Thesis work

.gitignore

@@ -9,8 +9,8 @@
 !tod_omnet_network
 !tod_simulator
 !.gitignore
-!zero_delay_network
-!zero_delay_network/**
+!zero-delay-network
+!zero-delay-network/**
 !images
 !images/**
 !.env

.gitmodules

@@ -1,8 +1,8 @@
-[submodule "tod_simulator"]
+[submodule "tod-carla"]
 	path = tod-carla
-	url = https://github.com/Jaivra/tod_simulator
-	branch = dev
-[submodule "tod_omnet_network"]
+	url = git@github.com:busolind/tod-carla.git
+	branch = main
+[submodule "tod-omnet"]
 	path = tod-omnet
-	url = https://github.com/Jaivra/tod_omnet_network
+	url = git@github.com:busolind/tod-omnet.git
 	branch = main

carla-sim-supervisor/sim_controller.py

@@ -10,9 +10,12 @@
 
 class CarlaHandlerRPC:
 
-    def __init__(self, carla_sh_path) -> None:
+    def __init__(self, carla_sh_path, offscreen : bool = False) -> None:
         self._carla_simulator_proc = None
-        self._carla_launch_script = [carla_sh_path, '-RenderOffScreen', '>/dev/null', '2>/dev/null']
+        if offscreen:
+            self._carla_launch_script = [carla_sh_path, '-RenderOffScreen', '>/dev/null', '2>/dev/null']
+        else:
+            self._carla_launch_script = [carla_sh_path, '>/dev/null', '2>/dev/null']
 
     def _carla_service_is_active(self):
         return self._carla_simulator_proc is not None and self._carla_simulator_proc.poll() is None
@@ -78,8 +81,13 @@ def close_simulator(self):
 
 if __name__ == '__main__':
     carla_sh_path = sys.argv[1]
+    offscreen = False
+    try:
+        offscreen = bool(sys.argv[2])
+    except IndexError:
+        ...
     print(carla_sh_path)
-    s = zerorpc.Server(CarlaHandlerRPC(carla_sh_path))
+    s = zerorpc.Server(CarlaHandlerRPC(carla_sh_path, offscreen))
     s.bind('tcp://0.0.0.0:4242')
     print('RPC server running')
     s.run()

docker-compose.yaml

@@ -2,8 +2,9 @@ version: '3.9'
 
 services:
   tod-carla:
-    #depends_on: 
-    #  - carla_simulator
+    container_name: tod-carla
+    depends_on: 
+      - carla-simulator
     build: tod-carla
     volumes:
       - type: bind
@@ -26,6 +27,7 @@ services:
   carla-simulator:
     #image: carlasim/carla:0.9.13
     build: carla-sim-supervisor
+    container_name: carla-simulator
 
     privileged: true
     deploy:
@@ -61,8 +63,8 @@ services:
 
 
   zero-delay-network:
-    #depends_on: 
-    #  - tod_simulator
+    depends_on: 
+      - tod-carla
     build: 
       context: zero-delay-network
       args:

zero-delay-network/API/init.json

@@ -1,25 +1,25 @@
 {
   "message_type": "INIT",
   "timestamp": 0,
-  "run_id": "id_current_simulation",
+  "run_id": "Hwy-Obstacle-old-detection-zero-delay",
   "moving_actors": [
     {
       "actor_id": "car_id",
       "actor_type": "car",
       "actor_configuration": {
         "configuration_id": "simple_vehicle",
-        "route": "simple_curve_world_1",
+        "route": "straight_hwy_world_4_obstacles",
         "agent_configuration": "simple_agent",
         "agent_id": "agent_id"
       }
     }
   ],
   "carla_configuration": {
     "seed": 11120,
-    "sim_time_limit": 350,
+    "sim_time_limit": 30,
     "carla_timestep": 0.01
   },
   "user_defined": {
-    "carla_world_configuration": "world_1"
+    "carla_world_configuration": "world_4"
   }
 }

zero-delay-network/API/simulation_step.json

@@ -1,5 +1,5 @@
 {
   "message_type": "SIMULATION_STEP",
-  "carla_timestep": 0.05,
+  "carla_timestep": 0.01,
   "timestamp": 0
 }

zero-delay-network/API_city/actor_status_update.json

@@ -0,0 +1,8 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "ACTOR_STATUS_UPDATE",
+    "actor_id": "car_id"
+  }
+}

zero-delay-network/API_city/apply_instruction.json

@@ -0,0 +1,9 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "APPLY_INSTRUCTION",
+    "actor_id": "car_id",
+    "instruction_id": "instruction_id"
+  }
+}

zero-delay-network/API_city/compute_instruction.json

@@ -0,0 +1,10 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "COMPUTE_INSTRUCTION",
+    "actor_id": "car_id",
+    "agent_id": "agent_id",
+    "status_id": "status_id"
+  }
+}

zero-delay-network/API_city/init.json

@@ -0,0 +1,25 @@
+{
+  "message_type": "INIT",
+  "timestamp": 0,
+  "run_id": "Straight-Obstacle-zero-delay",
+  "moving_actors": [
+    {
+      "actor_id": "car_id",
+      "actor_type": "car",
+      "actor_configuration": {
+        "configuration_id": "simple_vehicle",
+        "route": "straight_city_world_4_obstacles",
+        "agent_configuration": "simple_agent",
+        "agent_id": "agent_id"
+      }
+    }
+  ],
+  "carla_configuration": {
+    "seed": 11120,
+    "sim_time_limit": 19,
+    "carla_timestep": 0.01
+  },
+  "user_defined": {
+    "carla_world_configuration": "world_4"
+  }
+}

