Configure Green Duration (#329)

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

# PR Details
## Description
This PR adjusts several configs to have the vru scenario run
successfully:
- Changing from default 50 sec at signalgroup 2,6 and 5 sec at 4,8 to
20sec green on each groups (this was there for testing, and for actual
data collection, we need realistic durations)
- increased scenario-runner time out values so that it doesn't
prematurely exit now that the engage delay is long
- Make carma-streets to use projected SPAT [(due to issue with evc
discovered recently)](https://usdot-carma.atlassian.net/browse/CDAR-861)
- Expose engage delay duration for platform and example times that would
have the vehicle go through green since engaging (because left turn and
through scenarios need different engage times to go through green
without stopping)
- remove unnecessary environment variables
- added new lci_strategic_plugin parameters that is suited for
simulation (original config are suited for passenger vehicles in real
life) for its stopping behavior.
- And also Entry Time calculation in [LCI is picking up the low starting
speed](https://usdot-carma.atlassian.net/browse/CDAR-862) and
erroneously predicting ET way in the future. This results in vehicle
slowly crawling until speeding up through green. This case was not
tested before in TSMO I believe. Therefore, lci_strategic_plugin's
activation distance is reduced so that it has terminal speed before
doing trajectory smoothing.

<!--- Describe your changes in detail -->

## Related Issue
N/A
<!--- 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
vru verification testing prep
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
sim pc 1
<!--- 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! -->

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

.gitignore

@@ -1,3 +1,2 @@
 #docker-compose env variables
 .env
-

ail_vru_uc1_scenario/VehicleConfigParams.yaml

@@ -55,7 +55,7 @@ enable_object_avoidance: true
 # Acceleration limit
 # Value type: Desired
 # Units: m/s^2
-vehicle_acceleration_limit: 3.0
+vehicle_acceleration_limit: 8.0
 
 # Deceleration limit
 # Value type: Desired

ail_vru_uc1_scenario/cdasim_config/.env

@@ -10,7 +10,9 @@ SIMULATION_SCENARIO="VulnerableRoadUserCollision_ThreeTrucks"
 # you would like to run and comment all other scenarios
 
 # SCENARIO: West to North left turn (A)
+VEHICLE_ENGAGE_DELAY='55'
 VEHICLE_SPAWN_POINT="215.12,-169,0,0,0,0"
 
 # SCENARIO: South to North through (B)
-# VEHICLE_SPAWN_POINT="258.12,-125,0,0,0,90"
+#VEHICLE_SPAWN_POINT="258.12,-125,0,0,0,90"
+#VEHICLE_ENGAGE_DELAY='75'

ail_vru_uc1_scenario/cdasim_config/carma-platform/lci_strategic_plugin/parameters.yaml

@@ -0,0 +1,50 @@
+# Double: multiplier to apply to the maximum allowable vehicle deceleration limit so we plan under our capabilities
+vehicle_decel_limit_multiplier : 1.0
+
+# Double: multiplier to apply to the maximum allowable vehicle acceleration limit so we plan under our capabilities
+vehicle_accel_limit_multiplier : 1.0
+
+# Double: The minimum distance in meters that the vehicle can be at before requiring a transition to the APPROACH state
+min_approach_distance : 20.0
+
+# Double: Downtrack distance until nearest intersection where the Trajectory Smoothing algorithm should activate
+trajectory_smoothing_activation_distance: 20.0
+
+# Double: A buffer infront of the stopping location which will still be considered a valid stop. Units in meters
+stopping_location_buffer : 1.0
+
+# Double: A buffer in seconds around the green phase which will reduce the phase length such that vehicle still considers it non-green
+green_light_time_buffer : 0.5
+
+# Double: Minimum allowable speed in trajectory smoothing algorithm m/s
+algo_minimum_speed : 2.235
+
+# Double: Safety multiplier (must be less than 1.0) of planned allowable vehicle deceleration to use when stopping. This new deceleration makes vehicle decelerate earlier distance.
+#         NOTE: Stacks on vehicle_decel_limit_multiplier and stopping uses max_decel; this distance is only used for calculating earlier downtrack
+deceleration_fraction : 0.7
+
+# Double: Desired distance to stop buffer in meters
+desired_distance_to_stop_buffer : 1.0
+
+# Double: The minimum period in seconds which a maneuver plan must cover if the plugin wishes to control the whole plan
+min_maneuver_planning_period : 15.1
+
+# Bool: If enable_carma_streets_connection is true when we want to allow carma streets functionality (UC3) and if its false that means we don't want to allow carma streets behaviour and will only use UC2 behaviour.
+enable_carma_streets_connection : false
+
+# Double: Mobility operation rate
+mobility_rate : 10.0
+
+# String: The name to use for this plugin during comminications with the arbitrator
+strategic_plugin_name : lci_strategic_plugin
+
+# String: The name of the tactical plugin to use for Lane Following trajectory planning
+#         This plugin is used to apply trajectory smoothing algorithm BEFORE entering the intersection if within activation distance
+lane_following_plugin_name : light_controlled_intersection_tactical_plugin
+
+# String: The name of the plugin to use for stop and wait trajectory planning
+stop_and_wait_plugin_name : stop_and_wait_plugin
+
+# String: The name of the plugin to use for intersection transit trajectory planning
+#         This plugin is used to travel INSIDE the intersection where there is no trajectory smoothing algorithm active
+intersection_transit_plugin_name : intersection_transit_maneuvering

ail_vru_uc1_scenario/cdasim_config/cdasim/logback.xml

@@ -150,7 +150,7 @@
                 <appender-ref ref="STDOUT"/>
                 <appender-ref ref="MosaicLog"/>
             </logger>
-            <logger name="org.eclipse.mosaic.rti.time" additivity="false" level="INFO">
+            <logger name="org.eclipse.mosaic.rti.time" additivity="false" level="DEBUG">
                 <appender-ref ref="MosaicLog"/>
             </logger>
             <logger name="org.eclipse.mosaic.lib" additivity="false" level="INFO">

ail_vru_uc1_scenario/cdasim_config/evc_sumo/evc_sumo_cfg.json

@@ -2,7 +2,7 @@
     "controllers": [
       {
         "controllerId": 1,
-        "controllerCfgPath": "resources/test_4.cfg",
+        "controllerCfgPath": "resources/20g_3y_fixed_sig_grp_2_4_6_8.cfg",
         "start_time": null,
         "https_port": 0,
         "web_port": 0,
@@ -18,4 +18,3 @@
       }
     ]
   }
-

ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.py

@@ -40,8 +40,8 @@
 Configurations
 """
 
-WALKING_PERSON_SPEED_IN_MS = 2.0
-WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS = 15.0
+WALKING_PERSON_SPEED_IN_MS = 0.91
+WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS = 27.5
 
 class VulnerableRoadUserCollision(BasicScenario):
     def __init__(
@@ -52,7 +52,7 @@ def __init__(
         randomize: bool = False,
         debug_mode: bool = False,
         criteria_enable: bool = True,
-        timeout=60,
+        timeout=300, #5min
     ) -> None:
         """
         :param world: CARLA world in which the scenario is running
@@ -157,7 +157,7 @@ def _create_behavior(self):
         )
 
         walk_across_street = KeepVelocity(
-            crossing_person, WALKING_PERSON_SPEED_IN_MS, 100.0, name="walk_across_street"
+            crossing_person, WALKING_PERSON_SPEED_IN_MS, 200.0, name="walk_across_street"
         )
 
         dao = GlobalRoutePlannerDAO(CarlaDataProvider.get_map(), 2)
@@ -167,7 +167,7 @@ def _create_behavior(self):
         actor_behaviors = py_trees.composites.Parallel(name="actor_behaviors")
         actor_behaviors.add_child(walk_across_street)
 
-        end_condition = DriveDistance(self.carma_vehicle, 100)
+        end_condition = DriveDistance(self.carma_vehicle, 200)
 
         root = py_trees.composites.Sequence(name="root_sequence")
         root.add_child(start_condition)

ail_vru_uc1_scenario/cdasim_config/tsc_client_service/manifest.json

@@ -3,52 +3,52 @@
     "loglevel": "debug",
     "configurations": [
         {
-            
+
             "name": "target_ip",
             "value": "172.4.0.4",
             "description": "Target device IP address",
             "type": "STRING"
-        }, 
+        },
         {
            "name": "target_port",
            "value": 5050,
            "description": "Target device NTCIP port",
-           "type": "INTEGER" 
+           "type": "INTEGER"
         },
         {
             "name": "community",
             "value": "administrator",
             "description": "Target community for establishing snmp communication",
-            "type": "STRING"  
+            "type": "STRING"
         },
         {
             "name": "snmp_version",
             "value": 0,
             "description": "snmp version being used. net-snmp version definition: SNMP_VERSION_1:0 SNMP_VERSION_2c:1 SNMP_VERSION_2u:2 SNMP_VERSION_3:3",
-            "type": "INTEGER" 
+            "type": "INTEGER"
         },
         {
             "name": "snmp_timeout",
             "value": 1500000000,
             "description": "Time in microseconds after which the the snmp request times out",
-            "type": "INTEGER" 
+            "type": "INTEGER"
         },
         {
-            
+
             "name": "udp_socket_ip",
             "value": "172.4.0.3",
             "description": "IP for UDP socket listener to listen on. Should be localhost IP of container or VM running TSC Service.",
             "type": "STRING"
         },
         {
-            
+
             "name": "udp_socket_port",
             "value": 6053,
             "description": "Port for UDP Socket Listener to list on. TSC configuration sets which port/host NTCIP SPaT data will be broadcast to.",
             "type": "INTEGER"
         },
         {
-            
+
             "name": "socket_timeout",
             "value": 100,
             "description": "Timeout in seconds for UDP Socket Listener. If UDP Socket Listener does not receive messages for this amount of time it will shutdown and thrown an exception. ",
@@ -86,7 +86,7 @@
         },
         {
             "name": "spat_projection_mode",
-            "value": 0,
+            "value": 2,
             "description": "Enumeration configuring SPat projection. 1 == DPP projection. 2 == Fixed Timing projection. Any other value will result in no projection of future",
             "type": "INTEGER"
         },
@@ -107,7 +107,7 @@
             "value": true,
             "description": "Bool flag to enable snmp commands logging.",
             "type": "BOOL"
-        }, 
+        },
         {
             "name": "snmp_cmd_log_path",
             "value": "../logs/",
@@ -132,6 +132,6 @@
             "description": "If true will enable monitor_desired_phase_plan to update incoming spat with calculated future movement events, using desired phase plan information from signal optimization service. If false will use TSC Configuration to predict future phases and append those to the spat based on default phase sequence.",
             "type": "BOOL"
         }
-        
+
     ]
 }

ail_vru_uc1_scenario/docker-compose.yml

@@ -81,6 +81,7 @@ services:
       - /opt/carma/yolo:/opt/carma/yolo
       - ./carma-platform/inlanecruising_plugin/parameters.yaml:/opt/carma/install_ros2/inlanecruising_plugin/share/inlanecruising_plugin/config/parameters.yaml
       - ./carma-platform/yield_plugin/parameters.yaml:/opt/carma/install_ros2/yield_plugin/share/yield_plugin/config/parameters.yaml
+      - ./carma-platform/lci_strategic_plugin/parameters.yaml:/opt/carma/install_ros2/lci_strategic_plugin/share/lci_strategic_plugin/config/parameters.yaml
     command: >
       bash -c 'export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       && source /opt/carma/install_ros2/setup.bash
@@ -126,8 +127,6 @@ services:
       ROS_IP: 172.3.0.6
       ROS_MASTER_URI: http://172.3.0.2:11311/
       PYTHONUNBUFFERED: 1
-      VEHICLE_SELECTED_ROUTE: ${VEHICLE_SELECTED_ROUTE}
-      VEHICLE_SPAWN_POINT: ${VEHICLE_SPAWN_POINT}
 
     # sleep is for carla simulator to become available
     # start_delay_in_seconds is carla game time seconds to adjust when to engage for the scenario
@@ -142,7 +141,7 @@ services:
       role_name:='carma_1'
       host:='172.2.0.2'
       selected_route:=${VEHICLE_SELECTED_ROUTE}
-      start_delay_in_seconds:='35'
+      start_delay_in_seconds:=${VEHICLE_ENGAGE_DELAY}
       spawn_point:=${VEHICLE_SPAWN_POINT}"
 
   ns3_adapter_1: