autoverse-cli 0.1.0__py3-none-any.whl

avrs/requests/reserve_mv_slot.py

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+from avrs.requests.request import AvrsApiRequest
+
+RESERVE_MV_SLOT_HELP = '''
+slot (if an open slot exists, there are 4 total) using the given name to add a new vehicle and the appropriate topics.
+It will despawn the default vehicle and remove the default ROS topics when it is first run. Each vehicle added will be 
+given its own topics prefixed by the given name, and the slot index will correspond to the vcan it will use.
+Note that this will require having active vcans for each vehicle you wish to use. 
+(eg, if you want to use 4 vehicles, you will need vcan0, vcan1, vcan2, and vcan3)
+'''
+
+# use these to spawn MVs
+MV_LANDMARKS = [
+    'MvStart0',
+    'MvStart1',
+    'MvStart2',
+    'MvStart3'
+]
+
+class ReserveMvSlot(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'SpawnObject', 0)
+        psr = parser.add_parser('reserve-mv-slot', help=RESERVE_MV_SLOT_HELP)
+
+        psr.add_argument(
+            'slot_name',
+            help='the name of the vehicle to put in the specified slot')
+
+        psr.add_argument(
+            'slot_index',
+            type=int,
+            choices=[0, 1, 2, 3],
+            help='the slot index (0-4) to reserve')
+
+        psr.add_argument(
+            '--bsu-can-name', 
+            default='vcan0',
+            help='the name of the CAN interface to use for the BSU CAN bus on the new vehicle')
+
+        psr.add_argument(
+            '--kistler-can-name',
+            default='vcan1',
+            help='the name of the CAN interface to use for the Kistler CAN bus on the new vehicle')
+
+        psr.add_argument(
+            '--badenia-can-name', 
+            default='vcan1',
+            help='the name of the CAN interface to use for the bandanania CAN bus on the new vehicle')
+
+        psr.add_argument(
+            '--with-view-cameras',
+            action='store_true',
+            help='if the new vehicle should have cameras attached to it')
+
+        psr.add_argument(
+            '--enable-lidar',
+            action='store_true',
+            help='if set, the lidar will be enabled on the new vehicle')
+
+        psr.add_argument(
+            '--enable-camera-sensor',
+            action='store_true',
+            help='if set, the camera will be enabled on the new vehicle')
+
+        psr.add_argument(
+            '--disable-hud',
+            action='store_true',
+            help='if set, the new vehicle will not create a HUD (mutiple HUDs will clutter the screen)')
+
+
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+
+        eav_init_pld = {
+            'TypeName': 'Eav24Initializer',
+            'Body': {
+                'BsuCanName': args.bsu_can_name,
+                'KistlerCanNam': args.kistler_can_name,
+                'BadeniaCanName': args.badenia_can_name,
+                'bHudEnabled': not args.disable_hud,
+                'bEnableLidar': args.enable_lidar,
+                'bEnableCameraSensor': args.enable_camera_sensor
+            }
+        }
+
+        plds = [
+            eav_init_pld
+        ]
+
+        if args.with_view_cameras:
+            plds.append(
+                {
+                    'TypeName': 'InitializerTemplates',
+                    'Body': {
+                        'Templates': [
+                            {
+                                'PayloadType': 'SimViewTargetIpd',
+                                'PayloadSpec': 'DefaultCarCams'
+                            }
+                        ]
+                    }
+                })
+
+        return {
+            'Name': args.slot_name,
+            'Type': 'Eav24',
+            'Location': {},
+            'Rotation': {},
+            'Landmark': MV_LANDMARKS[args.slot_index],
+            'Payloads': plds
+        }

avrs/requests/reset_to_track.py

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+from avrs.requests.request import AvrsApiRequest
+
+class ResetToTrack(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ResetToTrack', 'Ego')
+        psr = parser.add_parser('reset-to-track', help='moves the car to the closest point on track pointing down track')
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+            
+        }

avrs/requests/restart.py

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+from avrs.requests.request import AvrsApiRequest
+
+class Restart(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'RestartSimulation', 0)
+        psr = parser.add_parser('restart', help='command to restart the entire simulator')
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+            
+        }

avrs/requests/teleport.py

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+from avrs.requests.request import AvrsApiRequest
+
+class Teleport(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'Teleport', "Car1")
+        psr = parser.add_parser('teleport', help='Teleports the car to the given x,y,z in either enu or lla.')
+        psr.add_argument('x', type=float, help='new x position')
+        psr.add_argument('y', type=float, help='new y position')
+        psr.add_argument('z', type=float, help='new z position')
+        #psr.add_argument('nav', help='lla or enu coordinate system.', nargs=1, choices=('lla', 'enu'))
+        psr.set_defaults(func=self.send_request)
+
+
+    def get_request_body(self, args):
+        return { 
+            "X": args.x,
+            "Y": args.y,
+            "Z": args.z
+            #'NavFrame': args.nav 
+        }

avrs/requests/vd.py

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+from avrs.requests.request import AvrsApiRequest
+
+class Vd():
+    def __init__(self, parser, cfg):
+        psr = parser.add_parser('vd', help='Vehicle dynamic options')
+        sps = psr.add_subparsers(required= True, help='sub-command of vd')
+        SetFrictionModifier(sps, cfg)
+        SlipModel(sps, cfg)
+
+class SetFrictionModifier(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'SetFrictionModifiers', 0)
+        psr = parser.add_parser('set-friction-modifier', help='Change the amount of grip the car has.' 
+            + '0 is no grip and higher values will prevent spinning')
+        psr.add_argument('modifier-value', type = float, help = "Modified grip value")
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+            'Modifier Value': args.modifier-value
+        }
+    
+class SlipModel(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'SlipModel', 0)
+        psr = parser.add_parser('slip-model', help='Change the tire slip model to be pure slip only or combined slip')
+        psr.add_argument('slip', choices = ['pure-slip, combined-slip'], help = 'type of slip')
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+            'Modifier Value': args.slip
+        }

avrs/tests.py

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+import os
+import unittest
+import shutil
+import subprocess
+
+class TestMisc(unittest.TestCase):
+
+    def test_misc(self):    
+        self.assertTrue(True)