autoverse-cli 0.12.6__py3-none-any.whl → 0.13.0__py3-none-any.whl

{autoverse_cli-0.12.6.dist-info → autoverse_cli-0.13.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: autoverse-cli
-Version: 0.12.6
+Version: 0.13.0
 Summary: The Autoverse CLI
 Author-email: Dan Kamrath <dan.kamrath@autonomalabs.com>
 License: # End-User License Agreement (EULA) of the Autonoma AutoVerse CLI

{autoverse_cli-0.12.6.dist-info → autoverse_cli-0.13.0.dist-info}/RECORD

@@ -1,15 +1,16 @@
 avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-avrs/app_version.py,sha256=ABDoScc-C0ag7rkv5v2Jb92YXGK84iwyXfg5bLrSmG4,856
+avrs/app_version.py,sha256=ZSZQG_G1Ve_IaZicZow4RXJaElbHnQFTpkWQFgHpj6Y,856
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
-avrs/avrs.py,sha256=Y8rmsJiRjrnJ4U-aUvqyA4ZwFowCIAqOBGe1DED7QYs,3050
+avrs/avrs.py,sha256=LViodKPp_ACSc05lZsCPWhudzuTtIbilelszupneSP0,4543
 avrs/can_tool.py,sha256=IBoctKobBJ3wCq4ZdtuXuXH4AMEUxazCfYT6YP0Luw8,7161
 avrs/can_tool_util.py,sha256=G3q21dTGMLc09SDq_RieoW7kSn-kXPkXxPDjavPh4hQ,7710
 avrs/cfg.py,sha256=kMn08Z4Ms1PAu2-U1QI8weEJeIVEppP4A4_tFfwnjtg,2924
-avrs/launcher.py,sha256=Kzrxp6FYCmujiT0Y5dk-sCt8vaY6Z4qKKZk8YUTEuVw,9235
+avrs/launcher.py,sha256=kk1lyHHLgFZ4zsFfa_zV5f1kYbUODT6wEILJ8TZ16rQ,9353
 avrs/launcher_util.py,sha256=sO3k_z3A-HIQdJVkVXNXUAE_MGFwAYiZUqQBoFwOqew,5325
-avrs/race_cloud.py,sha256=kFrAGppfODobdCSXxPLytgSHi_XvHDdVRua5Gn-sFdY,11046
-avrs/race_cloud_cfg_util.py,sha256=2_vJW8DLg6--YXUBX_ldzu_PWSewDd1pja1MCsTFPKA,3584
-avrs/race_cloud_util.py,sha256=cZ04cmM7Cp8xyb1FDWR5fnL0TFMFua1JLvTXQ1Tm5PY,8608
+avrs/race_cloud.py,sha256=svCuDyfElW5puhKBmM2WLammA3suQEPFdxkqYgOqPpk,13675
+avrs/race_cloud_cfg_util.py,sha256=gcHyUY0m5zc_9zZatKLaSIC_oFGc-6Vs8UlcX5yry9o,5158
+avrs/race_cloud_fwd_api.py,sha256=40eUrCxnMdfIjZGqYiZ9HyUqntEw9wK5dwgkDVcNUBM,1390
+avrs/race_cloud_util.py,sha256=5eBtk9lzRogrV3IiYJA4BwEuhkesIZzRGpWwCxqqo0A,9307
 avrs/simconfig.py,sha256=UZc4FrxVHUkk2e9IglSpuojXkaL_nPrJW7trbEGgOOo,2907
 avrs/simconfig_util.py,sha256=1RmnmhK5C4HlCicTQeqn-1ORz3Xrku_QMt1Fqr9XjZs,4839
 avrs/tests.py,sha256=3JeYBjn0tRqHXERDROfzmYuW1KXeCcKur5Bw-EIegto,153
@@ -36,9 +37,9 @@ avrs/requests/toggle_hud.py,sha256=sV5t5QZc4uvRihPVk8jEKZiQNsyF9tsUwq5b4jjZplc,3
 avrs/requests/vd.py,sha256=at6oUAGY2h0OxYU6MLOi1gnxyUn6i24vL9DUAj0L880,1600
 avrs/requests/vehicle_input.py,sha256=R1b1xkRtOBkwyU6OSN4bWVlYsIUroZG0WKbYbc4pEH8,729
 avrs/requests/vehicle_replay.py,sha256=nCAE21VNyKoeIjjXBGAihgOLO7zYHcu-HWvPZYxdQ2c,11099
-autoverse_cli-0.12.6.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
-autoverse_cli-0.12.6.dist-info/METADATA,sha256=5ZKAxuBB9Al1uPeahDHHPq3Ak-i2zkNRevYGBmZpHTs,3342
-autoverse_cli-0.12.6.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-autoverse_cli-0.12.6.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.12.6.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.12.6.dist-info/RECORD,,
+autoverse_cli-0.13.0.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
+autoverse_cli-0.13.0.dist-info/METADATA,sha256=BfcjUahE-gYGu1KOz5TyT37hFMoza8LAUHHp7LEa2Sk,3342
+autoverse_cli-0.13.0.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+autoverse_cli-0.13.0.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.13.0.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.13.0.dist-info/RECORD,,

avrs/app_version.py

@@ -2,7 +2,7 @@ import http.client
 import json
 
 def get_app_version():
-    return '0.12.6'
+    return '0.13.0'
 
 def check_app_is_latest():
     pass

avrs/avrs.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import logging
 import argparse
 from argparse import RawDescriptionHelpFormatter
 from argparse import RawTextHelpFormatter
@@ -37,7 +38,45 @@ from avrs.requests.dump_sim_config import *
 def get_version():
     return get_app_version()
 
+def init_logging():
+    max_log_size = 1024 * 512
+    log_path = os.path.join(get_cfg_dir('avrs'), 'avrs.log')
+    verbose_log_path = os.path.join(get_cfg_dir('avrs'), 'avrs_verbose.log')
+
+    if os.path.exists(verbose_log_path) and os.path.getsize(verbose_log_path) > max_log_size:
+            os.remove(verbose_log_path)
+    if os.path.exists(log_path) and os.path.getsize(log_path) > max_log_size:
+        os.remove(log_path)
+
+    logging.basicConfig(filename=verbose_log_path,
+                    filemode='a',
+                    format='%(asctime)s,%(msecs)d %(name)s %(levelname)s %(message)s',
+                    datefmt='%H:%M:%S',
+                    level=logging.DEBUG)
+
+    # When testing, prevent multiple handler additions to global logging objects
+    if 'avrs' in logging.Logger.manager.loggerDict:
+        #self.logger = logging.getLogger('alvs')
+        del logging.Logger.manager.loggerDict['avrs']
+        #return
+    logger = logging.getLogger('avrs')
+    file_handler = logging.FileHandler(log_path)
+    file_handler.setLevel(logging.DEBUG)
+    formatter = logging.Formatter('%(asctime)s | %(levelname)s | %(message)s')
+    file_handler.setFormatter(formatter)
+    console = logging.StreamHandler()
+    console.setLevel(logging.DEBUG)
+    console.setFormatter(formatter)
+    logger.addHandler(file_handler)
+    #logger.addHandler(console)
+
 def main():
+
+    try:
+        init_logging()
+    except Exception as e:
+        print('failed to init logging: {}'.format(e))
+
     parser = argparse.ArgumentParser(
             prog='avrs', 
             description='Autoverse CLI',
@@ -98,6 +137,5 @@ def main():
     args = parser.parse_args()
     args.func(args)
 
-
 if __name__ == '__main__':
     main()

avrs/launcher.py

@@ -1,6 +1,7 @@
 import os
 import stat
 import json
+import logging
 import http.client
 import boto3
 from avrs.cfg import *
@@ -9,6 +10,7 @@ from avrs.launcher_util import *
 class AvrsLauncher:
     def __init__(self, parent_parser, cfg):
         self.cfg = cfg
+        self.logger = logging.getLogger('avrs')
         provision_parser = parent_parser.add_parser(
             'launcher', 
             help='launcher operations, such as license registration or updating a sim install\n\n')
@@ -101,6 +103,7 @@ class AvrsLauncher:
 
 
     def get_latest_sim_version(self, args):
+        self.logger.info('getting latest sim version')
         # Validate status of download keys
         dl_keys_ok, dl_keys_status = has_launcher_download_keys(self.cfg)
         if not dl_keys_ok:

avrs/race_cloud.py

@@ -1,8 +1,10 @@
 import subprocess
 import base64
+import logging
 from avrs.cfg import *
 from avrs.race_cloud_util import *
 from avrs.race_cloud_cfg_util import *
+from avrs.race_cloud_fwd_api import *
 from avrs.util import *
 from avrs.requests.request import AvrsApiRequest
 from argparse import RawTextHelpFormatter
@@ -112,12 +114,34 @@ class AvrsRaceCloud(AvrsApiRequest):
             help='the id of the peer to enable')
         disable_peer_qos_parser.set_defaults(func=self.disable_peer_qos)
 
