[yunlishao-vibe]

Promotes #421, #422, #423, #425, #427 and #430. That's 20 commits, 15 files. A simulated merge reports zero conflicts. The only commits on beta_v0.9.0 that dev_v0.9.0 lacks are the earlier promotion merges.

What it adds

• The simulated dyno's robot driver (xil: the dyno's robot driver takes a transport delay, an actuator function and an accel mode #421):

  • a transport delay on the pedal (delay_s);
  • an application-defined pedal-dynamics hook (actuator=fn);
  • an acceleration-tracking mode (mode='accel').

  All three pass through fixs.xil.dynosim(driver={...}). The defaults are bit-identical to before.

• The upstream controller's command as speed, acceleration or both (driver: referenceMode reads the eco controller's speed, acceleration or both; exchange can take aref #422, FIXS_Applications#88/referenceMode 'both' takes the pair as sent, without comparing them #423):

  • veh.set(speedDesired=..., accelerationDesired=...) is accepted.
  • fixs.accelerationFromSpeed is the exact float32 inverse of speedFromAcceleration.
  • fixs.driver(referenceMode='speed'|'accel'|'both') picks what the driver reads. 'both' takes the pair as sent, without comparing them (FIXS_Applications#88/referenceMode 'both' takes the pair as sent, without comparing them #423).
  • An exchange can take aref: exchange(vref, aref, dt).

• Hooking a controller in (#424/fixs.driver(xil=, control=), fixs.driver.instance() and public step methods #425):

  • fixs.driver(xil=, control=) and fixs.driver.instance().
  • The stock step default(ego, dt) in four numbered stages, on public methods: shiftIntoFirstGear, advisoryOf, signalCeiling, leaderCeiling, stepAgent, reference, exchange, speedToPedal, logStep, controlPassive.
  • The old names (fixs.driver(exchange), exchange=, usercontrol=) still work for one release, with a FutureWarning.
  • import fixs reaches fixs.xil.

• Which ego speed SUMO and the application get with a dyno in the loop (#426/XilSetup.SpeedToTraffic and SpeedToApplication: which ego speed SUMO and the application get with a dyno in the loop #427, closes [FEATURE] XilSetup.SpeedToTraffic / SpeedToApplication: which ego speed SUMO and the application get with a dyno in the loop #426):

  • XilSetup.SpeedToTraffic: virenv | xil and SpeedToApplication: traffic | xil, read by TrafficLayer.
  • Both default to today's behaviour. On rung 5, a run without the keys is byte-identical to the baseline.

• A control step shows what reaches the dyno (#429/drv.reference(control) returns (vRef, aRef) and drv.exchange(vRef, aRef) takes them #430, closes [FEATURE] fixs.driver: reference() returns (vRef, aRef) and exchange(vRef, aRef) takes them, so a control step shows what reaches the dyno #429):

  • vRef, aRef = drv.reference(control): the agent's speed, and the eco controller's acceleration corrected by the change the caps and the agent made to its speed.
  • drv.exchange(vRef, aRef) hands the dyno that pair; without aRef it behaves as before.
  • The driver log's vRef column is now the reference sent to the dyno, not a copy of vDyno, and an aRef column is added.
  • reference() now returns a pair, so FIXS_Applications' controller must move with it (FIXS_Applications#92).

Related Issues / Tasks

Promotion; closes no new issues. #426 is closed by #427, #429 by #430.

ORNL-Real-Sim/FIXS_Applications's beta promotion needs this one to have published v0.9.0-beta first: its controllers call fixs.driver(xil=, control=), fixs.driver.instance(), and drv.reference(control) for the (vRef, aRef) pair from #430.

Checklist

• Code compiles/runs as expected: each promoted PR passed its checks on dev_v0.9.0, and FIXS_Applications rungs 5 and 6 run end to end against it.
• Relevant issues are linked