Vsimrti User Manual 0.13.1

VSimRTI: Vehicle-2-X Simulation Runtime Infrastructure User Documentation

Michalis Adamidis Franz Kage Tobias Queck

Sebastian Dunkel

Bernard Ladenthin Stefan Reichel

Erik Schleiff

Jan Henning

Nico Naumann David Rieck

Björn Schünemann

Version 0.13.1 March 25, 2014

Jiajun Hu

Robert Protzmann Alexander Scheck Julia Ullrich

Abstract The Vehicle-2-X Simulation Runtime Infrastructure (VSimRTI) enables the preparation and execution of Vehicle-2-X (V2X) simulations. It is a flexible system which simulates traffic flow dynamically. VSimRTI couples different simulators and thus allows the simulation of the various aspects of intelligent transportation systems. The easy integration and exchangeability of simulators enables the utilization of the most relevant simulators for a realistic presentation of vehicle traffic, emissions, wireless communication and the execution of V2X applications.

The developer alliance The developer alliance consists of Fraunhofer-Institut für Offene Kommunikationssysteme (FOKUS), Daimler Center for Automotive Information Technology Innovations (DCAITI) and Automotive Services and Communication Technologies (ASCT).

Contact information VSimRTI Mailing List (developer team)

[email protected] VSimRTI: Smart Mobility Simulation

http://www.dcaiti.tu-berlin.de/research/simulation Fraunhofer FOKUS: ASCT Competence Center

http://www.fokus.fraunhofer.de/en/asct/index.html DCAITI

http://www.dcaiti.tu-berlin.de

Contents 1 Introduction 1.1 Overview . . . . . . . . . . . . . . . 1.2 Download and install . . . . . . . . 1.3 License . . . . . . . . . . . . . . . . 1.4 Concept . . . . . . . . . . . . . . . . 1.4.1 Federates and Ambassadors 1.4.2 Root configuration . . . . .

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1 1 2 2 3 3 3

2 VSimRTI configuration 2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Host configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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3 Simulators 3.1 Kinds of simulators . . . . . . . . . . . . . . . . . 3.1.1 Network simulators . . . . . . . . . . . . . 3.1.2 Traffic simulators . . . . . . . . . . . . . . 3.1.3 Cellular simulators . . . . . . . . . . . . . 3.1.4 Application simulators . . . . . . . . . . . 3.1.5 Environment simulators . . . . . . . . . . 3.1.6 Navigation simulators . . . . . . . . . . . 3.2 JiST/SWANS . . . . . . . . . . . . . . . . . . . . . 3.2.1 swans-ambassador folder structure . . . 3.2.2 Installation . . . . . . . . . . . . . . . . . . 3.2.3 Configuration . . . . . . . . . . . . . . . . 3.3 OMNeT++ . . . . . . . . . . . . . . . . . . . . . . 3.3.1 omnetpp-ambassador folder structure . 3.3.2 Installation . . . . . . . . . . . . . . . . . . 3.3.3 Configuration . . . . . . . . . . . . . . . . 3.4 ns-3 . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.1 ns3-ambassador folder structure . . . . . 3.4.2 Installation . . . . . . . . . . . . . . . . . . 3.4.3 Configuration . . . . . . . . . . . . . . . . 3.5 SUMO . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.1 sumo-ambassador folder structure . . . 3.5.2 Installation . . . . . . . . . . . . . . . . . . 3.5.3 Configuration . . . . . . . . . . . . . . . . 3.5.4 Further information . . . . . . . . . . . . 3.6 VISSIM . . . . . . . . . . . . . . . . . . . . . . . . 3.7 VSimRTI Eventserver . . . . . . . . . . . . . . . . 3.7.1 eventserver-ambassador folder structure 3.7.2 Installation . . . . . . . . . . . . . . . . . . 3.7.3 Configuration . . . . . . . . . . . . . . . . 3.8 eWorld . . . . . . . . . . . . . . . . . . . . . . . . 3.8.1 eworld-ambassador folder structure . . . 3.8.2 Installation . . . . . . . . . . . . . . . . . . 3.8.3 Configuration . . . . . . . . . . . . . . . . 3.9 VSimRTI cellular simulator . . . . . . . . . . . . 3.9.1 cell-ambassador folder structure . . . . .

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5 5 5 6 6 6 6 7 8 8 8 9 11 11 11 14 15 16 16 18 20 20 20 21 21 22 23 23 23 23 24 24 24 25 26 26

Contents

Contents

3.9.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.9.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.10 VSimRTI application simulator . . . . . . . . . . . . . . . . . . . . . . . 3.10.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.10.2 application-ambassador folder structure . . . . . . . . . . . . . 3.10.3 Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.10.4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.10.5 Development of application . . . . . . . . . . . . . . . . . . . . . 3.10.6 FacilityTimerInterceptors . . . . . . . . . . . . . . . . . . . . . . 3.10.7 Remote debugging of applications . . . . . . . . . . . . . . . . . 3.10.8 Mapping 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.11 VSimRTI navigation simulator . . . . . . . . . . . . . . . . . . . . . . . 3.11.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.11.2 navigation-ambassador folder structure . . . . . . . . . . . . . 3.11.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.12 Behavior Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.12.2 Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.12.3 Adjusting an application . . . . . . . . . . . . . . . . . . . . . . . 3.12.4 Creating a custom data structure . . . . . . . . . . . . . . . . . . 3.12.5 Matching between a BehaviorDataStruct and normal messages 3.12.6 Creating a new model . . . . . . . . . . . . . . . . . . . . . . . .

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4 Visualizers 4.1 Kinds of Visualizers . . . . . . . . . . . . . 4.2 eWorld . . . . . . . . . . . . . . . . . . . . 4.2.1 eWorld VSimRTI visualizer plugin 4.3 VsimrtiFileVisualizer . . . . . . . . . . . . 4.3.1 Configuring the File Visualizer . . 4.4 VSimRTI web visualizer (VSim) . . . . . . 4.5 VSimRTI WebSocket visualizer . . . . . .

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5 Create a scenario 5.1 Road network data . . . . . . . . . 5.1.1 Using OpenStreetMap data 5.2 Road network data . . . . . . . . . 5.3 VSimRTI . . . . . . . . . . . . . . .

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6 Run simulations 6.1 Run a simulation via CLI . . . . . 6.1.1 VSimRTIEmbeddedStarter 6.2 Run a simulation set via CLI . . . 6.3 Results . . . . . . . . . . . . . . . 6.3.1 Logging . . . . . . . . . . .

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7 Scenario Schwanebeck 83 7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 7.2 WeatherWarningApp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 7.3 Run a single simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 8 Scenario Tiergarten 85 8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 8.2 CamExampleApp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 9 Additional tools 86 9.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 9.2 scenario-convert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

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Contents

Contents

10Additional information 88 10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 10.2 PATH configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 10.3 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 11List of Acronyms

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A VSimRTI deployment 93 A.1 VSimRTI Folder Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 A.2 File listings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 B Example scenario Schwanebeck 105 B.1 Folder Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 B.2 File listings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 C Example scenario Tiergarten 119 C.1 Folder Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 C.2 File listings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

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1 Introduction 1.1 Overview This documentation is part of the current release of VSimRTI and aims at supporting users in their first steps with the software. We try to explain most of the VSimRTI features and configurations with two example scenarios named Schwanebeck (see chapter 7) and Tiergarten (see chapter 8). Having said that we do not aim to give full disclosure for every configuration option here. If you need more specific information on a configuration have a look at the javadocs provided alongside the current release which are available for all JavaScript Object Notation (JSON) style configs or the Appendix for Extensible Markup Language (XML) style configs. If you have any questions or need further support please feel free to contact our support team via our mailing list. Please include logfiles and scenario files in your request, if relevant. We also look forward to get your feedback for improvements of the VSimRTI documentation as well as the installation and configuration process.

VSimRTI at a glance VSimRTI was built to support users performing V2X simulations while maintaining the flexibility to choose which simulators to use. It offers interfaces for the integration of different simulators, e.g. for network, traffic, and environment simulations to provide flexibility to exchange a simulator without changing the underlying infrastructure. For the synchronization and the communication among all components the implemented infrastructure uses common concepts defined in the Institute of Electrical and Electronics Engineers (IEEE) standard for modelling and simulation (M&S) high-level architecture (HLA). Thus the runtime infrastructure VSimRTI allows a flexible combination of time-discrete simulators for V2X simulations. Based on the (possibly differing) requirements of a specific scenario arbitrary simulators can be added to VSimRTI and are executed together. VSimRTI is written in the programming language Java and deployed as Java Archive (JAR) files. Therefore for execution a compatible Java Runtime Environment (JRE) for your operating system needs to be installed. The following table shows the supported versions Version 6.0.35 and before 7.0.1 and above

Supported no

√ Table 1.1: Supported Java versions

1 Introduction

1.2 Download and install

1.2 Download and install • Download vsimrti-bin.zip from the DCAITI website . • The package

vsimrti-bin.zip has to be extracted to an arbitrary path. This installation path is referenced as

vsimrti throughout this document.

1.3 License The licensing mechanism was introduced for a better release control. It improves the user support whilst helping the developer team to deactivate outdated releases which cannot be maintained anymore. Each user needs to be registered at the license server to obtain a license which is a very straightforward procedure. 1. For registration, the user id and basic system information are stored at the server. After the first start of VSimRTI without a valid license a warning appears, stating that there was no license file found and a

vsimrti/systeminfo.txt text file is generated.

For the initial launch of VSimRTI, without license, any user name can be used. As an example, you can use -u abc. 2. The created file contains basic information in plain text about the machine on which VSimRTI was executed and is used to identify the user. The system info needs to be sent to the VSimRTI mailing list. A member of staff registers the new user at the VSimRTI license server as soon as possible, usually within one workday. When your license is active, you get an email with your userid. 3. The following information is stored to identify your machine: • central processing unit (CPU) model id • CPU cores • CPU architecture • Media Access Control (MAC) addresses • operating system name • operating system version • random-access memory (RAM) size • sockets • hashed user id

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1 Introduction

1.4 Concept

• VSimRTI version 4. Directly after confirmation by the VSimRTI team the license is activated. On the next VSimRTI run with an available Internet connection to the VSimRTI license server a valid license is generated and a local copy is stored in the VSimRTI folder. 5. The local license files

vsimrti/vsimrti-license.lcs and

vsimrti/vsimrti.dat are valid for the next 14 days. In this period no Internet connection is needed for the execution of VSimRTI. Every time when an Internet connection to the license server can be established the local license file is renewed for a further 14 days. Notice: You should not backup the license files. If you have a registered account and a valid license is present on the license server you will always receive a new license file.

1.4 Concept In contrast to existing fixed simulator couplings VSimRTI allows the easy integration and exchangeability of simulators. Thus, the high flexibility of VSimRTI enables the coupling of the most appropriate simulators for a realistic presentation of vehicle traffic, emissions, wireless communication, and the execution of V2X applications. Depending on the specific requirements of a simulation scenario the most appropriate simulators can be used.

1.4.1 Federates and Ambassadors VSimRTI uses the federate-ambassador concept inspired by the concept of the HLA. Using this concept, it is possible to couple different simulation systems with a remote control interface. Attaching an additional simulator only requires that the ambassador interface is implemented and the specified commands can be executed.

1.4.2 Root configuration This ambassador can be configured with a configuration file. The specific path is

vsimrti/scenarios//vsimrti/vsimrti_config.xml

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2 VSimRTI configuration 2.1 Overview VSimRTI can be configured by adapting the files in the /vsimrti/etc directory. A full example of the default configuration files can be found in A.2.

2.2 Host configuration This part of software can be configured with a configuration file. The specific path is

vsimrti/etc/hosts.json

Notice: The documentation for the VSimRTI specific component is freely available on the DCAITI website , explaining all available options. This file is used for configuring simulation runs using multiple machines. Under normal circumstances it is not necessary to change this file. In VSimRTI there are two kinds of hosts: local and remote hosts. All host have to be identified with a unique string that is valid for the remainder of the configuration to reference a defined host. For a local host additionally the operating system and a name of a directory that is used to deploy needed federates is necessary. Values for operating systems are "linux" or "windows". The syntax for referenced paths has to be chosen according to operating system standards (e.g. /vsimrti/temp for GNU/Linux and C:\vsimrti\temp for Microsoft Windows). Note that also relative paths are possible. For remote hosts SSH and SFTP is used to deploy and start federates. Therefore the address of the host as well as the port, user name, and password for an SSH connection must additionally be given.

3 Simulators VSimRTI couples different simulators and can’t be run alone. Therefore, it requires pre-installed simulators. In this chapter we give an overview of common simulators already supported as well as basic configuration help. For further information and configuration options please see the javadoc documentation provided on the VSimRTI website . To run other simulators than the provided ones, an additional component has to be written, which couples the simulator to VSimRTI. If you have any questions or need further support, please feel free to contact our support team via our mailing list.

3.1 Kinds of simulators The figure 3.1 gives an overview of the currently available simulators for VSimRTI

vsimrti network simulators ...................................................... (see 3.1.1) Java in Simulation Time (JiST)/Scalable Wireless Ad hoc Network Simulator (SWANS) ............................................................. (see 3.2) OMNeT++ (OMNeT++) ...................................................... (see 3.3) network simulator 3 (ns-3) ............................................ (see 3.4) traffic simulators ...................................................... (see 3.1.2) Simulation of Urban Mobility (SUMO) .................................. (see 3.5) Verkehr In Städten - Simulationsmodell (VISSIM) .................... (see 3.6) cellular simulators ..................................................... (see 3.1.3) VSimRTI cellular simulator (built in) ............................... (see 3.9) environment simulators .................................................. (see 3.1.5) VSimRTI Eventserver .................................................... (see 3.7) eWorld environment simulator .......................................... (see 3.8) application simulators .................................................. (see 3.1.4) VSimRTI application simulator (built in) ........................... (see 3.10) VSimRTI mapping3 (built in) ..................................... (see 3.10.8) naviagtion simulators ................................................... (see 3.1.6) VSimRTI navigation simulator (built in) ............................ (see 3.11) Figure 3.1: VSimRTI simulator structure

3.1.1 Network simulators A network simulator is a piece of software modeling the behavior of a network by calculating the interactions between all partaking entities. For VSimRTI and more specifically the communication in a V2X

3 Simulators

3.1 Kinds of simulators

environment this refers to simulations of the wireless transmissions taking place between the various simulated entities. Notice: To permit parallel usage SWANS and OMNeT++ are connected to VSimRTI on different ports (which is not mandatory).

3.1.2 Traffic simulators A traffic simulator is a software modeling the movements of users in a traffic system. Users can mean cars, pedestrians, trains, ships, planes etc. Traffic simulators can be discriminated by various measures, of which one is the used scope: Microscopic models Simulate each car individually and through the interaction of multiple cars

also traffic flows. They are commonly used for situations such as a traffic crossing or an on-ramp situation. Macroscopic models Models of a traffic flow without the modelling of individual cars. Instead the

traffic flow is computed using models derived from fluid dynamics or gas-kinetics. By this the simulation is computationally far less expensive, so more cars and wider areas can be simulated. An example would be the prediction of traffic jams. Mesoscopic models Try to bridge the gap between macroscopic and microscopic simulation using

individual vehicles that are being actuated by macroscopic control variables. Sub-Microscopic models Used to simulate a car in as much detail as possible. The prediction of the

behavior is the most precise of all models, but also computationally the most expensive. The two currently supported traffic simulator SUMO and VISSIM are both microscopic traffic simulators.

3.1.3 Cellular simulators Cellular simulators are a special case of network simulators: They simulate the communication taking place within a cellular network. They can be used as an alternative or addition to a classic network simulator.

