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Spike smoke test #325

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wants to merge 12 commits into from
Closed

Spike smoke test #325

wants to merge 12 commits into from

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MishkaMN
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@MishkaMN MishkaMN commented Mar 12, 2024 •
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PR Details

Description

This PR is to finalize (as much as possible) for the tester to be able to run verification test easily. Following changes were made:

NOTE: Several commits to this branch has actually been Peer Reviewed before. So I suggest looking at last several commit changes that aren't associated with PR to do the review.

  • All files associated with 5 configuration parameter that needs to be changed between runs are copied in cdasim_config folder. This is so that they are automatically mounted to the containers through docker volume. Those files are VehicleConfigParams.yaml (in carma folder), carma_carla_agent.launch, yield_plugin/parameters.yml( existed before: ILC parameters.yml and scenario-runner files).
  • Included route files
  • Renamed scenarios from left/right to north and south. This is because we replaced right_turn to through scenario. However, since left turn and through scenarios both use same placement of road users, left turn doesn't make sense anymore.
  • Turned off excessive logging in logback.xml because one run easily turning into 2GB+ just for carma-simulation files
  • Added carma-vector-map so the tester can easily copy it locally
  • Added run-simulation script, which stops all carma containers and deletes docker volumes before each start. It also starts ROS1 rviz automatically after fixed timing because it is required to inspect certain verification testing requirements. It replaces carma start all/stop commands
  • Added more bridge.yml topics that needed for debug/data collections using ROS1 bag.

Related Issue

https://usdot-carma.atlassian.net/browse/CDAR-593

Motivation and Context

VRU verification testing prep

How Has This Been Tested?

sim pc 1

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
  • I have added tests to cover my changes.
  • All new and existing tests passed.

adamlm and others added 11 commits February 20, 2024 14:31
@adamlm
Add sim computer config
6ac608a 
Going to use this config in another sim computer for repeatability
testing.
@adamlm
Add route_state to bridge
de79592
@adamlm
Fix bind mounts
4a223af 
They were causing simulation issues with Platform's behavior.
@MishkaMN
Feature/bridge addition to smoke (#321)
b31b852 
<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Adding more useful topics
<!--- Describe your changes in detail -->

## Related Issue

<!--- This project only accepts pull requests related to open issues -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
<!--- Please link to the issue here: -->

## Motivation and Context

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
<!--- Include details of your testing environment, and the tests you ran
to -->
<!--- see how your change affects other areas of the code, etc. -->

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] 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:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [ ] 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](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.
@MishkaMN
Feature/add routes maps (#322)
130010e
@MishkaMN
Feature/add vehicle config (#323)
81582ab
@MishkaMN
Fix docker volume for carma-carla-integration (#324)
e89750b
@MishkaMN
latest changes
a67b94e
@MishkaMN
add spawn point
d683ab4
@MishkaMN
rename to north, south
defb071
@MishkaMN
remove env.launch
4dcf872
@MishkaMN MishkaMN self-assigned this Mar 12, 2024
paulbourelly999
paulbourelly999 reviewed Mar 13, 2024
View reviewed changes
ail_vru_uc1_scenario/cdasim_config/run_simulation
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We should add a script called stop simulation which pulls kafka logs as well. This is currently a manual step required to be run after a scenario is complete while the simulation is still up.

paulbourelly999
paulbourelly999 reviewed Mar 13, 2024
View reviewed changes
ail_vru_uc1_scenario/cdasim_config/cdasim/logback.xml
</encoder>
</appender>
<appender name="CarlaLog" class="ch.qos.logback.core.FileAppender">
<charset>UTF-8</charset>
<file>${logDirectory}/Carla.log</file>
<encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
<pattern>%date %-5level %logger{0} - %msg%n</pattern>
<pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
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What are these logger format changes ?

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Maybe Adam added this, but it adds code line number in the log. Compare:

2024-03-13 16:09:10,863 INFO  SequentialTimeManagement - ...

with new:

2024-03-13 15:56:34,208 INFO  SequentialTimeManagement:92 -

paulbourelly999
paulbourelly999 reviewed Mar 13, 2024
View reviewed changes
ail_vru_uc1_scenario/docker-compose.yml
start_delay_in_seconds:='35'
spawn_point:='215.21,-169.32,0,0,0,0'"
# spawn_point:='258.21,-125.32,0,0,0,90'" for through scenario, north
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Is the idea here to provide a easy place for the tester to switch between scenarios. I would recommend a docker env file for this. This way we do not edit the docker-compose but instead just a list of environment variables in a text file.

@paulbourelly999 paulbourelly999 marked this pull request as draft March 14, 2024 15:07
@paulbourelly999
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Cherry picking changes out into individual PRs

@paulbourelly999 paulbourelly999 mentioned this pull request Mar 15, 2024
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paulbourelly999 added a commit that referenced this pull request Mar 18, 2024
@paulbourelly999
CDAR-593: Update CDASim logging configuration to reduce log file size (…
e9c33a4 
…#327)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Cherry picked CDASim logging changes from
#325
<!--- Describe your changes in detail -->

## Related Issue

<!--- This project only accepts pull requests related to open issues -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
<!--- Please link to the issue here: -->

## Motivation and Context
Reduce CDASim log file size
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
<!--- Include details of your testing environment, and the tests you ran
to -->
<!--- see how your change affects other areas of the code, etc. -->

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] 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:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [ ] 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](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.
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@MishkaMN @paulbourelly999 @adamlm