// ============================================================================= // art_lockstep.cpp -- lock-step ARTcar physics server for the Case 1 TR campaign // // New code written in 2026 (not an original 2024 artifact). // // Vehicle/terrain setup is copied line-for-line from the released // demo_ROS_dART.cpp (sha256 389a8f69...54ec8, image uwsbel/ros:iros2024, // Chrono fork commit 9d26ff7). The ROS manager, ChSensorManager (GPU camera // and lidar), Irrlicht-free visual assets and soft-real-time pacing are // omitted; see README_case1.md (section "Runner") for why they do not change // the dynamics and for the bitwise test. // // Differences that ARE configurable per process (one process == one episode): // --x --y --yaw chassis reference-frame initial pose (z = 0.25 as in // the original, start at rest, Q_from_AngZ(yaw)) // --terrain-json PATH RigidTerrain JSON (default: the original // /terrain/RigidPlane.json) // --waypoint-boxes CSV optionally add the original fixed, non-colliding // visual waypoint boxes (for the equivalence test) // --replicate-vis 0|1 optionally call the original visualization setters // --data-path DIR Chrono::Vehicle data dir (default // /sbel/Desktop/chrono/build/data/vehicle/, i.e. what // the original binary resolves from build/bin with // the default relative path "../data/vehicle/") // // Message format (line based, stdin -> stdout; all doubles printed with %.17g so // that they round-trip exactly): // S run n iterations of the original loop body // -> state line // U driver->SetSteering/SetThrottle/SetBraking // (ChDriver clamps to [-1,1],[0,1],[0,1]) // -> "OK " (stored values) // G -> state line // Q exit(0) // State line: "X" followed by the fields listed in kStateFields below. // ============================================================================= #include #include #include #include #include #include #include #include #include #include #include #include #include "chrono/core/ChTypes.h" #include "chrono/physics/ChSystemNSC.h" #include "chrono/assets/ChVisualMaterial.h" #include "chrono/assets/ChVisualShape.h" #include "chrono/physics/ChBodyEasy.h" #include "chrono/physics/ChBody.h" #include "chrono_vehicle/ChConfigVehicle.h" #include "chrono_vehicle/ChVehicleModelData.h" #include "chrono_vehicle/terrain/RigidTerrain.h" #include "chrono_vehicle/ChDriver.h" #include "chrono_models/vehicle/artcar/ARTcar.h" using namespace chrono; using namespace chrono::vehicle; using namespace chrono::vehicle::artcar; // ---- settings copied verbatim from demo_ROS_dART.cpp ------------------------ static VisualizationType chassis_vis_type = VisualizationType::PRIMITIVES; static VisualizationType suspension_vis_type = VisualizationType::PRIMITIVES; static VisualizationType steering_vis_type = VisualizationType::PRIMITIVES; static VisualizationType wheel_vis_type = VisualizationType::NONE; static ChContactMethod contact_method = ChContactMethod::NSC; static CollisionType chassis_collision_type = CollisionType::NONE; static TireModelType tire_model = TireModelType::TMEASY; static std::string rigidterrain_file("terrain/RigidPlane.json"); static double step_size = 1e-3; // ----------------------------------------------------------------------------- static const char* kStateFields = "step time cog_x cog_y cog_z q_e0 q_e1 q_e2 q_e3 vel_x vel_y vel_z wloc_x wloc_y wloc_z " "ref_x ref_y ref_z applied_steer applied_thr applied_brake drv_steer drv_thr drv_brake " "veh_speed finite step_wall_s"; static void die(const std::string& msg) { std::fprintf(stderr, "ART_LOCKSTEP_FATAL %s\n", msg.c_str()); std::fflush(stderr); std::exit(3); } int main(int argc, char* argv[]) { auto t_start = std::chrono::steady_clock::now(); double x = 0.0, y = 0.0, theta = 0.0; std::string data_path = "/sbel/Desktop/chrono/build/data/vehicle/"; std::string terrain_json; // empty -> GetDataFile(rigidterrain_file) std::string waypoint_boxes_csv; int replicate_vis = 0; for (int i = 1; i < argc; i++) { std::string a = argv[i]; auto need = [&](const char* name) -> std::string { if (i + 1 >= argc) die(std::string("missing value for ") + name); return std::string(argv[++i]); }; if (a == "--x") x = std::strtod(need("--x").c_str(), nullptr); else if (a == "--y") y = std::strtod(need("--y").c_str(), nullptr); else if (a == "--yaw") theta = std::strtod(need("--yaw").c_str(), nullptr); else if (a == "--terrain-json") terrain_json = need("--terrain-json"); else if (a == "--waypoint-boxes") waypoint_boxes_csv = need("--waypoint-boxes"); else if (a == "--replicate-vis") replicate_vis = std::atoi(need("--replicate-vis").c_str()); else if (a == "--data-path") data_path = need("--data-path"); else if (a == "--fields") { std::printf("%s\n", kStateFields); return 0; } else die("unknown argument " + a); } vehicle::SetDataPath(data_path); if (terrain_json.empty()) terrain_json = vehicle::GetDataFile(rigidterrain_file); // ---- vehicle: identical call sequence to demo_ROS_dART.cpp lines 117-131 ---- ChVector<> initLoc(x, y, 0.25); ChQuaternion<> initRot = Q_from_AngZ(theta); ARTcar vehicle; vehicle.SetContactMethod(contact_method); vehicle.SetChassisCollisionType(chassis_collision_type); vehicle.SetChassisFixed(false); vehicle.SetInitPosition(ChCoordsys<>(initLoc, initRot)); vehicle.SetTireType(tire_model); vehicle.SetTireStepSize(step_size); vehicle.SetMaxMotorVoltageRatio(0.09f); vehicle.SetStallTorque(0.3f); vehicle.SetTireRollingResistance(0.05f); vehicle.Initialize(); if (replicate_vis) { // demo_ROS_dART.cpp lines 133-139 (visual assets only) VisualizationType tire_vis_type = VisualizationType::MESH; vehicle.SetChassisVisualizationType(chassis_vis_type); vehicle.SetSuspensionVisualizationType(suspension_vis_type); vehicle.SetSteeringVisualizationType(steering_vis_type); vehicle.SetWheelVisualizationType(wheel_vis_type); vehicle.SetTireVisualizationType(tire_vis_type); } auto system = vehicle.GetSystem(); if (!waypoint_boxes_csv.empty()) { // demo_ROS_dART.cpp lines 157-196 std::vector> positions; std::ifstream file(waypoint_boxes_csv); if (!file.is_open()) die("cannot open waypoint csv " + waypoint_boxes_csv); std::string line; while (std::getline(file, line)) { std::stringstream ss(line); double px, py, pz, pw; char delimiter; if (ss >> px >> delimiter >> py >> delimiter >> pz >> delimiter >> pw) positions.emplace_back(px, py, pz, pw); else die("invalid csv line " + line); } auto vis_mat_path = chrono_types::make_shared(); vis_mat_path->SetDiffuseColor(chrono::ChColor(0.0f, 1.0f, 0.0f)); for (const auto& pos : positions) { auto box_body = chrono_types::make_shared(0.1, 0.1, 0.0001, 1000, true, false); box_body->SetPos(chrono::ChVector<>(std::get<0>(pos), std::get<1>(pos), 0)); box_body->SetBodyFixed(true); auto shape = box_body->GetVisualModel()->GetShapes()[0].first; if (shape->GetNumMaterials() == 0) shape->AddMaterial(vis_mat_path); else shape->GetMaterials()[0] = vis_mat_path; system->Add(box_body); } } // ---- terrain and driver: demo_ROS_dART.cpp lines 226-230 ---- RigidTerrain terrain(system, terrain_json); terrain.Initialize(); auto driver = std::make_shared(vehicle.GetVehicle()); auto chassis = vehicle.GetChassisBody(); DriverInputs last_applied = driver->GetInputs(); long long step_count = 0; double step_wall_total = 0.0; double init_s = std::chrono::duration(std::chrono::steady_clock::now() - t_start).count(); std::printf("READY init_s=%.9f terrain_json=%s data_path=%s chrono_version=%s fields=%s\n", init_s, terrain_json.c_str(), data_path.c_str(), CHRONO_VERSION, kStateFields); std::fflush(stdout); auto print_state = [&]() { const ChVector<>& p = chassis->GetPos(); // COG frame (ChBodyAuxRef) == ChROSBodyHandler pose const ChQuaternion<>& q = chassis->GetRot(); // COG frame rotation (e0=w, e1..e3) const ChVector<>& v = chassis->GetPos_dt(); // COG velocity, absolute frame == ChROSBodyHandler twist ChVector<> w = chassis->GetWvel_loc(); // local angular velocity == ChROSBodyHandler twist.angular ChVector<> r = chassis->GetFrame_REF_to_abs().GetPos(); DriverInputs d = driver->GetInputs(); double spd = vehicle.GetVehicle().GetSpeed(); double vals[] = {p.x(), p.y(), p.z(), q.e0(), q.e1(), q.e2(), q.e3(), v.x(), v.y(), v.z(), w.x(), w.y(), w.z(), r.x(), r.y(), r.z()}; bool finite = std::isfinite(spd); for (double val : vals) finite = finite && std::isfinite(val); std::printf("X %lld %.17g", step_count, system->GetChTime()); for (double val : vals) std::printf(" %.17g", val); std::printf(" %.17g %.17g %.17g %.17g %.17g %.17g %.17g %d %.9f\n", last_applied.m_steering, last_applied.m_throttle, last_applied.m_braking, d.m_steering, d.m_throttle, d.m_braking, spd, finite ? 1 : 0, step_wall_total); std::fflush(stdout); }; print_state(); char buf[512]; while (std::fgets(buf, sizeof(buf), stdin)) { if (buf[0] == 'S') { long long n = std::atoll(buf + 1); auto t0 = std::chrono::steady_clock::now(); for (long long k = 0; k < n; k++) { // ---- loop body: demo_ROS_dART.cpp lines 332-342 (sensor/ROS/realtime omitted) ---- DriverInputs driver_inputs = driver->GetInputs(); double time = vehicle.GetSystem()->GetChTime(); driver->Synchronize(time); vehicle.Synchronize(time, driver_inputs, terrain); terrain.Synchronize(time); driver->Advance(step_size); vehicle.Advance(step_size); terrain.Advance(step_size); last_applied = driver_inputs; step_count++; } step_wall_total += std::chrono::duration(std::chrono::steady_clock::now() - t0).count(); print_state(); } else if (buf[0] == 'U') { double s = 0, t = 0, b = 0; if (std::sscanf(buf + 1, "%lf %lf %lf", &s, &t, &b) != 3) die(std::string("bad U command: ") + buf); driver->SetSteering(s); driver->SetThrottle(t); driver->SetBraking(b); DriverInputs d = driver->GetInputs(); std::printf("OK %.17g %.17g %.17g\n", d.m_steering, d.m_throttle, d.m_braking); std::fflush(stdout); } else if (buf[0] == 'G') { print_state(); } else if (buf[0] == 'Q') { break; } else { die(std::string("unknown command: ") + buf); } } return 0; }