Customized SMARTS service for MAD co-sim

[liamchzh]

A simple SMARTS service has been implemented

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Motivations

1. Communicate with SMARTS

   • Manage the process
   • Supply with different scenarios
   • Pause/stop/start/reset

2. Easy setup (an environment to run SMARTS)

   • A MVS (minimum viable SMARTS)

Introduction

In current integration, H is the coordinator that will call SMARTS and KS. Now H starts a SMARTS instance by using a bash script.

From H’s perspective, in order to accelerate the integration, SMARTS needs to:

1. reuse SUMO instance if the map is not changed.
2. reset everything without restart SUMO when switching between scenarios ( Restart the SUMO process based on map change #73)

H’s Workflow should be:

1. start the SMARTS service

   • service port
   • sumo port
   • number of SUMO external client

2. reset/setup a scenario, need to specify:

   • scenario
   • ego agent
   • max_episode_steps
   • timestep
   • seed
   • ...

3. start to run a scenario

4. stop running the scenario

5. Loop through from step 2 to 4 until service terminated

Per discussion, we will have a scenario service to provide functionalities such as initializing SMARTS, scenario setup and stepping, which is similar to what env layer is doing.

The Service should take care of:

• creating SMARTS instance
• setup scenario but not to run it until explicitly told to so do.
• building the scenario if it has not been built

[Gamenot]

#76 Related ticket

[Gamenot]

On hold indefinitely.