+        fwd_server_parser = sps.add_parser(
+            'fwd-api',
+            help='forwards incoming external api requests to the simulator api')
+        fwd_server_parser.add_argument(
+            'source_port',
+            type=int,
+            help='the external port to listen to external api requests on')
+        fwd_server_parser.add_argument(
+            'target_port',
+            type=int,
+            help='the local port to forward api requests too')
+        fwd_server_parser.add_argument(
+            '--background',
+            action='store_true',
+            help='if true, will run the server in the background')
+        fwd_server_parser.set_defaults(func=self.fwd_api)
 
     def race_connect(self, args):
+        logger = logging.getLogger('avrs')
+        logger.info('starting race-cloud connect for team {} to instance {}'.format(
+            args.team_name, args.sim_index))
         print('connecting to race with team name: {}'.format(args.team_name))
 
-        # validate / load vehicle config
+        # reset local connection first
+        logger.info('resetting local connection state prior to connection')
+        reset_race_cloud_connection()
 
+        # validate / load vehicle config
         vcfg_ok, vcfg_data, bsu_vcan, kistler_vcan, badenia_vcan = prepare_vehicle_cfg(args.vehicle_config)
 
         if not vcfg_ok:
@@ -190,8 +214,16 @@ class AvrsRaceCloud(AvrsApiRequest):
 
         print('connection success with team name {} and slot id {}'.format(args.team_name, sim_slot))
 
+        # if sim slot is not 0, which means domain id is not 0, notify user
+        if sim_slot != 0:
+            print('your ROS2 interfaces will be available on ROS_DOMAIN_ID {}'.format(sim_slot))
+            print('you will need to set the ROS_DOMAIN_ID environment variable prior to echoing or running software')
+            print('(eg \"export ROS_DOMAIN_ID={}\")'.format(sim_slot))
+
     # this should only run on sim instances (not dev instances)
     def rx_connect(self, args):
+        logger = logging.getLogger('avrs')
+        logger.info('rx race cloud connection for team {} with ip {}'.format(args.team_name, args.ip))
         ok, msg, slot = try_get_open_slot(args.team_name, args.ip)
 
         bsu_vcan = get_auto_vcan_name(slot, 0)
@@ -223,7 +255,9 @@ class AvrsRaceCloud(AvrsApiRequest):
             return
 
         if ok:
+            logger.info('enabling qos for slot {} with ip {}'.format(slot, args.ip))
             enable_peer_qos(slot, args.ip)
+            logger.info('connecting vcans for incoming connection')
             connect_peer_vcan(slot, args.ip, 0)
             connect_peer_vcan(slot, args.ip, 1)
             connect_peer_vcan(slot, args.ip, 2)
@@ -243,21 +277,26 @@ class AvrsRaceCloud(AvrsApiRequest):
             self.remote_sim_ctrl(args)
 
     def local_sim_ctrl(self, args):
+        logger = logging.getLogger('avrs')
         if args.action == 'reset-connection':
+            logger.info('resetting local race-cloud connection states')
             print('resetting race cloud connection')
             print('resetting qos file, removing CAN lock files, stopping all cannelloni instances')
             reset_race_cloud_connection()
             if args.clear_autospawns:
                 clear_autospawns()
         if args.action == 'stop' or args.action == 'restart':
-            print('stopping sim program on sim instance {}'.format(args.sim_index))
+            logger.info('stopping race-cloud simulator program')
+            print('stopping sim program on sim instance')
             bash_kill_process('Autoverse')
         if args.action == 'start' or args.action == 'restart':
-            print('starting sim program on sim instance {}'.format(args.sim_index))
+            logger.info('starting race-cloud simulator program')
+            print('starting sim program on sim instance')
             exe_path = os.path.join(get_sim_exe_path())
             start_exe(exe_path)
 
     def remote_sim_ctrl(self, args):
+        logger = logging.getLogger('avrs')
 
