From 389cea1092703a30ff1d9bbeb555e3c2a8a499d9 Mon Sep 17 00:00:00 2001
From: Misheel Bayartsengel <misheel.bayart@gmail.com>
Date: Wed, 7 Feb 2024 12:53:42 -0500
Subject: [PATCH] Add right turn scenario for VRU collision (#313)

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# PR Details
## Description

<!--- Describe your changes in detail -->
As we get closer to verification testing, we need a scenario where
permissive right turn results in vru collision. This scenario is
described in Intersection Safety Challenge project. XML file addition
that has the pedestriand and roadside equipment configuration is in this
PR: https://github.com/usdot-fhwa-stol/scenario-runner/pull/3

The tester still only need to modify the Python file to change the
pedestrian's speed and its trigger distance from the vehicle to start
walking.

## Related Issue
CDAR-731
https://usdot-carma.atlassian.net/browse/CDAR-731
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issue first -->
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to reproduce -->
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## Motivation and Context
VRU use case verification testing
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Sim PC 1
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to -->
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## 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:

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

- [X] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [X] I have updated the documentation accordingly.
- [X] I have read the **CONTRIBUTING** document.
[CDA Telematics Contributing
Guide](https://github.com/usdot-fhwa-stol/cda-telematics/blob/main/Contributing.md)
- [X] I have added tests to cover my changes.
- [X] All new and existing tests passed.
---
 .../{trb_2024.py => vru_collision.py}         | 24 +++++++-------
 .../scenario-runner/vru_collision.xml         | 31 +++++++++++++++++++
 ail_vru_uc1_scenario/docker-compose.yml       |  5 +--
 3 files changed, 45 insertions(+), 15 deletions(-)
 rename ail_vru_uc1_scenario/cdasim_config/scenario-runner/{trb_2024.py => vru_collision.py} (90%)
 create mode 100644 ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.xml

diff --git a/ail_vru_uc1_scenario/cdasim_config/scenario-runner/trb_2024.py b/ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.py
similarity index 90%
rename from ail_vru_uc1_scenario/cdasim_config/scenario-runner/trb_2024.py
rename to ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.py
index 918f7415..a8b4f50b 100644
--- a/ail_vru_uc1_scenario/cdasim_config/scenario-runner/trb_2024.py
+++ b/ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.py
@@ -1,4 +1,4 @@
-# Copyright 2023-2024 Leidos
+# Copyright 2024 Leidos
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -37,10 +37,10 @@
 Configurations
 """
 
-WALKING_PERSON_SPEED_IN_MS = 1.34
-WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS = 20.0
+WALKING_PERSON_SPEED_IN_MS = 1.0
+WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS = 11.0
 
-class Trb2024(BasicScenario):
+class VulnerableRoadUserCollision(BasicScenario):
     def __init__(
         self,
         world,
@@ -67,8 +67,8 @@ def __init__(
         # references is in its __init__() function.
         self.timeout = timeout
 
-        super(Trb2024, self).__init__(
-            "Trb2024",
+        super(VulnerableRoadUserCollision, self).__init__(
+            "VulnerableRoadUserCollision",
             ego_vehicles,
             config,
             world,
@@ -82,12 +82,11 @@ def __init__(
         spectator = world.get_spectator()
         spectator.set_transform(
             carla.Transform(
-                carla.Location(266.4068, -160.1683, 16.2939),
-                carla.Rotation(-34.0360, -126.9920, 0.0),
+                carla.Location(265.4068, -160.1683, 21.2939),
+                carla.Rotation(-60.0360, -126.9920, 0.0),
             )
         )
 
-        # self.carma_vehicle = ego_vehicles[0]
         self.other_actors_dict = {}
 
     def _initialize_actors(self, config: ScenarioConfiguration) -> None:
@@ -149,13 +148,13 @@ def _create_behavior(self):
         CarlaDataProvider.register_actor(actor)
         crossing_person = self.other_actors_dict["crossing_person"]
 
