Add CollisionTest and RedLighRunningTest to scenario (#317)

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# PR Details
## Description
Adding CollisionTest and RedLightRunning test to scenario definition.
CollisionTest adds collision detector to vehicle
([atomic_criteria.py](https://github.com/carla-simulator/scenario_runner/blob/0ff0ebe7fb0ee2de1f157b11ed450e7b981398bf/srunner/scenariomanager/scenarioatomics/atomic_criteria.py#L313)).
Both test criteria are evaluated for the run and generate a JSON file
indicating success or failure as well as information about any
collisions or events in which we run a red light
```json
{
    "CollisionTest": {
        "children": [],
        "feedback_message": "",
        "blackbox_level": 4,
        "_terminate_on_failure": false,
        "test_status": "FAILURE",
        "expected_value_success": 0,
        "expected_value_acceptable": null,
        "actual_value": 1,
        "optional": false,
        "_collision_sensor": null,
        "other_actor": null,
        "other_actor_type": null,
        "registered_collisions": [],
        "last_id": null,
        "collision_time": 27.05000040307641,
        "terminate_on_failure": false
    },
    "RunningRedLightTest": {
        "children": [],
        "feedback_message": "",
        "blackbox_level": 4,
        "_terminate_on_failure": false,
        "test_status": "SUCCESS",
        "expected_value_success": 0,
        "expected_value_acceptable": null,
        "actual_value": 0,
        "optional": false,
        "list_traffic_events": [],
        "_last_red_light_id": null,
        "debug": false,
        "terminate_on_failure": false
    }
}
```
**NOTE** : While the collision test seems to be correctly recognizing
collisions and the time they occur at it is not currently providing data
about the collisions likes actors involved, type of collision, kinematic
information.

This is likely a bug in CarlaScenarioRunner. Investigation for this
information will be considered outside of this PR
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## Related Issue
CDAR-746
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issue first -->
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to reproduce -->
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## Motivation and Context
Collect data on collisions and traffic violations
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## How Has This Been Tested?
CDASim deployment
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to -->
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## Types of changes

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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:

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that apply. -->
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here to help! -->

- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

ail_vru_uc1_scenario/README.md

@@ -26,5 +26,43 @@ The Virtual Signal Controller is built locally and currently only available to l
 
 ## Data Collection
 ### Carla Recorder
-This **CARMA Config** includes volumes and images that will use **Carla's** [recorder](https://carla.readthedocs.io/en/0.9.10/adv_recorder/) functionality to record **CARLA** simulation data into a `carla-recorder/` directory. Included will be a `Trb2024_1.json` file and a `Trb2024_1.log` file. The name of the file comes from the scenario name defined in the **scenario-runner** image. The `.json` file is a criteria file created by the **scenario runner** image and the `.log` file the carla simulation recording created by the carla server running in the **CDASim** image(see https://carla-scenariorunner.readthedocs.io/en/latest/metrics_module/). Using the metrics module in carla-scenario-runner we can define metrics in carla and evaluate the metrics from the carla recordings. This works for collision monitoring and will be prototyped for a custom defined near miss metric.
+This **CARMA Config** includes volumes and images that will use **Carla's** [recorder](https://carla.readthedocs.io/en/0.9.10/adv_recorder/) functionality to record **CARLA** simulation data into a `carla-recorder/` directory. Included will be a `Trb2024_1.json` file and a `Trb2024_1.log` file. The name of the file comes from the scenario name defined in the **scenario-runner** image. The `.json` file is a criteria file created by the **scenario runner** image and the `.log` file the carla simulation recording created by the carla server running in the **CDASim** image(see https://carla-scenariorunner.readthedocs.io/en/latest/metrics_module/).The criteria json for the VulnerableRoadUser scenarion should look something like this :
+```json
+{
+    "CollisionTest": {
+        "children": [],
+        "feedback_message": "",
+        "blackbox_level": 4,
+        "_terminate_on_failure": false,
+        "test_status": "FAILURE",
+        "expected_value_success": 0,
+        "expected_value_acceptable": null,
+        "actual_value": 1,
+        "optional": false,
+        "_collision_sensor": null,
+        "other_actor": null,
+        "other_actor_type": null,
+        "registered_collisions": [],
+        "last_id": null,
+        "collision_time": 27.05000040307641,
+        "terminate_on_failure": false
+    },
+    "RunningRedLightTest": {
+        "children": [],
+        "feedback_message": "",
+        "blackbox_level": 4,
+        "_terminate_on_failure": false,
+        "test_status": "SUCCESS",
+        "expected_value_success": 0,
+        "expected_value_acceptable": null,
+        "actual_value": 0,
+        "optional": false,
+        "list_traffic_events": [],
+        "_last_red_light_id": null,
+        "debug": false,
+        "terminate_on_failure": false
+    }
+}
+```
+This JSON file will provide information on whether any Collisions and RedLightRunning events took place during the run. Both are considered conditions for a test failure.The JSON should also provide information about the event that caused test failures like time, actor involved, and other event information althoguth this functionality seems to be currently broken, likely due to Carla Scenario Runner bugs.
 

ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.py

@@ -25,7 +25,10 @@
     KeepVelocity,
     WaypointFollower,
 )
-from srunner.scenariomanager.scenarioatomics.atomic_criteria import CollisionTest
+from srunner.scenariomanager.scenarioatomics.atomic_criteria import (
+    CollisionTest,
+    RunningRedLightTest
+)
 from srunner.scenariomanager.scenarioatomics.atomic_trigger_conditions import (
     DriveDistance,
     InTriggerDistanceToVehicle,
@@ -132,7 +135,7 @@ def _create_behavior(self):
 
         :return: Behavior tree root
         """
-        carma_vehicle = None
+        self.carma_vehicle = None
         for actor in CarlaDataProvider.get_world().get_actors():
             if "role_name" in actor.attributes:
                 print(f"ACTOR ROLE: {actor.attributes['role_name']}")
@@ -142,15 +145,15 @@ def _create_behavior(self):
                 "role_name" in actor.attributes
                 and actor.attributes["role_name"] == "carma_1"
             ):
-                carma_vehicle = actor
+                self.carma_vehicle = actor
                 break
 
         CarlaDataProvider.register_actor(actor)
         crossing_person = self.other_actors_dict["crossing_person"]
 
         start_condition = Idle(5, name="start_condition")
         start_condition = InTriggerDistanceToVehicle(
-            crossing_person, carma_vehicle, WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS
+            crossing_person, self.carma_vehicle, WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS
         )
 
         walk_across_street = KeepVelocity(
@@ -164,7 +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(carma_vehicle, 100)
+        end_condition = DriveDistance(self.carma_vehicle, 100)
 
         root = py_trees.composites.Sequence(name="root_sequence")
         root.add_child(start_condition)
@@ -182,9 +185,8 @@ def _create_test_criteria(self) -> list:
         :return: List of test criteria
         """
         return [
-            # This is an example usage for including test criteria in
-            # ScenarioRunner.
-            # CollisionTest(self.carma_vehicle)
+            CollisionTest(self.carma_vehicle),
+            RunningRedLightTest(self.carma_vehicle)
         ]
 
     def __del__(self):

ail_vru_uc1_scenario/docker-compose.yml

@@ -409,6 +409,7 @@ services:
       && python3 scenario_runner.py
       --scenario VulnerableRoadUserCollision_LeftTurn
       --record metrics/data/
+      --debug
       --host 172.2.0.2"
 
 networks: