Add MLK SUMO/CARLA eco-driving assets and evaluation updates

.gitignore

@@ -182,3 +182,12 @@ CM11_proj/tmp.obj
 
 # Ignore Experiments folder under tests/Applications/Eco_Fixed_Timming
 /tests/Applications/Eco_Fixed_Timming/Experiments/
+
+# Ignore Claude Code configuration
+.claude/
+
+# Ignore large SUMO output files
+fcd.xml
+
+# Ignore large assets managed via download script
+tests/Applications/SUMO_CARLA_EcoDriving/MLK_Carla_Scenario/CARLAFiles/MLK_noped1002_final_debug.fbx

.gitmodules

@@ -7,3 +7,6 @@
 	path = ProprietaryFiles
 	url = https://github.com/Real-Sim-XIL/ProprietaryFiles.git
 
+[submodule "tests/Applications/SUMO_CARLA_EcoDriving/mlk_xil"]
+	path = tests/Applications/SUMO_CARLA_EcoDriving/mlk_xil
+	url = https://code.ornl.gov/realsim_realtwin-deployment/mlk_xil.git

CommonLib/RealSimPack.m

@@ -72,7 +72,7 @@ function setupImpl(obj)
 % %             try
 
                 % initialize ByteData
-                ByteData = zeros(200, 1, 'uint8');
+                ByteData = zeros(1024, 1, 'uint8');
 
                 % parser ByteData
                 [ByteData, nMsgSize] = obj.packVehData(simState, t, ByteData, VehDataBus);
@@ -98,7 +98,7 @@ function validateInputsImpl(obj, simState, t, VehData)
         function [sz1, sz2] = getOutputSizeImpl(obj)
             % Maximum length of linear indices and element vector is the
             % number of elements in the input
-            sz1 = [200 1]; sz2 = [1 1]; 
+            sz1 = [1024 1]; sz2 = [1 1]; 
         end
 
         function [fz1, fz2] = isOutputFixedSizeImpl(~)

CommonLib/RealSimSocket.cpp

@@ -39,7 +39,7 @@
 #pragma comment (lib, "AdvApi32.lib")
 
 #define RECVBUFFERSIZE 1024
-#define SENDBUFFERSIZE 200
+#define SENDBUFFERSIZE 1024
 
 
 // s-function parameters

CommonLib/TrafficHelper.cpp

@@ -640,7 +640,7 @@ int TrafficHelper::sendToSUMO(double simTime, MsgHelper Msg_c) {
 					}
 					else {
 						traci.vehicle.setSpeed(idStr, speed); // speed set at (k) essentially will be reflected at (k+1), not considered in the integration
-
+						std::cout << "Set SUMO id " << idStr << " to speed " << speed << std::endl;
 						/*
 						bit0: Regard safe speed
 						bit1 : Regard maximum acceleration
@@ -650,7 +650,7 @@ int TrafficHelper::sendToSUMO(double simTime, MsgHelper Msg_c) {
 						bit5 : Disregard right of way within intersections(only applies to foe vehicles that have entered the intersection).
 						*/
 
-						traci.vehicle.setSpeedMode(idStr, Config_c->SumoSetup.SpeedMode); // 000000 most checks off
+						//traci.vehicle.setSpeedMode(idStr, Config_c->SumoSetup.SpeedMode); // 000000 most checks off
 						//traci.vehicle.setSpeedMode(idStr, 0); // 000000 most checks off
 						//traci.vehicle.setSpeedMode(idStr, 24); // 011000
 						//traci.vehicle.setSpeedMode(idStr, 8); // 001000

TrafficLayer/TrafficLayer/mainTrafficLayer.cpp

@@ -560,7 +560,7 @@ int main(int argc, char* argv[]) {
 		// RUN one-step simulation
 		///****************************************************
 
-		Traffic_c.runOneStepSimulation();
+
 
 		if (ENABLE_VEH_SIMULATOR && isVeryFirstStep) {
 			if (Sock_c.initConnection(TrafficLayerErrorFile) > 0) {
@@ -963,7 +963,7 @@ int main(int argc, char* argv[]) {
 		}
 
 		ii = ii + 1;
-
+		Traffic_c.runOneStepSimulation();
 	}
 
 	Traffic_c.close();

scripts/download_large_assets.ps1

@@ -0,0 +1,49 @@
+#!/usr/bin/env pwsh
+# Download large simulation assets from OneDrive
+
+$ASSETS = @{
+    "tests/Applications/SUMO_CARLA_EcoDriving/MLK_Carla_Scenario/CARLAFiles/MLK_noped1002_final_debug.fbx" = "https://outlookuga-my.sharepoint.com/:u:/g/personal/ys04893_uga_edu/EU8vuZV8DvtOlJ6HhpL7Z8MBkhCtVcloma0qxJXXMsPP7A?e=0KgETK&download=1"
+}
+
+$repoRoot = Split-Path -Parent $PSScriptRoot
+Set-Location $repoRoot
+
+foreach ($file in $ASSETS.Keys) {
+    $dest = Join-Path $repoRoot $file
+
+    if (Test-Path $dest) {
+        $sizeMB = [math]::Round((Get-Item $dest).Length / 1MB, 2)
+        Write-Host "File $file already exists ($sizeMB MB)" -ForegroundColor Yellow
+        $response = Read-Host "Redownload? (y/N)"
+        if ($response -notmatch '^[yY]') {
+            Write-Host "Skipped $file" -ForegroundColor Green
+            continue
+        }
+    }
+
+    Write-Host "Downloading $file..." -ForegroundColor Yellow
+    $destDir = Split-Path -Parent $dest
+    New-Item -ItemType Directory -Path $destDir -Force | Out-Null
+
+    try {
+        $ProgressPreference = 'SilentlyContinue'
+        Invoke-WebRequest -Uri $ASSETS[$file] -OutFile $dest
+        $ProgressPreference = 'Continue'
+
+        $sizeMB = [math]::Round((Get-Item $dest).Length / 1MB, 2)
+        Write-Host "OK Downloaded $file ($sizeMB MB)" -ForegroundColor Green
+    }
+    catch {
+        Write-Host "`nERROR Failed to download $file" -ForegroundColor Red
+        Write-Host $_.Exception.Message -ForegroundColor Red
+        Write-Host "`nTroubleshooting:" -ForegroundColor Yellow
+        Write-Host "1. Make sure you have access to the OneDrive link" -ForegroundColor Yellow
+        Write-Host "2. Check your internet connection" -ForegroundColor Yellow
+        Write-Host "3. Try downloading manually from: $($ASSETS[$file])" -ForegroundColor Yellow
+        Read-Host "`nPress Enter to exit"
+        exit 1
+    }
+}
+
+Write-Host "`nAll assets ready!" -ForegroundColor Green
+Read-Host "`nPress Enter to exit"

tests/Applications/Eco_Fixed_Timming/.env

@@ -0,0 +1,3 @@
+SIMULATION_FOLDER=C:\Users\hg25079\Documents\GitHub\FIXS\tests\Applications\Eco_Fixed_Timming\Experiments_Sumo\Shallowford_after_calibration_banleftturn_AdjustedFixedTime_V3
+CONFIG_PATH=C:\Users\hg25079\Documents\GitHub\FIXS\tests\Applications\Eco_Fixed_Timming\Experiments_Sumo\Shallowford_after_calibration_banleftturn_AdjustedFixedTime_V3\config_Sumo.yaml
+SUMO_NET_PATH=C:\Users\hg25079\Documents\GitHub\FIXS\tests\Applications\Eco_Fixed_Timming\Experiments_Sumo\Shallowford_after_calibration_banleftturn_AdjustedFixedTime_V3\chatt.net.xml

tests/Applications/Eco_Fixed_Timming/Experiments_Sumo/Shallowford_after_calibration_banleftturn_AdjustedFixedTime_V3/chattCavMpr.sumocfg

@@ -12,6 +12,7 @@
     <output>
         <edgedata-output value="EdgeData.xml"/>
         <fcd-output value="fcd.xml" samplingRate="1"/>
+        <precision value="6"/>
     </output>
     <time>
         <begin value="28800"/>
@@ -26,5 +27,6 @@
     <report>
         <no-warnings value="true"/>
         <no-step-log value="true"/>
+        <log value="simulation.log"/>
     </report>
 </configuration>

tests/Applications/Eco_Fixed_Timming/SimulinkModelInit.m

@@ -0,0 +1,55 @@
+% File: realsim_script.m
+
+
+simModelName = 'CAVE_MachE_dSPACE_250912';% 
+
+% Clear workspace and console
+disp(['Current folder: ', pwd]);
+close all;
+clearvars -except settingDir simModelName config_file_name; % Keep input variables
+clc;
+format compact;
+
+% Different Vehicle Model, if different, need change!!!!!
+
+addpath(genpath('.\\Vehicles_24a'))
+configPath = 'C:\Users\hg25079\Documents\GitHub\FIXS\tests\Applications\SUMO_CARLA_EcoDriving\MLK_Sumo_Scenario\config_Sumo.yaml';
+
+
+
+% Initializations
+RealSimPath = 'C:\Users\hg25079\Documents\GitHub\FIXS\CommonLib';
+% Add path of RealSim tools
+addpath(genpath(RealSimPath));
+% Initialize RealSim for Simulink, Read yaml file
+disp(['configPath: ', configPath]);
+%print configPath
+fprintf('Configuration path: %s\n', configPath);
+
+[VehicleMessageFieldDefInputVec, VehDataBus, TrafficLayerIP, TrafficLayerPort] = RealSimInitSimulink(configPath);
+
+% Define RealSim parameters
+RealSimPara = struct;
+RealSimPara.warmupTime = 0;
+RealSimPara.speedInit = 1; % Initial speed of the ego vehicle when entering SUMO network
+RealSimPara.tLookahead = 0.1; % Use 0.1 for external control, recommend tLookahead >= 0.2 for SUMO driver
+RealSimPara.smoothWindow = 1; % Number of moving average data points, 1 means no moving average
+RealSimPara.speedSource = 3; % Use speedSource = 3 for dummy vehicle dynamics (simple transfer function)
+
+% Start RealSim Procedure
+fprintf('Starting RealSim procedure...\n');
+%tic;
+
+% Start Simulink model
+% Specify the following:
+% 1) Simulink model name
+% 2) Stop time of the Simulink model
+% Assign RealSimPara to the base workspace
+
+assignin('base', 'RealSimPara', RealSimPara);
+assignin('base', 'VehicleMessageFieldDefInputVec', VehicleMessageFieldDefInputVec);
+assignin('base', 'VehDataBus', VehDataBus);
+assignin('base', 'TrafficLayerIP', TrafficLayerIP);
+assignin('base', 'TrafficLayerPort', TrafficLayerPort);
+
+

tests/Applications/Eco_Fixed_Timming/SimulinkModelSaveResults.m

@@ -0,0 +1,23 @@
+settingDir = 'C:\Users\hg25079\Documents\GitHub\FIXS\tests\Applications\Eco_Fixed_Timming\Experiments_Sumo\Shallowford_after_calibration_banleftturn_AdjustedFixedTime_V3\MPR\0%_10Hz_w_vehDyn_29119.31\';
+
+VehicleOut = out;
+Time = VehicleOut.desired_speed.Time;
+DesiredSpeed = VehicleOut.desired_speed.Data;
+DesiredSpeed = DesiredSpeed(:);
+ActualSpeed = VehicleOut.actual_speed.Data;
+ActualSpeed = ActualSpeed(:);
+MPGe = VehicleOut.MPGe.Data;
+BatteryCurrent = VehicleOut.battery_current.Data;
+BatteryPower = VehicleOut.battery_power.Data;
+BatterySOC = VehicleOut.battery_soc.Data;
+MotorSpeed = VehicleOut.motor_speed.Data;
+MotorTorque = VehicleOut.motor_torque.Data;
+ActualAcc = VehicleOut.VehAcc.Data;
+
+
+save('vehData', 'VehicleOut')
+T = table(Time, DesiredSpeed, ActualSpeed, MPGe, BatteryCurrent, BatteryPower, BatterySOC, MotorSpeed, MotorTorque, ActualAcc,'VariableNames', {'Time', 'DesiredSpeed', 'ActualSpeed', 'MPGe', 'BatteryCurrent', 'BatteryPower','BatterySOC', 'MotorSpeed', 'MotorTorque', 'ActualAcc'});
+% T = table(Time, DesiredSpeed, ActualSpeed, MPGe, BatteryCurrent, BatteryPower, BatterySOC, MotorSpeed, MotorTorque,'VariableNames', {'Time', 'DesiredSpeed', 'ActualSpeed', 'MPGe', 'BatteryCurrent', 'BatteryPower','BatterySOC', 'MotorSpeed', 'MotorTorque'});
+
+writetable(T, [settingDir, '\ego_profile.csv']);
+