction(V2xMessageReception interaction) { + String rsuId = interaction.getReceiverName(); + + if (!infrastructureInstanceManager.checkIfRegistered(rsuId)) { + // Abort early as we only are concerned with CARMA Platform vehicles + + log.info("Abort V2X message reception event for " + interaction.getReceiverName() + " of msg id " + interaction.getMessageId() + " from sender " + interaction.getSenderId()); + return; + } + log.info("Processing V2X message reception event for " + interaction.getReceiverName() + " of msg id " + interaction.getMessageId() + " from sender " + interaction.getSenderId()); + + int messageId = interaction.getMessageId(); + log.info("Querying v2x message cache for message id: {}", messageId); + V2xMessage msg = SimulationKernel.SimulationKernel.getV2xMessageCache().getItem(messageId); + + log.info("Is msg null ? {}", msg == null); + log.info("Is msg instanceof ExternalV2xMessage ? {}", msg instanceof ExternalV2xMessage); + + if (msg != null && msg instanceof ExternalV2xMessage) { + ExternalV2xMessage msg2 = (ExternalV2xMessage) msg; + infrastructureInstanceManager.onV2XMessageRx(DatatypeConverter.parseHexBinary(msg2.getMessage()), rsuId); + log.info("Sending V2X message reception event for " + interaction.getReceiverName() + " of msg id " + interaction.getMessageId() + " of size " + msg2.getPayLoad().getBytes().length); + } else { + log.warn("Message with id " + interaction.getMessageId() + " received by " + interaction.getReceiverName() + " is no longer in the message buffer to be retrieved! Message transmission failed!!!"); + } } /** @@ -170,7 +198,7 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i * Ad-Hoc interface used for communication between the infrastructure instance * and other vehicles or components, and sends it to the RTI for exchange. * - * @param reg the infrastructure registration message received from the RTI + * @param infrastructureId the infrastructure registration message received from the RTI * * Note: This function should be called after the * onRsuRegistrationRequest @@ -179,15 +207,15 @@ private synchronized void receiveInteraction(InfrastructureV2xMessageReception i private void onDsrcRegistrationRequest(String infrastructureId) throws UnknownHostException { // Create an InterfaceConfiguration object to represent the configuration of the // Ad-Hoc interface - // TODO: Replace the IP address of the ad-hoc interface if necessary - // TODO: Replace the subnet mask of the ad-hoc interface if necessary // TODO: Replace the transmit power of the ad-hoc interface (in dBm) if necessary // TODO: Replace the communication range of the ad-hoc interface (in meters) if necessary - InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.SCH1) - .ip((Inet4Address) Inet4Address.getByName("192.168.0.1")) - .subnet((Inet4Address) Inet4Address.getByName("255.255.255.0")) + Inet4Address rsuAddress = IpResolver.getSingleton().registerHost(infrastructureId); + log.info("Assigned registered comms device " + infrastructureId + " with IP address " + rsuAddress.toString()); + InterfaceConfiguration interfaceConfig = new InterfaceConfiguration.Builder(AdHocChannel.CCH) + .ip(rsuAddress) + .subnet(IpResolver.getSingleton().getNetMask()) .power(50) - .radius(100.0) + .radius(300.0) .create(); // Create an AdHocConfiguration object to associate the Ad-Hoc interface @@ -200,7 +228,7 @@ private void onDsrcRegistrationRequest(String infrastructureId) throws UnknownHo // Ad-Hoc configuration for exchange with another vehicle or component AdHocCommunicationConfiguration communicationConfig = new AdHocCommunicationConfiguration(currentSimulationTime, adHocConfig); - + log.info("Communications comms device " +infrastructureId + " with IP address " + rsuAddress.toString() + " success!"); try { // Trigger RTI interaction to MOSAIC to exchange the Ad-Hoc configuration this.rti.triggerInteraction(communicationConfig); @@ -213,13 +241,12 @@ private void onDsrcRegistrationRequest(String infrastructureId) throws UnknownHo /** * Performs registration of a new infrastructure instance and sets up - * communication interfaces. - * - * @param reg The registration message of the new infrastructure instance. + * communication interfaces */ private void onRsuRegistrationRequest(String infrastructureId, GeoPoint location) { // Register the new infrastructure instance to the RTI as an RSU + log.info("Attemtping to register RSU ID: " + infrastructureId + " @ " + location.toString()); RsuRegistration rsuRegistration = new RsuRegistration(currentSimulationTime, infrastructureId, "", Collections.emptyList(), location); try { @@ -247,23 +274,37 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder if (time < currentSimulationTime) { return; } + log.info("Infrastructure message ambassador processing timestep to " + time); try { // Handle any new infrastructure registration requests List newRegistrations = infrastructureRegistrationReceiver .getReceivedMessages(); for (InfrastructureRegistrationMessage reg : newRegistrations) { + log.info("Processing new registration request for " + reg.getInfrastructureId()); // Store new instance registration to infrastructure instance manager infrastructureInstanceManager.onNewRegistration(reg); // Process registration requests for RSUs and DSRCs - onRsuRegistrationRequest(reg.getInfrastructureId(), reg.getLocation()); + double x = reg.getLocation().getLatitude(); + double y = reg.getLocation().getLongitude(); + double z = reg.getLocation().getAltitude(); + onRsuRegistrationRequest(reg.getInfrastructureId(), CartesianPoint.xyz(x, y,z).toGeo()); + log.info("RSU Registration for "+ reg.getInfrastructureId() + " @ x, y, z: (" + x + ", " + y + ", " + z+ ")"); onDsrcRegistrationRequest(reg.getInfrastructureId()); } - List> newMessages = v2xMessageReceiver.getReceivedMessages(); - for (Tuple msg : newMessages) { - V2xMessageTransmission msgInt = infrastructureInstanceManager.onV2XMessageTx(msg.getA(), msg.getB()); - this.rti.triggerInteraction(msgInt); + if (currentSimulationTime == 0) { + // For the first timestep, clear the message receive queues. + v2xMessageReceiver.getReceivedMessages(); // Automatically empties the queues. + } else { + List> newMessages = v2xMessageReceiver.getReceivedMessages(); + for (Tuple msg : newMessages) { + log.info("Processing new V2X transmit event of type " + msg.getB().getType()); + V2xMessageTransmission msgInt = infrastructureInstanceManager.onV2XMessageTx(msg.getA(), msg.getB(), currentSimulationTime); + SimulationKernel.SimulationKernel.getV2xMessageCache().putItem(currentSimulationTime, msgInt.getMessage()); + log.info("Inserted message ID {} into v2xmessage cache.", msgInt.getMessageId()); + this.rti.triggerInteraction(msgInt); + } } timeSyncSeq += 1; @@ -279,20 +320,8 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder currentSimulationTime += infrastructureConfiguration.updateInterval * TIME.MILLI_SECOND; // Request the next time advance from the RTI + log.info("Requesting timestep updated to " + currentSimulationTime); rti.requestAdvanceTime(currentSimulationTime, 0, (byte) 2); - - // Send an external message to the RSU - String message = "External Message to RSU: RSU sent message at time: " + currentSimulationTime; - ExternalMessage rsuMessage = new ExternalMessage(currentSimulationTime, message, - infrastructureConfiguration.senderRSUId); - try { - // Trigger RTI interaction to MOSAIC - this.rti.triggerInteraction(rsuMessage); - } catch (InternalFederateException | IllegalValueException e) { - // Log an error message if there was an issue with the RTI interaction - log.error(e.getMessage()); - } - } catch (IllegalValueException e) { log.error("Error during advanceTime(" + time + ")", e); throw new InternalFederateException(e); diff --git a/co-simulation/lib/mosaic-carma-utils/pom.xml b/co-simulation/lib/mosaic-carma-utils/pom.xml index 3c605899..9e6f73f2 100644 --- a/co-simulation/lib/mosaic-carma-utils/pom.xml +++ b/co-simulation/lib/mosaic-carma-utils/pom.xml @@ -39,6 +39,16 @@ mosaic-geomath ${mosaic.version} + + jakarta.xml.bind + jakarta.xml.bind-api + 2.3.2 + + + org.glassfish.jaxb + jaxb-runtime + 2.3.2 + ch.qos.logback logback-classic @@ -53,7 +63,6 @@ commons-codec commons-codec 1.15 - test \ No newline at end of file diff --git a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java index d29de5c7..e3871b5e 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessage.java @@ -141,7 +141,11 @@ private void parseV2xMessage(byte[] buf) { } else if (msgParts[i].equals("Type")) { type = msgParts[++i]; } else if (msgParts[i].equals("PSID")) { - psid = Integer.parseInt(msgParts[++i]); + if (msgParts[i + 1].startsWith("0x")) { + psid = Integer.parseInt(msgParts[++i].split("0x")[1]); + } else { + psid = Integer.parseInt(msgParts[++i]); + } } else if (msgParts[i].equals("Priority")) { priority = Integer.parseInt(msgParts[++i]); } else if (msgParts[i].equals("TxMode")) { diff --git a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java index 27c6303a..dc2d369d 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java +++ b/co-simulation/lib/mosaic-carma-utils/src/main/java/gov/dot/fhwa/saxton/CarmaV2xMessageReceiver.java @@ -85,10 +85,7 @@ public void run() { byte[] buf = new byte[UDP_MTU]; while (running) { DatagramPacket msg = new DatagramPacket(buf, buf.length); - InetAddress senderAddr = msg.getAddress(); - - - + try { listenSocket.receive(msg); log.info("CarmaV2xMessageReceiver received message of size: " + msg.getLength() + " from client " + msg.getAddress().toString() + "."); @@ -102,7 +99,7 @@ public void run() { // Enqueue message for processing on main thread synchronized (rxQueue) { - rxQueue.add(new Tuple<>(senderAddr, parsedMessage)); + rxQueue.add(new Tuple<>(msg.getAddress(), parsedMessage)); log.info("CarmaV2xMessageReceiver enqueued message of size: " + msg.getLength() + " from client " + msg.getAddress().toString() + "."); } } catch (IllegalArgumentException parseError) { diff --git a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java index 6e7e99be..964aaeb3 100644 --- a/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java +++ b/co-simulation/lib/mosaic-carma-utils/src/test/java/gov/dot/fhwa/saxton/CarmaV2xMessageTest.java @@ -55,6 +55,77 @@ public class CarmaV2xMessageTest { "61313030376666663830303039363066" + "61300a"; + private final String sampleMessage3 = + "Version=0.7\n" + + "Type=BSM\n" + + "PSID=0x0020\n" + + "Priority=6\n" + + "TxMode=ALT\n" + + "TxChannel=172\n" + + "TxInterval=0\n" + + "DeliveryStart=\n" + + "DeliveryStop=\n" + + "Signature=False\n" + + "Encryption=False\n" + + "Payload=00142500400000000f0e35a4e900eb49d20000007fffffff8ffff080fdfa1fa1007fff8000960fa0\n"; + + private static final String sampleMessage5 = + "45000364c73f400040111842ac020001" + + "ac020002977b05ed03505b6956657273" + + "696f6e3d302e370a547970653d4d4150" + + "0a505349443d3078383030320a507269" + + "6f726974793d370a54784d6f64653d43" + + "4f4e540a54784368616e6e656c3d3138" + + "330a5478496e74657276616c3d300a44" + + "656c697665727953746172743d0a4465" + + "6c697665727953746f703d0a5369676e" + + "61747572653d46616c73650a456e6372" + + "797074696f6e3d46616c73650a506179" + + "6c6f61643d3030313238313533333831" + + "31333032303230344244413435344344" + + "43463831343344344443343838313138" + + "36303232343136343830323238303030" + + "38303032323937443442433830413041" + + "30413938323538323539323341393042" + + "32463245343138393836463431423730" + + "30363438303630353430333832413032" + + "30313434303135343830303130303034" + + "35323144394630303134313431363043" + + "37433432413138373938353836313935" + + "30324134324130363045393237313030" + + "36363230303034303031303542453642" + + "46343143384144454435383136454243" + + "30353035303744434238363045433537" + + "41454144353037394530323832383930" + + "30383930303031303030343137323233" + + "41353037323842373530463943364541" + + "39453841453438304130413046363837" + + "34364144343437433030323832383930" + + "30413130383037303834303430343038" + + "30334239303030323030303632423638" + + "44353330354431463932363941373235" + + "30323744383335324637323836374436" + + "43383234303333343030303430303043" + + "35334635423736314142424237443335" + + "44334330383133454331413342414143" + + "31364246433034383035304234303330" + + "35413032303243343032323038303031" + + "30303033313046453535463834394143" + + "44363038443841434531333642343430" + + "30303044464534383038383830303038" + + "30303230383633363543303031374431" + + "36313245423334303236303637343034" + + "38393533393039303742443834383035" + + "30323430333031323031433038303032" + + "34303030323030303030303930303236" + + "31383041304130463238353236303031" + + "34303030313030303030303136394643" + + "31353835424431444130303042303030" + + "30383030303030304133424232463433" + + "39343539413830303630303030343030" + + "30303030343644353543343136433637" + + "4634300a"; + @Before public void setUp() throws Exception { } @@ -79,4 +150,17 @@ public void testCarmaV2xMessageParse3() throws DecoderException { assert(test != null); } + @Test + public void testCarmaV2xMessageParse4() throws DecoderException { + CarmaV2xMessage test = new CarmaV2xMessage(sampleMessage3.getBytes()); + assert(test != null); + } + + @Test + public void testCarmaV2xMessageParse5() throws DecoderException { + byte[] bytes = Hex.decodeHex(sampleMessage5.toCharArray()); + CarmaV2xMessage test = new CarmaV2xMessage(bytes); + assert(test != null); + } + } diff --git a/co-simulation/lib/mosaic-interactions/src/main/java/org/eclipse/mosaic/interactions/mapping/advanced/ExternalVehicleRegistration.java b/co-simulation/lib/mosaic-interactions/src/main/java/org/eclipse/mosaic/interactions/mapping/advanced/ExternalVehicleRegistration.java new file mode 100644 index 00000000..64d3fc3e --- /dev/null +++ b/co-simulation/lib/mosaic-interactions/src/main/java/org/eclipse/mosaic/interactions/mapping/advanced/ExternalVehicleRegistration.java @@ -0,0 +1,97 @@ +/* + * Copyright (C) 2019-2022 LEIDOS. + * + * Licensed under the Apache License, Version 2.0 (the "License"); you may not + * use this file except in compliance with the License. You may obtain a copy of + * the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations under + * the License. + */ + +package org.eclipse.mosaic.interactions.mapping.advanced; + +import org.apache.commons.lang3.builder.EqualsBuilder; +import org.apache.commons.lang3.builder.HashCodeBuilder; +import org.apache.commons.lang3.builder.ToStringBuilder; +import org.eclipse.mosaic.lib.objects.mapping.VehicleMapping; +import org.eclipse.mosaic.lib.objects.vehicle.VehicleType; +import org.eclipse.mosaic.rti.api.Interaction; + +import java.util.List; + +import static org.apache.commons.lang3.builder.ToStringStyle.SHORT_PREFIX_STYLE; + +/** + * This interaction is used to define vehicle's controlled externally (i.e. not directly by a MOSAIC application or + * by a defined behavior and/or route in one of the attached simulators. + */ +public final class ExternalVehicleRegistration extends Interaction { + private static final long serialVersionUID = 1L; + + /** + * String identifying the type of this interaction. + */ + public final static String TYPE_ID = createTypeIdentifier(ExternalVehicleRegistration.class); + + /** + * The new vehicle. + */ + private final VehicleMapping vehicleMapping; + + /** + * Creates a new interaction that informs about a new added vehicle to the simulation. + * + * @param time Timestamp of this interaction, unit: [ns] + * @param name vehicle identifier + * @param group vehicle group identifier + * @param applications installed applications of the vehicle + * @param vehicleType vehicle type + */ + public ExternalVehicleRegistration(final long time, final String name, final String group, final List applications, final VehicleType vehicleType) { + super(time); + this.vehicleMapping = new VehicleMapping(name, group, applications, vehicleType); + } + + public VehicleMapping getMapping() { + return vehicleMapping; + } + + @Override + public int hashCode() { + return new HashCodeBuilder(7, 19) + .append(vehicleMapping) + .toHashCode(); + } + + @Override + public boolean equals(Object obj) { + if (obj == null) { + return false; + } + if (obj == this) { + return true; + } + if (obj.getClass() != getClass()) { + return false; + } + + ExternalVehicleRegistration rhs = (ExternalVehicleRegistration) obj; + return new EqualsBuilder() + .append(this.vehicleMapping, rhs.vehicleMapping) + .isEquals(); + } + + @Override + public String toString() { + return new ToStringBuilder(this, SHORT_PREFIX_STYLE) + .appendSuper(super.toString()) + .append("vehicleMapping", vehicleMapping) + .toString(); + } +} diff --git a/co-simulation/lib/mosaic-network/src/main/java/org/eclipse/mosaic/lib/coupling/AbstractNetworkAmbassador.java b/co-simulation/lib/mosaic-network/src/main/java/org/eclipse/mosaic/lib/coupling/AbstractNetworkAmbassador.java index 0bc6b5e0..ab8f03dc 100644 --- a/co-simulation/lib/mosaic-network/src/main/java/org/eclipse/mosaic/lib/coupling/AbstractNetworkAmbassador.java +++ b/co-simulation/lib/mosaic-network/src/main/java/org/eclipse/mosaic/lib/coupling/AbstractNetworkAmbassador.java @@ -15,12 +15,14 @@ package org.eclipse.mosaic.lib.coupling; +import org.apache.commons.lang3.tuple.Pair; import org.eclipse.mosaic.interactions.communication.AdHocCommunicationConfiguration; import org.eclipse.mosaic.interactions.communication.V2xMessageReception; import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.interactions.mapping.RsuRegistration; import org.eclipse.mosaic.interactions.mapping.TrafficLightRegistration; import org.eclipse.mosaic.interactions.mapping.VehicleRegistration; +import org.eclipse.mosaic.interactions.mapping.advanced.ExternalVehicleRegistration; import org.eclipse.mosaic.interactions.traffic.VehicleUpdates; import org.eclipse.mosaic.lib.coupling.ClientServerChannel.CMD; import org.eclipse.mosaic.lib.coupling.ClientServerChannel.NodeDataContainer; @@ -43,20 +45,12 @@ import org.eclipse.mosaic.rti.api.InternalFederateException; import org.eclipse.mosaic.rti.api.federatestarter.DockerFederateExecutor; import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter; - -import org.apache.commons.lang3.tuple.Pair; import org.slf4j.LoggerFactory; import java.io.IOException; import java.io.InputStream; import java.net.UnknownHostException; -import java.util.ArrayList; -import java.util.Comparator; -import java.util.HashMap; -import java.util.List; -import java.util.Map; -import java.util.NoSuchElementException; -import java.util.Scanner; +import java.util.*; /** * The Ambassador for coupling a network simulator to MOSAIC RTI. @@ -283,6 +277,8 @@ protected void processInteraction(Interaction interaction) throws InternalFedera this.receiveTypedInteraction((V2xMessageTransmission) interaction); } else if (interaction.getTypeId().equals(AdHocCommunicationConfiguration.TYPE_ID)) { this.receiveTypedInteraction((AdHocCommunicationConfiguration) interaction); + } else if (interaction.getTypeId().equals((ExternalVehicleRegistration.TYPE_ID))) { + this.receiveTypedInteraction((ExternalVehicleRegistration) interaction); } } @@ -372,6 +368,30 @@ private synchronized void receiveTypedInteraction(VehicleRegistration interactio newVirtualVehicles.put(av.getName(), new VirtualNodeContainer(null, null)); } + /** + * Store nodes for later adding based on received vehicle mappings. + *
+ * The unique mapping of RTI string-ids to federate integer-ids + * is also done in the handling of the vehicle movements + * + * @param interaction interaction containing a mapping of added vehicles + */ + private synchronized void receiveTypedInteraction(ExternalVehicleRegistration interaction) { + this.log.debug( + "Received ExternalVehicleRegistration for vehicle {} at simulation time {} ", + interaction.getMapping().getName(), + interaction.getTime() + ); + VehicleMapping av = interaction.getMapping(); + // We have got this Vehicle already + if (idTransformer.containsInternalId(av.getName()) || newVirtualVehicles.containsKey(av.getName())) { + this.log.warn("A vehicle with ID {} was already added. Ignoring message.", av.getName()); + return; + } + // Add new virtual vehicle-container without config message or position + newVirtualVehicles.put(av.getName(), new VirtualNodeContainer(null, null)); + } + /** * Add nodes based on received rsu mappings. * From b4d990ca345a3781265392827350b6f925d143ff Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Wed, 17 May 2023 22:02:48 -0400 Subject: [PATCH 113/124] Updated all GeoPoint to CartesianPoint for infrastructure --- .../ambassador/InfrastructureInstance.java | 12 ++++++------ .../ambassador/InfrastructureInstanceManager.java | 10 +++++----- .../ambassador/InfrastructureMessageAmbassador.java | 8 ++------ .../InfrastructureRegistrationMessage.java | 10 +++++----- .../InfrastructureInstanceManagerTest.java | 10 +++++----- .../InfrastructureRegistrationReceiverTest.java | 9 +++++---- 6 files changed, 28 insertions(+), 31 deletions(-) diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java index 373ea17b..87e602d4 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstance.java @@ -16,7 +16,7 @@ package org.eclipse.mosaic.fed.infrastructure.ambassador; -import org.eclipse.mosaic.lib.geo.GeoPoint; +import org.eclipse.mosaic.lib.geo.CartesianPoint; import java.io.IOException; import java.net.DatagramPacket; @@ -35,7 +35,7 @@ public class InfrastructureInstance { private InetAddress targetAddress; private int rxMessagePort; private int timeSyncPort; - private GeoPoint location = null; + private