3.1.4 Application simulators An application simulator is an important component enabling the simulation and creation of V2X applications. It follows the European Telecommunications Standards Institute (ETSI) standards for Vehicle-to-Vehicle (V2V) communication. These standards contain message definitions like Decentralized Environmental Notification Messages (DENM) and Cooperative Awareness Messages (CAM) and also a general application container design.

3.1.5 Environment simulators This kind of simulator simulate certain events such as rain, fog, snow, etc..

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3.1 Kinds of simulators

3.1.6 Navigation simulators This is an auxiliary simulator enabling the conversion between different navigational messages used in the various other simulators.

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3.2 JiST/SWANS

3.2 JiST/SWANS SWANS is a scalable wireless network simulator built atop the JiST platform. It was originally released in 2004 by the Cornell University and is free for academic use. Since it was developed for the simulation of Mobile Ad hoc Network (MANET)s it comes along with the most important models for communication according to IEEE 802.11 on the one hand and exhibits a reasonable performance in large scale scenarios on the other hand. In the meantime several extensions from other departments came up with the VANET extension from University Ulm being the most interesting. This version includes a new Routing Protocol for Geographic Routing, several bugfixes and enhanced mobility models and is the basis of V2X communication research connected with VSimRTI. In the release 0.9.9 of VSimRTI, SWANS was extended with a new propagation model Three Log Distance Path Loss which is currently in experimental state. Software information Developer(s)

Cornell Research Foundation, Inc. University Ulm

Written in

Java

Operating system

Cross-platform

License

open source (Cornell Research Foundation, Inc. License)

Website

http://jist.ece.cornell.edu/ http://vanet.info/jist-swans.html

Supported version(s)

1.1.1

Installation

via released installation script Table 3.1: Software information: JiST/SWANS

3.2.1 swans-ambassador folder structure This ambassador can be configured with a configuration file. The specific path is

vsimrti/scenarios//swans/swans_config.xml

swans ............................................................................ swans_config.xml ................................. ambassador configuration file Figure 3.2: swans-ambassadorfolder structure

3.2.2 Installation

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3.2 JiST/SWANS

Manual installation

To install SWANS, download and extract the contents of the provided swans-patch-0.13.1.zip file in the

vsimrti/bin/fed/swans folder of your vsimrti installation. Installation shell script

vsimrti bin fed swans swans_installer.sh

.......................... Installation script for SWANS

Figure 3.3: SWANS folder structure

The VSimRTI all-in-one package comes with a installation script for the bash-shell, that automates the task of the SWANS installation. 1. Make the script executable:

chmod 755 swans_installer 2. Now the script is ready to run by typing the following:

./swans_installer

3.2.3 Configuration The SWANS configuration file contains settings of the used model parameters especially for the radio channel, the physical layer and the routing protocol on the network layer. It consists of one section for common parameters and two sections for node specific parameters to support different configurations for vehicles and RSUs. Common • Dimensions of the simulated area (NOTE: dimX and dimY must not be smaller than spatial expansions which are configured for the traffic simulator e.g. SUMO) • Configuration of the Random Number Generator (RNG) settings (with 3 supported RNGs Linear Congruential Generator, MersenneTwister and BlumBlumShub) • Propagation models for path loss and fast fading – Path loss models Free Space, Two Ray Ground and Table do not require further parameters – Three Log Distance Model defines parameters d0, d1, d2 for reference distances and n0, n1, n2 for path loss exponents (NOTE: this model is still experimental) – Fast fading models None and Rayleigh Fading do not require further parameters – Fast fading model for Rice Fading defines the k-factor for the relation of the dominant LOS path over the equal distributed NLOS paths

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3.2 JiST/SWANS

• Common parameters for physical layer (NOTE: default values of SWANS assume the standard IEEE 802.11b, even if IEEE 802.11p is the reference standard for vehicular communication) • Routing models – None means no routing is applied and V2X messages are sent using singlehop broadcasting – CGGC (Cached Greedy GeoCast) configures the georouting protocol implemented by Ulm University Node Specific (Vehicle and RSU) • Specific physical layer parameters for vehicles and RSUs (e.g. different antenna heights, tx power, rx sensitivity)

