..
  *******************************************************************************
  Copyright (c) 2021 in-tech GmbH
                2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)

  This program and the accompanying materials are made available under the
  terms of the Eclipse Public License 2.0 which is available at
  http://www.eclipse.org/legal/epl-2.0.

  SPDX-License-Identifier: EPL-2.0
  *******************************************************************************

.. _simulationconfig:

SimulationConfig
================


This file describes the high level parameters of a simulation invocation (i.e. an experiment).
It contains the basic experiment settings like number of runs and random seed, the environment definition,
the parametrization of the output (more precisely the observation modules) and the definition of the spawners.
The path to the SimulationConfig is given as command line argument (or defaulted) and all other configs are directly
or indirectly refered to in the SimulationConfig.
Several parameters depend on probabilities. 
Each invocation then rolls for said probabilities. 
All probabilities need to add up to 1.0.

The simulationConfig.xml consists of the following sections:

* :ref:`simulationconfig_profilescatalog`
* :ref:`simulationconfig_experiment`
* :ref:`simulationconfig_scenario`
* :ref:`simulationconfig_environment`
* :ref:`simulationconfig_observations`
* :ref:`simulationconfig_spawners`

.. _simulationconfig_profilescatalog:

ProfilesCatalog
---------------

Specifies the :ref:`profilescatalog` for the experiment.

.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
   :language: xml
   :start-at: <ProfilesCatalog> 
   :end-at: </ProfilesCatalog>

.. _simulationconfig_experiment:

Experiment
----------

Specifies the general experiment setup, not specific to a single invocation.

.. table::
   :class: tight-table

   ===================== ================================================== =========
   Tag                   Description                                        Mandatory 
   ===================== ================================================== =========
   ExperimentId          Id of the experiment                               yes
   NumberOfInvocations   Number of invocation in the experiment.                                   
                         For each invocation probabilities are rerolled.    yes
   RandomSeed            Random seed for the entire experiment.                                   
                         Must be within the bounds of an unsigned integer.  yes
   Libraries             Name of the core module Libraries to use.                                  
                         If not specified the default name is assumed.      yes
   ===================== ================================================== =========

.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
   :language: xml
   :start-at: <Experiment> 
   :end-at: </Experiment>

.. _simulationconfig_scenario:

Scenario
--------

This section contains information about the scenario setup for the experiment. This information does not change between invocations.

.. table::
   :class: tight-table

   ================ ========================= =========     
   Tag              Description               Mandatory
   ================ ========================= =========
   OpenScenarioFile Name of the scenario file yes
   ================ ========================= =========

**Example**

This experiment uses the "HighwayScenario.xosc" scenario file.

.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
   :language: xml
   :start-at: <Scenario> 
   :end-at: </Scenario>

.. _simulationconfig_environment:

Environment
-----------

This section contains information about the world and the general environment inside the simulation. Every invocation re-rolls the environment probabilities.
All probabilities need to add up to 1.0.

.. table::
   :class: tight-table

   =================== ============================================================================================== =========
   Tag                 Description                                                                                    Mandatory
   =================== ============================================================================================== =========
   TimeOfDay           **Currently unused.** Time of day ranging from 1-24 [h].                                       1+ entry
   VisibilityDistance  Defines how far a human driver can see [m].                                                    1+ entry
   Friction            Friction on the road. Used by DynamicsRegularDriving and LimiterAccelerationVehicleComponents. 1+ entry
   Weather             **Currently unused.** Weather as string                                                        1+ entry
   TrafficRules        Defines which set of TrafficRules to use from the ProfilesCatalog                              yes
   TurningRates        Defines the turning rates for random route generation                                          no
   =================== ============================================================================================== =========

**Example**

Every invocation has the time set to 15:00.
In 70% of all invocation drivers can see 125 meter and for the other 30% of invocations the drivers can see 250 meter.
Every invocation has a friction of 0.3.
Every invocation has sunny weather.

.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
   :language: xml
   :start-at: <Environment> 
   :end-at: </Environment>
   
**TurningRates**

If routes are not defined in the Scenario, they are randomly generated.
Starting at the current agent position at each junction a random connector is chosen based on the weights given in the TurningRates element, until the route terminates at a road without successors or a maximum depth is reached.
If for a pair of incoming road / connector no weight is given, it is defaulted to 1.
At the below example an agent coming from road "R1" has a 1/3 chance of selecting "R1-2" and a 2/3 chance of selecting "R1-3".

.. table::
   :class: tight-table

   =================== ==============================
   Attribute           Description
   =================== ==============================
   Incoming            Id of the incoming road
   Outgoing            Id of the connector
   Weight              Weight for this pair
   =================== ==============================

.. literalinclude:: /../../../repo/sim/contrib/examples/Configurations/TurningRates/simulationConfig.xml
   :language: xml
   :start-at: <TurningRates> 
   :end-at: </TurningRates>

.. _simulationconfig_observations:

Observations
------------

In this section all observation libraries are defined with their parameters.
A specific library is loaded by adding an entry to the `Observations` tag:

.. code-block:: xml

   <Observations>
     <!-- first observer -->
     <Observation> 
       <Library>THE_OBSERVATION_LIBRARY</Library>
       <!-- observer specific parameter -->
       <Parameters>
         <String Key="THE_KEY" Value="THE_VALUE"/>
         <Bool Key="ANOTHER_KEY" Value="false"/>
         ...
       </Parameters>
     </Observation>
     <!-- second observer -->
     <Observation> 
        ...
     </Observation>
   </Observations>

Here, the ``Library`` tag contains the name of the library, and ``Parameters`` contain an optional list of key/value pairs, specific for each observer.

Please refer to the documentation of the individual observers for available parameters:

.. toctree::
   :glob:
   :maxdepth: 1

   ../outputs/*

.. _simulationconfig_spawners:

Spawners
--------

In this section the spawners are defined with their Profile (defined in the ProfilesCatalog). 
The same library can be loaded multiple times with different profiles.
A spawner is either of type "PreRun", meaning it is triggered only once at the start of the simulation, or "Runtime", meaning it is triggered in every timestep.
If different spawners are to be triggered at the same time the spawner with the highest priority is triggered first.

.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
   :language: xml
   :start-at: <Spawners> 
   :end-at: </Spawners>


Full Example
------------

.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
   :language: xml
   :caption: simulationConfig.xml
   :linenos:
