Prerequisites

1. A computer powerful enogh for running Apollo+LGSVL. (Or two computers: one for Apollo, one for LGSVL)
2. antlr4
3. rtamt
4. python3

Install antlr4 for LawBreaker

Make sure installation of version antlr-4.8(the latest version is not supported): Install By Package

Install RTAMT for LawBreaker

Please refer to the github page for installation of RTAMT.

Step by step

Run Apollo with LGSVL

Please refer to the detailed documentation for co-simulation of Apollo with LGSVL. Set the LGSVL to API-Only mode.

Setup our bridge.

1. Download and go to the root. Note that the source code should be downloaded and set up on the computer running Apollo.

   git clone https://github.com/lawbreaker2021/LawBreaker-SourceCode.git
   cd LawBreaker-SourceCode

2. Install Python API support for LGSVL.

   cd LawBreaker-SourceCode/bridge/PythonAPImaster
   pip3 install --user -e .  
   ##If "pip3 install --user -e ." fail, try the following command:
   python3 -m pip install -r requirements.txt --user .

3. Connect our bridge to the LGSVL and Apollo: Go the bridge in the folder:/LawBreaker-SourceCode/bridge

   cd /root_of_LawBreaker-SourceCode/bridge

   Find file: bridge.py. There is class Server in bridge.py.

   Modify the SIMULATOR_HOST and SIMULATOR_PORT of Server to your IP and port of LGSVL. Modify the BRIDGE_HOST and BRIDGE_PORT of Server to your IP and port of Apollo.

4. Test the parser: If the support for parser is properly installed, we can test it by running:

   cd /root_of_LawBreaker-SourceCode
   python3 monitor.py

   If there is no errors and warnings, the parser is correct.

Run our bridge.

Open a terminal on the computer running Apollo.

cd /root_of_LawBreaker-SourceCode/bridge
python3 bridge.py

Keep it Running.

Run the Fuzzing Algorithm.

Open another terminal on the computer running Apollo.

cd /root_of_LawBreaker-SourceCode
python3 Law_Breaking_Fuzzing.py

If the brige is set properly, you will see the LGSVL and Apollo running. The results will be put into a folder: The_Results.