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3.3 OMNeT++

3.3 OMNeT++ OMNeT++ itself is solely the simulation platform for discrete-event systems. Even though it is primarily targeted at simulating computer networks and distributed systems, it cannot be used without any extensions for wireless communication. For this kind of simulations, external model frameworks have to be included. Currently there are two prominent model frameworks which cover whole model suites for according focus of wireless research. These are the Mobility Framework and the INET Framework. A further interesting project is INETMANET which is a development branch of the INET Framework. It was extended with special focus on MANET simulations, including more sophisticated models for Radio Channel and PHY Layer as well as further Routing Protocols. Compared to INET master branch the model capabilities are better suited for V2X communication. Hence INETMANET is used for the integration of OMNeT++ to the VSimRTI simulation environment. For an Internet Mobile Ad hoc Network (INETMANET) extension you should look closer on the website https://github.com/inetmanet. Software information Developer(s)

OMNeT++ Community and OpenSim Ltd.

Written in

C++

Operating system

Windows (mingw), Linux

License

open source for academic use

Website

http://www.omnetpp.org/ https://github.com/inetmanet

Supported version(s)

4.1

Installation

via released installation script Table 3.2: Software information: OMNeT++

3.3.1 omnetpp-ambassador folder structure The omnetpp.ini file has to be located in the omnetpp folder of the scenario configuration.

omnetpp .......................................................................... omnetpp.ini ....................................... ambassador configuration file Figure 3.4: omnetpp-ambassador folder structure

3.3.2 Installation The OMNeT++ binaries are not included in the VSimRTI all-in-one Package. But an additional binary package was set up and can be downloaded from the VSimRTI release area. It contains:

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3.3 OMNeT++

• The OMNeT++ federate as executable • The INETMANET model framework as library • An exemplary

vsimrti/scenarios//omnetpp/omnetpp.ini configuration file The executable was compiled for 64-bit GNU/Linux based operating systems. It was successfully set up under Ubuntu 10.04.2 LTS and Gentoo-Linux 1.12.14 and depends mainly on the installed shared libraries. First of all it requires OMNeT++ libraries. That means OMNeT++ needs to be installed prior to VSimRTI and the omnetpp-federate. The second type of required libraries are general libs which are shipped with current GNU/Linux distributions or need to be installed manually. These are: Listing 3.1: OMNeT++ dependencies.

libdl . so .2 libstdc ++. so .6 libm . so .6 libgcc_s . so .1 libc . so .6 libpthread . so .0 libtk8 .5. so libtcl8 .5. so libz . so .1 libxml2 . so .2 libmpi_cxx . so .0 libmpi . so .0 libopen - rte . so .0 libopen - pal . so .0 libnsl . so .1 libutil . so .1 libX11 . so .6 libXft . so .2 libxcb . so .1 libfontconfig . so .1 libfreetype . so .6 libXrender . so .1 libXau . so .6 libXdmcp . so .6 libexpat . so .1

Finally the libinet.so is required which is actually the library for the INETMANET model framework.

Set up OMNeT++

Manual installation

To set up OMNeT++ with VSimRTI the following steps are promised to be successful: 1. Install OMNeT++ 4.1 according to the procedure, described on the OMNeT++ website (www.omnetpp.org). 2. Include the bin folder to the PATH depending on the location OMNeT++ is installed (see listing 3.2). 3. Include the libraries in the LD_LIBRARY_PATH environment variable. This can be checked with

ldd. At least the libinet.so in the inetmanet-folder needs to be added (see listing 3.2).

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3.3 OMNeT++

4. Copy the binaries from the OMNeT++ binary package to fed-folder in the VSimRTI all-in-one package to receive the folder structure as presented in the following Table. 5. Set up an

omnetpp.ini file in the omnetpp folder of the scenario to be simulated. An example file can be found in the configuration folder of the OMNeT++ package and the tiergarten scenario is already set up according to this scheme. 6. For reasonable result logging, the logger-configuration in

vsimrti/etc/logback.xml has to be adapted to support the OMNeT++ ambassador and federate. 7. At last OMNeT++ has to be activated in the vsimrti_config.xml and the simulation can be started. Listing 3.2: OMNeT++ environment variables.