CartesianPoint location = null; private DatagramSocket rxMsgsSocket = null; /** @@ -50,7 +50,7 @@ public class InfrastructureInstance { * simulated environment */ public InfrastructureInstance(String infrastructureId, InetAddress targetAddress, - int rxMessagePort, int timeSyncPort, GeoPoint location) { + int rxMessagePort, int timeSyncPort, CartesianPoint location) { this.infrastructureId = infrastructureId; this.targetAddress = targetAddress; this.rxMessagePort = rxMessagePort; @@ -79,9 +79,9 @@ public void setTargetAddress(InetAddress targetAddress) { /** * Returns the location of the infrastructure node in the simulated environment * - * @return GeoPoint the location of the infrastructure node + * @return CartesianPoint the location of the infrastructure node */ - public GeoPoint getLocation() { + public CartesianPoint getLocation() { return this.location; } @@ -90,7 +90,7 @@ public GeoPoint getLocation() { * * @param location the location to set */ - public void setLocation(GeoPoint location) { + public void setLocation(CartesianPoint location) { this.location = location; } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java index 09889470..f711fc16 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManager.java @@ -20,7 +20,7 @@ import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.lib.enums.AdHocChannel; import org.eclipse.mosaic.lib.geo.GeoCircle; -import org.eclipse.mosaic.lib.geo.GeoPoint; +import org.eclipse.mosaic.lib.geo.CartesianPoint; import org.eclipse.mosaic.lib.objects.addressing.AdHocMessageRoutingBuilder; import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xContent; import org.eclipse.mosaic.lib.objects.v2x.ExternalV2xMessage; @@ -91,7 +91,7 @@ public void onNewRegistration(InfrastructureRegistrationMessage registration) { * */ private void newInfrastructureInstance(String infrastructureId, InetAddress rxMessageIpAddress, int rxMessagePort, - int timeSyncPort, GeoPoint location) { + int timeSyncPort, CartesianPoint location) { InfrastructureInstance tmp = new InfrastructureInstance(infrastructureId, rxMessageIpAddress, rxMessagePort, timeSyncPort, location); try { @@ -125,13 +125,13 @@ public V2xMessageTransmission onV2XMessageTx(InetAddress sourceAddr, CarmaV2xMes } AdHocMessageRoutingBuilder messageRoutingBuilder = new AdHocMessageRoutingBuilder( - sender.getInfrastructureId(), sender.getLocation()).viaChannel(AdHocChannel.CCH); + sender.getInfrastructureId(), sender.getLocation().toGeo()).viaChannel(AdHocChannel.CCH); // TODO: Get maximum broadcast radius from configuration file. - MessageRouting routing = messageRoutingBuilder.geoBroadCast(new GeoCircle(sender.getLocation(), 300)); + MessageRouting routing = messageRoutingBuilder.geoBroadCast(new GeoCircle(sender.getLocation().toGeo(), 300)); return new V2xMessageTransmission(time, new ExternalV2xMessage(routing, - new ExternalV2xContent(time, sender.getLocation(), txMsg.getPayload()))); + new ExternalV2xContent(time, sender.getLocation().toGeo(), txMsg.getPayload()))); } /** diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java index 7919b562..a5dedc1c 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassador.java @@ -26,7 +26,6 @@ import org.eclipse.mosaic.interactions.communication.V2xMessageTransmission; import org.eclipse.mosaic.interactions.mapping.RsuRegistration; import org.eclipse.mosaic.lib.enums.AdHocChannel; -import org.eclipse.mosaic.lib.geo.CartesianPoint; import org.eclipse.mosaic.lib.geo.GeoPoint; import org.eclipse.mosaic.lib.misc.Tuple; import org.eclipse.mosaic.lib.objects.addressing.IpResolver; @@ -285,11 +284,8 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder // Store new instance registration to infrastructure instance manager infrastructureInstanceManager.onNewRegistration(reg); // Process registration requests for RSUs and DSRCs - double x = reg.getLocation().getLatitude(); - double y = reg.getLocation().getLongitude(); - double z = reg.getLocation().getAltitude(); - onRsuRegistrationRequest(reg.getInfrastructureId(), CartesianPoint.xyz(x, y,z).toGeo()); - log.info("RSU Registration for "+ reg.getInfrastructureId() + " @ x, y, z: (" + x + ", " + y + ", " + z+ ")"); + onRsuRegistrationRequest(reg.getInfrastructureId(), reg.getLocation().toGeo()); + log.info("RSU Registration for "+ reg.getInfrastructureId() + " @ x, y, z: (" + reg.getLocation().getX() + ", " + reg.getLocation().getY() + ", " + reg.getLocation().getZ() + ")"); onDsrcRegistrationRequest(reg.getInfrastructureId()); } diff --git a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java index 5a8b9430..b81bde84 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java +++ b/co-simulation/fed/mosaic-infrastructure/src/main/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationMessage.java @@ -16,7 +16,7 @@ package org.eclipse.mosaic.fed.infrastructure.ambassador; -import org.eclipse.mosaic.lib.geo.GeoPoint; +import org.eclipse.mosaic.lib.geo.CartesianPoint; /** * A message to be sent by Infrastructure Device when it registers with the @@ -39,7 +39,7 @@ public class InfrastructureRegistrationMessage { private int timeSyncPort = 1517; // Geo-coordinate of the Infrastructure Device location - private GeoPoint location = null; + private CartesianPoint location = null; /** * Constructor for an `InfrastructureRegistrationMessage` instance @@ -55,7 +55,7 @@ public class InfrastructureRegistrationMessage { * location */ public InfrastructureRegistrationMessage(String rxMessageIpAddress, String infrastructureId, - int rxMessagePort, int timeSyncPort, GeoPoint location) { + int rxMessagePort, int timeSyncPort, CartesianPoint location) { this.rxMessageIpAddress = rxMessageIpAddress; this.infrastructureId = infrastructureId; this.rxMessagePort = rxMessagePort; @@ -110,7 +110,7 @@ public int getTimeSyncPort() { * * @return The Geo-coordinate of the Infrastructure Device location */ - public GeoPoint getLocation() { + public CartesianPoint getLocation() { return this.location; } @@ -161,7 +161,7 @@ public void setTimeSyncPort(int timeSyncPort) { * @param location the new GeoPoint object representing the location of the * Infrastructure Device */ - public void setLocation(GeoPoint location) { + public void setLocation(CartesianPoint location) { this.location = location; } diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java index 7bc7b19c..c49d4dfc 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureInstanceManagerTest.java @@ -21,7 +21,7 @@ import java.net.InetAddress; -import org.eclipse.mosaic.lib.geo.GeoPoint; +import org.eclipse.mosaic.lib.geo.CartesianPoint; import org.junit.Before; import org.junit.Test; import org.mockito.Mockito; @@ -31,14 +31,14 @@ public class InfrastructureInstanceManagerTest { private InfrastructureInstanceManager manager; private InfrastructureRegistrationMessage registration; private InetAddress ipAddress; - private GeoPoint location; + private CartesianPoint location; @Before public void setUp() throws Exception { manager = new InfrastructureInstanceManager(); registration = mock(InfrastructureRegistrationMessage.class); ipAddress = mock(InetAddress.class); - location = mock(GeoPoint.class); + location = mock(CartesianPoint.class); } @Test @@ -48,7 +48,7 @@ public void testOnNewRegistration() { int rxMessagePort = 1234; int timeSyncPort = 5678; String ipAddressString = "127.0.0.1"; - GeoPoint pt = GeoPoint.latLon(37.3382, -121.8863); + CartesianPoint pt = CartesianPoint.xyz(37.3382, -121.8863, 1.0); // Mock the behavior of the registration object mockRegistrationObject(infrastructureId, rxMessagePort, timeSyncPort, ipAddressString, pt); @@ -61,7 +61,7 @@ public void testOnNewRegistration() { } private void mockRegistrationObject(String infrastructureId, int rxMessagePort, int timeSyncPort, - String ipAddressString, GeoPoint pt) { + String ipAddressString, CartesianPoint pt) { // Mock the behavior of the registration object Mockito.when(registration.getInfrastructureId()).thenReturn(infrastructureId); Mockito.when(registration.getRxMessagePort()).thenReturn(rxMessagePort); diff --git a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java index 2cd893c5..a93a24b5 100644 --- a/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java +++ b/co-simulation/fed/mosaic-infrastructure/src/test/java/org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureRegistrationReceiverTest.java @@ -56,7 +56,7 @@ public void teardown() throws Exception { @Test public void testMessageReceive() throws Exception { // Define a test message in JSON format - String json = "{\"rxMessageIpAddress\":\"192.168.0.1\",\"infrastructureId\":\"5678\",\"rxMessagePort\":1234,\"timeSyncPort\":5678,\"location\":{\"latitude\":37.3382,\"longitude\":121.8863}}"; + String json = "{\"rxMessageIpAddress\":\"192.168.0.1\",\"infrastructureId\":\"rsu_1\",\"rxMessagePort\":1234,\"timeSyncPort\":5678,\"location\":{\"x\":37.3382,\"y\":121.8863, \"z\":1.0}}"; byte[] buffer = json.getBytes(); // Send the test message to the receiver @@ -75,11 +75,12 @@ public void testMessageReceive() throws Exception { double delta = 0.001; // maximum allowed difference for GeoLocation lat and lon assertEquals("192.168.0.1", msg.getRxMessageIpAddress()); - assertEquals("5678", msg.getInfrastructureId()); + assertEquals("rsu_1", msg.getInfrastructureId()); assertEquals(1234, msg.getRxMessagePort()); assertEquals(5678, msg.getTimeSyncPort()); - assertEquals(37.3382, msg.getLocation().getLatitude(), delta); - assertEquals(121.8863, msg.getLocation().getLongitude(), delta); + assertEquals(37.3382, msg.getLocation().getX(), delta); + assertEquals(121.8863, msg.getLocation().getY(), delta); + assertEquals(1.0, msg.getLocation().getZ(), delta); } } From 460f443b470f5670dde3aa81c892b4420b2b6bcc Mon Sep 17 00:00:00 2001 From: eric Date: Mon, 22 May 2023 17:56:58 -0400 Subject: [PATCH 114/124] update config to 1 controller update config to 1 controller --- evc-sumo/src/resources/evc_sumo_cfg.json | 34 +----------------------- 1 file changed, 1 insertion(+), 33 deletions(-) diff --git a/evc-sumo/src/resources/evc_sumo_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json index 72f24771..65a27c9b 100644 --- a/evc-sumo/src/resources/evc_sumo_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -14,38 +14,6 @@ "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[0,3], "sumoInductionLoopId": "e1_0"}, {"evcPhaseId": 6, "sumoTlStateIndex":[1,4], "sumoInductionLoopId": "e1_1"}, {"evcPhaseId": 4, "sumoTlStateIndex":[2,5], "sumoInductionLoopId": "e1_2"} ] - }, - { - "controllerId": 2, - "controllerCfgPath": "resources/148.cfg", - "start_time": null, - "https_port": 0, - "web_port": 0, - "snmp_port": 0, - "harness_port": 0, - "controller_speed": null, - "sumoTlId": 148, - "enableWebPanel": true, - "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[7,8,10], "sumoInductionLoopId": "e1_3"}, - {"evcPhaseId": 6, "sumoTlStateIndex":[4,5,6], "sumoInductionLoopId": "e1_4"}, - {"evcPhaseId": 4, "sumoTlStateIndex":[2,3,11], "sumoInductionLoopId": "e1_5"}, - {"evcPhaseId": 8, "sumoTlStateIndex":[0,1,9], "sumoInductionLoopId": "e1_6"} ] - }, - { - "controllerId": 3, - "controllerCfgPath": "resources/916.cfg", - "start_time": null, - "https_port": 0, - "web_port": 0, - "snmp_port": 0, - "harness_port": 0, - "controller_speed": null, - "sumoTlId": 916, - "enableWebPanel": true, - "evcPhases": [{"evcPhaseId": 2, "sumoTlStateIndex":[4,10,11], "sumoInductionLoopId": "e1_7"}, - {"evcPhaseId": 6, "sumoTlStateIndex":[0,2,6], "sumoInductionLoopId": "e1_8"}, - {"evcPhaseId": 4, "sumoTlStateIndex":[1,3,8], "sumoInductionLoopId": "e1_9"}, - {"evcPhaseId": 8, "sumoTlStateIndex":[5,7,9], "sumoInductionLoopId": "e1_10"} ] } ] -} \ No newline at end of file +} From 9810b0d7832c2541d038181f6922019886770bc7 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Tue, 23 May 2023 15:20:42 -0400 Subject: [PATCH 115/124] Updated carla vehicle to be registered as role name, not id --- .../bridge/carla_integration/sumo_simulation.py | 10 +++------- .../bridge/carla_integration/synchronization.py | 4 ++-- 2 files changed, 5 insertions(+), 9 deletions(-) diff --git a/co-simulation/bridge/carla_integration/sumo_simulation.py b/co-simulation/bridge/carla_integration/sumo_simulation.py index d5d892d0..ade4b5d6 100644 --- a/co-simulation/bridge/carla_integration/sumo_simulation.py +++ b/co-simulation/bridge/carla_integration/sumo_simulation.py @@ -331,9 +331,6 @@ def __init__(self, sumo_net, step_length, host=None, port=None): self.net = sumo_net - # Variable to asign an id to new added actors. - self._sequential_id = 0 - # Structures to keep track of the spawned and destroyed vehicles at each time step. self.spawned_actors = set() self.destroyed_actors = set() @@ -411,15 +408,16 @@ def get_actor(actor_id): return SumoActor(type_id, vclass, transform, signals, extent, color) - def spawn_actor(self, type_id, color=None): + def spawn_actor(self, type_id, role_name, color=None): """ Spawns a new actor. :param type_id: vtype to be spawned. + :param role_name: vehicle role name to register to carla ambassador :param color: color attribute for this specific actor. :return: actor id if the actor is successfully spawned. Otherwise, INVALID_ACTOR_ID. """ - actor_id = 'carla_' + str(self._sequential_id) + actor_id = role_name try: traci.vehicle.add(actor_id, 'carla_route', typeID=type_id) except traci.exceptions.TraCIException as error: @@ -430,8 +428,6 @@ def spawn_actor(self, type_id, color=None): color = color.split(',') traci.vehicle.setColor(actor_id, color) - self._sequential_id += 1 - return actor_id @staticmethod diff --git a/co-simulation/bridge/carla_integration/synchronization.py b/co-simulation/bridge/carla_integration/synchronization.py index 7627593a..65e1b24e 100644 --- a/co-simulation/bridge/carla_integration/synchronization.py +++ b/co-simulation/bridge/carla_integration/synchronization.py @@ -153,11 +153,11 @@ def tick(self): carla_spawned_actors = self.carla.spawned_actors - set(self.sumo2carla_ids.values()) for carla_actor_id in carla_spawned_actors: carla_actor = self.carla.get_actor(carla_actor_id) - + role_name = self.carla.get_actor(carla_actor_id).attributes["role_name"] type_id = BridgeHelper.get_sumo_vtype(carla_actor) color = carla_actor.attributes.get('color', None) if self.sync_vehicle_color else None if type_id is not None: - sumo_actor_id = self.sumo.spawn_actor(type_id, color) + sumo_actor_id = self.sumo.spawn_actor(type_id, role_name, color) if sumo_actor_id != INVALID_ACTOR_ID: self.carla2sumo_ids[carla_actor_id] = sumo_actor_id From 413d4c866ea2c401a58359e0a09900a34ff389b2 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Tue, 23 May 2023 16:45:18 -0400 Subject: [PATCH 116/124] Update MosaicConformVehicleIdTransformer.java --- .../fed/sumo/util/MosaicConformVehicleIdTransformer.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/util/MosaicConformVehicleIdTransformer.java b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/util/MosaicConformVehicleIdTransformer.java index ea7cab73..8555e625 100644 --- a/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/util/MosaicConformVehicleIdTransformer.java +++ b/co-simulation/fed/mosaic-sumo/src/main/java/org/eclipse/mosaic/fed/sumo/util/MosaicConformVehicleIdTransformer.java @@ -64,8 +64,9 @@ public String toExternalId(String mosaicVehicleId) { @Override public String fromExternalId(String sumoVehicleId) { // do not change Carla vehicle ID - if (sumoVehicleId.startsWith("carla")) { + if (sumoVehicleId.startsWith("carma")) { sumoToMosaicVehicleIdMap.put(sumoVehicleId, sumoVehicleId); + log.info("Assigned vehicle id {}", sumoVehicleId); return sumoVehicleId; } From 01faf1dd5f188f566e6c42eeb2bb5276c913d7f4 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Tue, 23 May 2023 18:38:17 -0400 Subject: [PATCH 117/124] Removed SUMO vehicle in Town04 and Town04_test scenario --- .../scenarios/Town04/sumo/Town04.rou.xml | 15 +++++---------- .../scenarios/Town04_test/sumo/Town04.rou.xml | 15 +++++---------- 2 files changed, 10 insertions(+), 20 deletions(-) diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml index 351f1680..5072fe20 100755 --- a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/sumo/Town04.rou.xml @@ -1,16 +1,11 @@ - + + - - - - - - - - - + + \ No newline at end of file diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml index 351f1680..5072fe20 100755 --- a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/sumo/Town04.rou.xml @@ -1,16 +1,11 @@ - + + - - - - - - - - - + + \ No newline at end of file From 341c8f79239fd97cc603e70189f24a2f37cfe365 Mon Sep 17 00:00:00 2001 From: paulbourelly999 <77466294+paulbourelly999@users.noreply.github.com> Date: Wed, 24 May 2023 15:32:27 -0400 Subject: [PATCH 118/124] Set snmp port to 5050 in config file (#138) # PR Details ## Description Added configuration to EVC to set SNMP port to 5050. ## Related Issue ## Motivation and Context Fixed SNMP port so that tsc_configuration files do not need to change. ## How Has This Been Tested? Tested locally by deploying config EVC and enabling SPAT and running TCPDUMP to confirm spat messages are sent to correct IP ## Types of changes - [ ] Defect fix (non-breaking change that fixes an issue) - [ ] New feature (non-breaking change that adds functionality) - [ ] Breaking change (fix or feature that cause existing functionality to change) ## Checklist: - [ ] I have added any new packages to the sonar-scanner.properties file - [ ] My change requires a change to the documentation. - [ ] I have updated the documentation accordingly. - [x ] I have read the **CONTRIBUTING** document. [CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. --- evc-sumo/src/resources/evc_sumo_cfg.json | 4 ++-- evc-sumo/src/resources/test_3.cfg | Bin 0 -> 147474 bytes 2 files changed, 2 insertions(+), 2 deletions(-) create mode 100644 evc-sumo/src/resources/test_3.cfg diff --git a/evc-sumo/src/resources/evc_sumo_cfg.json b/evc-sumo/src/resources/evc_sumo_cfg.json index 65a27c9b..bf9ba81b 100644 --- a/evc-sumo/src/resources/evc_sumo_cfg.json +++ b/evc-sumo/src/resources/evc_sumo_cfg.json @@ -2,11 +2,11 @@ "controllers": [ { "controllerId": 1, - "controllerCfgPath": "resources/278.cfg", + "controllerCfgPath": "resources/test_3.cfg", "start_time": null, "https_port": 0, "web_port": 0, - "snmp_port": 0, + "snmp_port": 5050, "harness_port": 0, "controller_speed": null, "sumoTlId": 278, diff --git a/evc-sumo/src/resources/test_3.cfg b/evc-sumo/src/resources/test_3.cfg new file mode 100644 index 0000000000000000000000000000000000000000..21ca27094b86dfb4d12b6432381d4c2f9676584e GIT binary patch literal 147474 zcmeI5XLKCZ702&vkyb0&mci73vo3%k4j7x7Y9W_klSIa*rCOF`5ZIEDWy813D2<+z zLe5Dc#{~#B#`GQtNeBrwA?=*hW594i+TmMH^2K?xqp{w9eMg#oR;>1)^?L4q-n;kC z{N~P^+1b^uTw4E_3`{FMPb6dXe{S0|>&RQX+6S73-KsGWvtsg9J-PT)oy0hpJfDmG z$~gxT*Bs;&hjpEMnQSg!Q(LGj);CO=Jf(4eoSAanetY~Gr~LmmX`cxl?c{;I9A#sR z2pNz;cr>sM$bfY)yyu1Je4`y%;gy(PZ`s6_Tw+T;u_e3|)AQ6OwiFUulGi%9C3&rr zTawp0xg~k6lUpXv{&8WQ%&lA?JYysrS)>yY(8nFpIdpU;&iKajk4W+uKl0ZH$?N8F zM&}rE=*AGTChM3$wP$pme+Cfaz#OS5cMD(Y=>=>D1V8p6gkn_eJ8M$Ha#7T+f0_ zXE;ZX9Wh?KG`b%XtCM5Hd9G)PUMs{w&yNk~xt=9@A1MyHA~u}odY0%~JPvwUY&g&L zEO>;pI!BKk^(@7>xjgR#}|B5qg$^kBx;fpLYoiK6(}$>t6*A7olf43_|@Ll#9@_91fvg1LY$0EYl#= z+n`*8p5+J#h2sr0r4)LWBf%T@5;Ub0dX}TW`&dveLeFwEgqjJ;Md(@Zs^#E6@~CG) zM$24QAAIyI?}9!Tf^rdhmg6AQCqTIfJNn;!RzmDy95RwJqsS~+rYy`=vih#sGXo(gq~$Kgn9v#i_o*20HJ;b%0=i| zPJ~c@0Oca|EGI#z*Fm`mJSxy0Oyl#S~ltRz)9`MGq z4K$?`dX~B1jmIc7r4)LW_kuTW88oF7dX`hcdpRfSr&r#Y)~#j&(Z{;@LB_!QVKoG zdEk8kC>Nn;X@*d%K)DD#%OVK%DNrs#&$1XowS#gIdX^;+Y8@ySp=VhNp>6`@BJ?aD zfl%K7IPf^rdhmSqs?c2F)t&$1js?E>W@^elL^zvL1aeDo|Ig+9Ll7h-&;r-7`o|M@RcOq zkp=gZLeGNdExeDFGB9-0vs?sy@YO#wr4)LWi@_U@QD{mj^emTvH*Og;r4)LWOTqio zpj?EW0m?<_S@2zo^)7+IN6&)yL~aHT7olgtE3jK#0)vm91^4%D;Nc?lET4f; 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[CARMA Contributing Guide](Contributing.md) - [ ] I have added tests to cover my changes. - [ ] All new and existing tests passed. --- evc-sumo/src/resources/test_3.cfg | Bin 147474 -> 147474 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/evc-sumo/src/resources/test_3.cfg b/evc-sumo/src/resources/test_3.cfg index 21ca27094b86dfb4d12b6432381d4c2f9676584e..f8a10db4d12e65777b1e50caa6d7261a8d559582 100644 GIT binary patch delta 54 zcmbQ#z&WXbbAk-Zk9Bz|lO3y~8>_cgGYT$bS;NA>ynVt##w8*g8c!I2fSqZY6r;=b JhHZ?KIsqM~5?TNN delta 54 zcmbQ#z&WXbbAk+u*wnm~$&OXgjn!ML83h-zaJg|YZlAD_aft|r!Ab@oU}u^p#ptrV JVH@M5P5|TX5Yzww From 59c94194a7bf335ac14aacd8fbcfa3992c927907 Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Thu, 25 May 2023 11:42:25 -0400 Subject: [PATCH 120/124] set center coordinates as 0,0 --- .../resources/scenarios/Town04/scenario_config.json | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json index c70915d4..2103391b 100755 --- a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json +++ b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/scenario_config.json @@ -5,12 +5,12 @@ "randomSeed": 212323853, "projection": { "centerCoordinates": { - "latitude": 52.63, - "longitude": 13.56 + "latitude": 0, + "longitude": 0 }, "cartesianOffset": { - "x": 503.02, - "y": 423.76 + "x": 0, + "y": 0 } }, "network": { From 2c4ffff655209197819fa5238664285ea481731a Mon Sep 17 00:00:00 2001 From: Cheng Yuan <84340069+chengyuan0124@users.noreply.github.com> Date: Thu, 25 May 2023 11:42:29 -0400 Subject: [PATCH 121/124] Update Town04.db --- .../scenarios/Town04/application/Town04.db | Bin 419840 -> 462848 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git 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