TeraSim Service

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Further development continues at mcity/TeraSim.

A HTTP service for TeraSim simulation control and monitoring, built with FastAPI.

Overview

TeraSim Service provides a comprehensive HTTP API for managing simulation instances, enabling remote control and real-time monitoring capabilities. It offers the following core functionalities:

• Start new simulation instances
• Check simulation status
• Control simulations (pause, resume, stop)
• Manually advance simulation steps (tick)
• Retrieve simulation states
• Send commands to agents

Requirements

• Python 3.9+
• TeraSim and its dependencies

Setup

1. Install Redis: For details, check this link

2. Start Redis server:

   sudo systemctl enable redis-server
   sudo systemctl start redis-server
   # Verify Redis is running
   redis-cli ping
   # Should return "PONG"

3. Install TeraSim-Service package:

   poetry install

Usage

There are several ways to start the TeraSim Service:

Method 1: Using the command-line tool

After installation, you can use the provided command-line tool:

terasim-service

Method 2: Using the Python module

You can run the service as a Python module:

python -m terasim_service

Method 3: Running the example

You can also run the example file to start the service:

python examples/main.py

All of these methods will start the service on http://localhost:8000 by default.

Example REST API

The following is an overview of the REST API requests used to interact with the TeraSim simulation service.

1. Start a Simulation

   Endpoint: POST /start_simulation

   Description: Starts a new simulation with the specified configuration file.

   Request:

   POST http://localhost:8000/start_simulation
   Content-Type: application/json
   
   {
      "config_file": "examples/simulation_config.yaml", 
      "auto_run": false
   }
   

   Response:

   • 200 OK: Returns the simulation_id for the newly started simulation.
   • Example:

   {
      "simulation_id": "0fd93635-b2ea-4b17-818a-55cad6bb6691",
      "message": "Simulation started"
   }
   

2. Store Simulation ID

   The simulation_id returned from the start_simulation request is stored in a variable for use in subsequent requests.

3. Check Simulation Status

   Endpoint: GET /simulation_status/{simulationId}

   Description: Retrieves the current status of the simulation.

   Request:

   GET http://localhost:8000/simulation_status/{{simulationId}}
   

   Response:

   • 200 OK: Returns the current status of the simulation.
   • Example:

   {
      "id": "0fd93635-b2ea-4b17-818a-55cad6bb6691",
      "status": "running",
      "progress": 0.0
   }
   

   The simulation will have the following statuses and their meanings are shown below:

   Simulation Status	Meaning
   "initializing"	The simulation has started for traffic flow initialization.
   "wait_for_tick"	The traffic flow has been initialized and the simulation is waiting for the "tick" command.
   "running"	After receiving the "tick" command, the TeraSim simulation has started to advance for one step and it will take hundreds of milliseconds to finish the calculation.
   "ticked"	The TeraSim simulation has finished the one-step advance and it is waiting for the next "tick" command.
   "finished"	The TeraSim simulation has come to an end.

4. Stop Simulation

   Endpoint: POST /simulation_control/{simulationId}

   Description: Stops the simulation.

   Request:

   POST http://localhost:8000/simulation_control/{{simulationId}}
   Content-Type: application/json
   
   {
      "command": "stop"
   }
   

5. Tick the Simulation

   Endpoint: POST /simulation_tick/{simulationId}

   Description: Advances the simulation by one step (only works when auto_run is false).

   Request:

   POST http://localhost:8000/simulation_tick/{{simulationId}}
   

6. Get Simulation States

   Endpoint: GET /simulation/{simulationId}/state

   Description: Retrieves states of all interested agents inside the simulation.

   Request:

   GET http://localhost:8000/simulation/{{simulationId}}/state
   

   Response:

   • 200 OK: Returns the current states of the simulation.
   • Example:

   {
      "header": {"timestamp": [...], "information": [...]},
      "simulation_time": [...],
      "agent_count": {"vehicle": [...], "vru": [...]},
      "agent_details": {
         "vehicle": {
            "BV_bike_flow_5.23": {
               "x": 58.01538972502436,
               "y": 60.92,
               "z": 0.0,
               "lat": 0.0,
               "lon": 0.0,
               "sumo_angle": 90.0, 
               "length": 1.6,
               "width": 0.65,
               "height": 1.7,
               "speed": 5.591859473845301,
               "type": "DEFAULT_BIKETYPE"
            },
            ...
         }
         "vru": [...],
      },
      "traffic_light_details": [...],
   }
   

   Note:

   • The x, y, and z coordinates of the agent are in the SUMO map coordinate system and represent the position of the agent's front bumper center.
   • The sumo_angle of the agent is measured in degrees, ranging from 0 to 360. A value of 0 represents north, and the sumo_angle increases clockwise.

7. Control a Specific agent

   Endpoint: POST /simulation/{simulationId}/agent_command

   Description: Sends a control command to a specific agent in the simulation.

   Request:

   POST http://localhost:8000/simulation/{{simulationId}}/agent_command
   Content-Type: application/json
   
   {
      "agent_id": "AV",
      "agent_type": "vehicle",
      "command_type": "set_state",
      "data": {
         "position": [112, 45.85],
         "lonlat": [-96.21622, 29.759548],
         
         "speed": 0.0
      }
   }
   

   Note:

   • Either use position or lonlat in the data field, but not both at the same time
   • position represents coordinates in the SUMO map coordinate system
   • lonlat represents GPS coordinates in decimal degrees format (longitude, latitude)
   • For vehicles, position or lonlat denotes the front bumper center of the vehicle
   • speed is measured in meters per second (m/s)

   Response:

   • 200 OK: Confirms that the command was successfully sent.
   • Example:

   {
      "message": "Agent command sent for agent AV"
   }
   

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

Support

For support, please open an issue in the GitHub repository.