-        # start_condition = Idle(5, name="start_condition")
+        start_condition = Idle(5, name="start_condition")
         start_condition = InTriggerDistanceToVehicle(
             crossing_person, carma_vehicle, WALKING_PERSON_TRIGGER_WALKING_DISTANCE_IN_METERS
         )
 
         walk_across_street = KeepVelocity(
-            crossing_person, WALKING_PERSON_SPEED_IN_MS, 10.0, name="walk_across_street"
+            crossing_person, WALKING_PERSON_SPEED_IN_MS, 100.0, name="walk_across_street"
         )
 
         dao = GlobalRoutePlannerDAO(CarlaDataProvider.get_map(), 2)
@@ -164,9 +163,8 @@ def _create_behavior(self):
 
         actor_behaviors = py_trees.composites.Parallel(name="actor_behaviors")
         actor_behaviors.add_child(walk_across_street)
-        # actor_behaviors.add_child(drive_through_intersection)
 
-        end_condition = DriveDistance(carma_vehicle, 10)
+        end_condition = DriveDistance(carma_vehicle, 100)
 
         root = py_trees.composites.Sequence(name="root_sequence")
         root.add_child(start_condition)
diff --git a/ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.xml b/ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.xml
new file mode 100644
index 00000000..80921c39
--- /dev/null
+++ b/ail_vru_uc1_scenario/cdasim_config/scenario-runner/vru_collision.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+
+<!--
+Copyright 2024 Leidos
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+-->
+
+<scenarios>
+    <scenario name="VulnerableRoadUserCollision_LeftTurn" type="VulnerableRoadUserCollision" town="Town04">
+        <other_actor x="250.38" y="-179.00" z="1.0" model="walker.pedestrian.0002" rolename="crossing_person"/>
+        <other_actor x="239.82" y="-173.39" z="0.2" yaw="180.0" model="vehicle.carlamotors.carlacola" rolename="heavy_vehicle_1"/>
+        <other_actor x="245.82" y="-173.39" z="0.2" yaw="180.0" model="vehicle.carlamotors.carlacola" rolename="heavy_vehicle_2"/>
+        <other_actor x="251.82" y="-175.00" z="0.2" yaw="145.0" model="vehicle.carlamotors.carlacola" rolename="heavy_vehicle_3"/>
+    </scenario>
+    <scenario name="VulnerableRoadUserCollision_RightTurn" type="VulnerableRoadUserCollision" town="Town04">
+        <other_actor x="250.38" y="-164.0" z="0.0" yaw="180.0" model="static.prop.trafficwarning" rolename="traffic_sign"/>
+        <other_actor x="250.38" y="-164.0" z="0.5" yaw="180.0" model="static.prop.streetbarrier" rolename="streetbarrier"/>
+        <other_actor x="250.30" y="-159.8" z="1.0" yaw="0.0" model="walker.pedestrian.0002" rolename="crossing_person"/>
+    </scenario>
+</scenarios>
diff --git a/ail_vru_uc1_scenario/docker-compose.yml b/ail_vru_uc1_scenario/docker-compose.yml
index 66cb8dbb..db9dda42 100644
--- a/ail_vru_uc1_scenario/docker-compose.yml
+++ b/ail_vru_uc1_scenario/docker-compose.yml
@@ -399,14 +399,15 @@ services:
     depends_on:
       - carma-simulation
     volumes:
-      - ./scenario-runner/trb_2024.py:/app/scenario_runner/srunner/scenarios/trb_2024.py
+      - ./scenario-runner/vru_collision.py:/app/scenario_runner/srunner/scenarios/vru_collision.py
+      - ./scenario-runner/vru_collision.xml:/app/scenario_runner/srunner/examples/vru_collision.xml
       - ./carla-recorder/:/app/scenario_runner/metrics/data/
     # sleep is for mainly carma-platform's components to
     # activate and be ready before scenario starts
     entrypoint: >
       bash -c "sleep 30
       && python3 scenario_runner.py
-      --scenario Trb2024_1
+      --scenario VulnerableRoadUserCollision_LeftTurn
       --record metrics/data/
       --host 172.2.0.2"