FSAI Simulation In C

This project is a simulation-based racing application that integrates various modules such as graphics rendering, physics simulation, path logic, and telemetry to create a comprehensive testing environment.

Key Modules

• Graphics: Handles rendering and graphical output. (Graphics/Graphics.c, Graphics/Graphics.h)
• MainController: Contains the main logic for controlling cars and other entities. (MainController/CarController.c)
• PathLogic: Includes assets and logic for pathfinding and navigation.
• PhysicsEngine: Simulates the physics of the racing environment.
• Telemetry: Manages telemetry data and logging.

Build Instructions

Dependencies

Install the build toolchain and runtime libraries before configuring the project:

• Common: CMake (3.20+), a C/C++ compiler, pkg-config.
• Math/geometry: Eigen3, CGAL (with the Qt6 viewer component).
• Graphics: SDL2, OpenGL development headers.
• Computer Vision: ONNXRuntime, OpenCV
• Config/data: yaml.

Ubuntu/Debian example:

sudo apt-get update
sudo apt-get install build-essential cmake pkg-config libsdl2-dev libyaml-dev \
     libeigen3-dev libopengl-dev libcgal-dev libcgal-qt6-dev qt6-base-dev

macOS (Homebrew) example:

brew install cmake sdl2 yaml-cpp eigen cgal

To install ONNXRuntime and OpenCV, follow instructions online.

Configure & build

1. Navigate to the root directory of the project.

2. Generate the build tree with CMake (or use the helper scripts):

   mkdir -p build
   cd build
   cmake ..
   make -j

   The provided build.sh and rebuild.sh scripts wrap the same steps.

3. CMakeLists.txt will automatically detect the host architecture (ARM vs. x86) and pick the correct library paths.

Runtime GUI and controls

Launch the simulator GUI from the build directory so that assets such as configDry.yaml resolve correctly:

./fsai_run

The executable opens an SDL window with Dear ImGui panels:

• Simulation Stats – vehicle pose, kinematics, axle torques, brake system, wheel RPM, accelerations, and lap timing. Click the collapsing headers to expand/collapse individual sections.
• Control Panel – shows manual inputs, AI requests, applied commands, and CAN acknowledgement timers. Color highlights indicate data freshness.
• CAN Telemetry – streaming feedback from the simulated VCU. Each section is collapsible; stale data is colored amber/red.
• Simulation Log – the scrolling log console that previously streamed to stdout. Use the Clear button to flush messages, toggle Auto-scroll to stay at the newest entry, and scroll with the mouse wheel to review history.

Keyboard and mouse interactions:

• Press M to toggle between automatic (controller) and manual driving modes.
• In manual mode use W (throttle), S (brake), and A / D (steering). Keep the terminal window focused for these inputs because they are read from standard input.
• Press Q to quit the simulator.
• Click and drag inside any panel to scroll; right-click a panel title bar to access the standard ImGui window options.

When running with the S-VCU stub, the helper script wires everything together:

tools/scripts/run_sim_with_svcu.sh

The script prints the process IDs and then launches the GUI-enabled simulator.

Mission selection and configuration

When fsai_run starts without a mission override it checks whether standard input is interactive. If it can prompt the user, a numbered mission menu is printed; otherwise the simulator defaults to Autocross (option 3 in the list).【F:sim/app/fsai_run.cpp†L148-L171】 Enter either the displayed number or one of the mission tokens (for example accel, skid, auto, or track) to choose a mission.【F:sim/app/fsai_run.cpp†L62-L124】 Pressing enter without typing anything accepts the highlighted default.【F:sim/app/fsai_run.cpp†L172-L189】

To bypass the prompt pass --mission <value> on the command line. The flag accepts the same numbers and tokens that the interactive prompt lists; invalid values cause the simulator to exit with an error message.【F:sim/app/fsai_run.cpp†L1236-L1263】

Acceleration and skidpad missions load their cone layouts from configs/tracks/acceleration.csv and configs/tracks/skidpad.csv respectively.【F:sim/app/fsai_run.cpp†L200-L217】 The CSV schema and guidelines for creating custom layouts live in configs/tracks/README.md.

Mission lifecycle overview

Mission timing and stopping behaviour are coordinated by MissionRuntimeState and World:

• Acceleration – one timed lap on the straight-line CSV track. Mission time advances until the checkpoint at the far end is crossed, then the simulator commands a full brake application to stop the car.【F:sim/app/fsai_run.cpp†L200-L206】【F:sim/src/MissionRuntimeState.cpp†L18-L70】【F:sim/src/World.cpp†L320-L336】
• Skidpad – four laps total: one warmup, two timed laps, and one exit lap. The layout is a simplified single-loop CSV that does not yet model separate clockwise/counter-clockwise circles. After the exit lap the stop command is issued in the same way as the other missions.【F:sim/app/fsai_run.cpp†L206-L214】【F:sim/src/MissionRuntimeState.cpp†L71-L116】【F:configs/tracks/skidpad.csv†L1-L40】【F:sim/src/World.cpp†L320-L336】
• Autocross – one timed lap on a procedurally generated random track. If cone collisions occur and the mission allows regeneration, resetting the simulation produces a fresh layout.【F:sim/app/fsai_run.cpp†L214-L222】【F:sim/src/MissionRuntimeState.cpp†L71-L116】【F:sim/src/World.cpp†L338-L376】
• Trackdrive – ten timed laps on a random track with the same regeneration logic as Autocross.【F:sim/app/fsai_run.cpp†L218-L222】【F:sim/src/MissionRuntimeState.cpp†L71-L116】【F:sim/src/World.cpp†L338-L376】

World::handleMissionCompletion() zeros the throttle, applies full brake, and marks that the stop command was sent so the simulator does not repeatedly log the message.【F:sim/src/World.cpp†L320-L336】 This behaviour applies to every mission once the configured lap segments are complete.【F:sim/src/MissionRuntimeState.cpp†L41-L70】

Building BoundaryEstimation.cpp

1. Make sure you have installed cgal and qt6.
2. Create a directory at planning/build
3. Run:

  cd build
  cmake ..
  make

or use the build.sh/rebuild.sh scripts.

Note on inlcuding headers, just use the file name and ensure there are no duplicate file names, cmake will grab the correct file...