zero-delay-network/API_city/simulation_step.json

@@ -0,0 +1,5 @@
+{
+  "message_type": "SIMULATION_STEP",
+  "carla_timestep": 0.01,
+  "timestamp": 0
+}

zero-delay-network/API_city_sudden/actor_status_update.json

@@ -0,0 +1,8 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "ACTOR_STATUS_UPDATE",
+    "actor_id": "car"
+  }
+}

zero-delay-network/API_city_sudden/apply_instruction.json

@@ -0,0 +1,9 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "APPLY_INSTRUCTION",
+    "actor_id": "car",
+    "instruction_id": "instruction_id"
+  }
+}

zero-delay-network/API_city_sudden/compute_instruction.json

@@ -0,0 +1,10 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "COMPUTE_INSTRUCTION",
+    "actor_id": "car",
+    "agent_id": "agent_id",
+    "status_id": "status_id"
+  }
+}

zero-delay-network/API_city_sudden/init.json

@@ -0,0 +1,25 @@
+{
+  "message_type": "INIT",
+  "timestamp": 0,
+  "run_id": "City-Sudden-Obstacle-zero-delay",
+  "moving_actors": [
+    {
+      "actor_id": "car",
+      "actor_type": "car",
+      "actor_configuration": {
+        "configuration_id": "simple_vehicle",
+        "route": "straight_city_world_4_sudden_obstacle",
+        "agent_configuration": "simple_agent",
+        "agent_id": "agent_id"
+      }
+    }
+  ],
+  "carla_configuration": {
+    "seed": 11120,
+    "sim_time_limit": 19,
+    "carla_timestep": 0.01
+  },
+  "user_defined": {
+    "carla_world_configuration": "world_4"
+  }
+}

zero-delay-network/API_city_sudden/simulation_step.json

@@ -0,0 +1,5 @@
+{
+  "message_type": "SIMULATION_STEP",
+  "carla_timestep": 0.01,
+  "timestamp": 0
+}

zero-delay-network/API_hwy/actor_status_update.json

@@ -0,0 +1,8 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "ACTOR_STATUS_UPDATE",
+    "actor_id": "car_id"
+  }
+}

zero-delay-network/API_hwy/apply_instruction.json

@@ -0,0 +1,9 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "APPLY_INSTRUCTION",
+    "actor_id": "car_id",
+    "instruction_id": "instruction_id"
+  }
+}

zero-delay-network/API_hwy/compute_instruction.json

@@ -0,0 +1,10 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "COMPUTE_INSTRUCTION",
+    "actor_id": "car_id",
+    "agent_id": "agent_id",
+    "status_id": "status_id"
+  }
+}

zero-delay-network/API_hwy/init.json

@@ -0,0 +1,25 @@
+{
+  "message_type": "INIT",
+  "timestamp": 0,
+  "run_id": "Hwy-Obstacle-old-detection-zero-delay",
+  "moving_actors": [
+    {
+      "actor_id": "car",
+      "actor_type": "car",
+      "actor_configuration": {
+        "configuration_id": "simple_vehicle",
+        "route": "straight_hwy_world_4_obstacles",
+        "agent_configuration": "simple_agent",
+        "agent_id": "agent_id"
+      }
+    }
+  ],
+  "carla_configuration": {
+    "seed": 11120,
+    "sim_time_limit": 30,
+    "carla_timestep": 0.01
+  },
+  "user_defined": {
+    "carla_world_configuration": "world_4"
+  }
+}

zero-delay-network/API_hwy/simulation_step.json

@@ -0,0 +1,5 @@
+{
+  "message_type": "SIMULATION_STEP",
+  "carla_timestep": 0.01,
+  "timestamp": 0
+}

zero-delay-network/API_hwy_moving/actor_status_update.json

@@ -0,0 +1,8 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "ACTOR_STATUS_UPDATE",
+    "actor_id": "car_id"
+  }
+}

zero-delay-network/API_hwy_moving/apply_instruction.json

@@ -0,0 +1,9 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "APPLY_INSTRUCTION",
+    "actor_id": "car_id",
+    "instruction_id": "instruction_id"
+  }
+}

zero-delay-network/API_hwy_moving/compute_instruction.json

@@ -0,0 +1,10 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "COMPUTE_INSTRUCTION",
+    "actor_id": "car_id",
+    "agent_id": "agent_id",
+    "status_id": "status_id"
+  }
+}

zero-delay-network/API_hwy_moving/init.json

@@ -0,0 +1,25 @@
+{
+  "message_type": "INIT",
+  "timestamp": 0,
+  "run_id": "Hwy-Moving-Obstacle-old-detection-zero-delay",
+  "moving_actors": [
+    {
+      "actor_id": "car_id",
+      "actor_type": "car",
+      "actor_configuration": {
+        "configuration_id": "simple_vehicle",
+        "route": "hwy_world_4_moving_obstacle",
+        "agent_configuration": "simple_agent",
+        "agent_id": "agent_id"
+      }
+    }
+  ],
+  "carla_configuration": {
+    "seed": 11120,
+    "sim_time_limit": 38,
+    "carla_timestep": 0.01
+  },
+  "user_defined": {
+    "carla_world_configuration": "world_4"
+  }
+}

zero-delay-network/API_hwy_moving/simulation_step.json

@@ -0,0 +1,5 @@
+{
+  "message_type": "SIMULATION_STEP",
+  "carla_timestep": 0.01,
+  "timestamp": 0
+}

zero-delay-network/API_hwy_sudden/actor_status_update.json

@@ -0,0 +1,8 @@
+{
+  "message_type": "GENERIC_MESSAGE",
+  "timestamp": 0,
+  "user_defined": {
+    "user_message_type": "ACTOR_STATUS_UPDATE",
+    "actor_id": "car"
+  }
+}