# Setting the PATH variable export PATH = $PATH :/ opt / bin / omnetpp -4.1/ bin or export PATH = $PATH :/ usr / local / bin / omnetpp -4.1/ bin # Setting the L D_ L IB R AR Y_ P AT H variable export LD_L I BR AR Y _P AT H = $ L D _ L I B R A R Y _ P A T H : inetmanet

Installation shell script

vsimrti bin fed omnetpp set_env.sh .................. Script to set the required environment variables omnet_installer.sh ........... Installation script for OMNeT++/INETMANET Figure 3.5: OMNeT++ folder structure

The VSimRTI all-in-one package comes with an experimental installation script for the bash-shell, that automates the task of the OMNeT++/INETMANET installation. 1. Make the script executable:

chmod 755 set_env chmod 755 omnet_installer 2. Run the first script to set the required environment variables for the OMNeT++/INETAMET installation:

./set_env 3. Run the second script to install OMNeT++/INETMANET:

./omnet_installer

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3.3 OMNeT++

3.3.3 Configuration The whole OMNeT++ specific configuration is done via the omnetpp.ini file. It covers static parts for the simulator coupling as the specific VSimRTI Event Scheduler and the ScenarioManager. Furthermore logging configurations and the typical parameters for the communication layers (MAC, PHY and Radio Channel) are addressed. The communication parameters are, similar to the SWANS implementation, different for vehicles and RSUs. Please refer to the OMNeT++ documentation on the OMNeT++ homepage for further information about the structure of the omnetpp.ini file.

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3.4 ns-3

3.4 ns-3 The network simulator 3 (ns-3) is a discrete-event network simulator, that was started as an opensource project by a team led by Tom Henderson from the University of Washington in July 2006 and made its first release in June 2008. Ns-3 is targeted primarily towards research and educational use and thereby, also offers a vital community of developers and maintainers. It was developed as a replacement for the popular network simulator 2 (ns-2) and mainly focuses upon improving the core architecture, software integration, models, and educational components for real-world network devices and protocols (regardless, ns-2 still remains in active use and will continued to be maintained in the near future). It simulates both unicast and multicast protocols and is used extensively in research on mobile ad-hoc networks Like other network simulators, ns-3 has a relatively steep learning curve, especially compared to GUIbased simulators. If you have no prior experience with ns-3, we recommend to familiarize yourself with the ns-3 simulation environment and the ns-3 simulation basics first. The ns-3 documentation can be found under:

http://www.nsnam.org/documentation To take your first steps with ns-3, you might want to download1 the latest version, build a copy of ns-3 (it uses the Python-based build-system waf) and take a look at the examples, that are shipped within most of the ns-3 source code repositories and packages. You might also examine the simulation output and try to adjust it. Typically, a ns-3 user will work under a Linux environment. For those running under Windows, there do exist environments which simulate the Linux environment to various degrees. The ns-3 project has in the past (but not presently) supported the Cygwin environment for these users (see http://www.

cygwin.com for details on downloading). MiniGW is presently not officially supported. According to the ns-3 installation guide, the officially supported platforms include (please note, that plenty of other distributions are likely to work with ns-3 regardless): • Fedora 17 (32/64 bit) with g++-4.7.0 • Fedora 15 (64 bit) with g++-4.6.3 • Ubuntu 12.04 (32/64 bit) with g++-4.6.3 • Ubuntu 10.04.4 LTS (64 bit) with g++-4.4.3 • OS X Mountain Lion 10.7.4 with g++-4.2.1 • OS X Snow Leopard 10.6.8 with g++-4.2.1 • FreeBSD 8.2 (32 bit) with g++-4.2.1 • Cygwin 1.7.9-1 with g++-4.5.3

1 Please note, that downloading ns-3 via tarball is simpler than the Mercurial process since all of the pieces are pre-packaged for

you.

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3.4 ns-3

Important: As stated above, ns-3 is primarily developed on and for GNU/Linux platforms. Since Windows is such a widely used platform and Cygwin is not a perfect emulation of any Linux, we highly recommended for non-Linux users to consider the installation of a Linux virtual machine with a virtual machine environment, such as VMware2 or VirtualBox3 .

Software information Developer(s)

Tom Henderson, Mathieu Lacage, George Riley, Mitch Watrous, Gustavo Carneiro, Tommaso Pecorella and others

Written in

C++ (core) and Python (bindings)

Operating system

GNU/Linux FreeBSD Mac OS X

License

free software: GNU GPLv2

Website

http://www.nsnam.org/

Supported version(s)

3.15

Deployed in VSimRTI all-in-one

no (and need a patch to link) Table 3.3: Software information: ns-3

3.4.1 ns3-ambassador folder structure ns3 ns3_config.xml

.................................... ambassador configuration file Figure 3.6: ns3-ambassador folder structure

Important: Currently, there is no need to configure the ns-3 ambassador with a XMLconfiguration file (i.e. the configuration file is not read by the ambassador).

3.4.2 Installation VSimRTI offers support for the current stable release of ns-3 (3.15), that was released in August 2012 (older versions of ns-3 (prior to 3.15) are not supported). The coupling to VSimRTI is designed in a manner of minimal code changes on the ns-3 simulator itself to keep the update capabilities for future versions. Prerequisites

For GNU/Linux platforms, the minimal requirements to run basic simulations are a gcc or clang compiler and a Python interpreter: • Linux x86 and x86_64: gcc versions 4.1 through 4.7 and, 3.4.6, clang versions 3.0 and 3.1.

2 http://www.nsnam.org/wiki/index.php/HOWTO_use_VMware_to_set_up_virtual_networks_(Windows) 3 http://www.nsnam.org/wiki/index.php/HOWTO_use_VirtualBox_to_run_simulations_on_Windows_machines

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3.4 ns-3

• FreeBSD x86 and x86_64: gcc version 4.2, clang versions 3.0 and 3.1. • Mac OS X ppc and x86: gcc versions 4.0 and 4.2, The core of ns-3 requires a gcc/g++ installation of 3.4 or greater and Python 2.4 or greater. As mentioned in the ns-3 documentation, different options require additional support. At least you need the following packages to be installed: Listing 3.3: Ns-3:

Minimum requirements

gcc g ++ python python - dev

For a complete list of required packages for different distributions, please refer to the ns-3 installation guide:

http://www.nsnam.org/wiki/index.php/Installation Run the installation script

Important: Ns-3 requires several packages to be installed on your computer. You will need to ensure, that all required libraries are present on your system before proceeding. You may need superuser permissions to install packages. To ease the installation of ns-3 for VSimRTI, the installation process has been delegated to an installation script, that can be found in the associated ns-3 federate folder.

vsimrti bin fed ns3 ns3_installer.sh

............................... Installation script for ns-3

Figure 3.7: ns3-ambassador federate folder structure

The ns-3 installation script accomplishes the following tasks: 1. Download ns-3 tarball from the offical sources 2. Download the ns-3 federate for VSimRTI. 3. Apply a patch to ns-3 in order to make it work with VSimRTI. 4. Add the ns-3 federate to the waf build system. 5. Configure and build the patched ns-3 with the ns-3 federate. In order to start the simulation, the following steps need to be performed: 1. Set up the confWifi.xml-file in the scenario folder (see section 3.4.3). An example confWifi.xmlfile is shipped with the Tiergarten scenario. 2. For reasonable result logging, the logger-configuration in vsimrti/etc/logback.xml has to be adapted to support the ns-3 ambassador and federate.

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3.4 ns-3

3. At last ns-3 has to be activated in the vsimrti_config.xml and the simulation can be started.

3.4.3 Configuration The whole ns-3 specific configuration is done via the confWifi.xml and configTechnologies.xml files. Listing 3.4: confWifi.xml