         # go ahead and reset local connection as well
         if args.action == 'reset-connection':
@@ -273,6 +312,8 @@ class AvrsRaceCloud(AvrsApiRequest):
             'ensure_instance_is_running': False
         }
 
+        logger.info('sending race-clolud sim-ctrl request: {}'.format(reset_request))
+
         ok, response = call_race_cloud_api(reset_request)
         #print(response)
         if not ok:
@@ -298,4 +339,17 @@ class AvrsRaceCloud(AvrsApiRequest):
 
     def disable_peer_qos(self, args):
         print('disabling peer qos for id {}'.format(args.peer_id))
-        disable_peer_qos(args.peer_id)
+        disable_peer_qos(args.peer_id)
+
+    def fwd_api(self, args):
+        # start a server that listens for http on some port and forwards
+        # to the simulator on 30313
+
+        if args.background:
+            # call the cli so that it starts the forwarding server in the background
+            start_exe('avrs race-cloud fwd-api {} {}'.format(
+                args.source_port, args.target_port))
+        else:
+            handler = ApiForwardHandler(args.target_port)
+            server = HTTPServer(('0.0.0.0', args.source_port), handler)
+            server.serve_forever()

avrs/race_cloud_cfg_util.py

@@ -1,112 +1,140 @@
 import os
 import json
 import base64
+import logging
 
 from avrs.simconfig_util import *
 
 def get_payload(cfg_object, payload_name):
-	for p in cfg_object['payloads']:
-		if p['typeName'] == payload_name:
-			return p
-	return None
+    for p in cfg_object['payloads']:
+        if p['typeName'] == payload_name:
+            return p
+    return None
 
 def clear_autospawns():
-	# also need to edit the yas_marina_env.json to have autospawn for this config
-	sim_path = os.environ.get('AVRS_INSTALL_PATH', 
-		os.path.join(os.environ['HOME'], 'autoverse-linux'))
-	sim_saved = os.path.join(sim_path, 'Linux', 'Autoverse', 'Saved')
-	cfg_files = SimConfigFiles(sim_saved)
+    # also need to edit the yas_marina_env.json to have autospawn for this config
+    sim_path = os.environ.get('AVRS_INSTALL_PATH', 
+        os.path.join(os.environ['HOME'], 'autoverse-linux'))
+    sim_saved = os.path.join(sim_path, 'Linux', 'Autoverse', 'Saved')
+    cfg_files = SimConfigFiles(sim_saved)
 
-	cfg_ok, msg = cfg_files.validate()
-	if not cfg_ok:
-		print(msg)
-		return
+    cfg_ok, msg = cfg_files.validate()
+    if not cfg_ok:
+        print(msg)
+        return
 
-	cfg_files.files['yas']['autoSpawnObjects'] = []
-	cfg_files.files['main']['objectTemplatePaths'] = []
-	cfg_files.save()
+    cfg_files.files['yas']['autoSpawnObjects'] = []
+    cfg_files.files['main']['objectTemplatePaths'] = []
+    cfg_files.save()
 
 def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan, badenia_vcan):
-	cfg_string = base64.b64decode(cfg_data)
-	cfg_object = json.loads(cfg_string.decode('utf-8'))
-
-	# ensure perception is disabled
-	eav24 = get_payload(cfg_object, 'Eav24Initializer')
-	if eav24 is None:
-		return (False, 'no eav24 payload found')
-
-	eav24['body']['bLidarEnabled'] = False
-	eav24['body']['bCameraEnabled'] = False
-	eav24['body']['bRadarEnabled'] = False
-	eav24['body']['bPublishGroundTruth'] = False
-	eav24['body']['bPublishInputs'] = False
-	eav24['body']['bsuCanName'] = bsu_vcan
-	eav24['body']['kistlerCanName'] = kistler_vcan
-	eav24['body']['badeniaCanName'] = badenia_vcan
-
-	# do not allow default object name (collision)
-	if cfg_object['name'] == 'eav24':
-		cfg_object['name'] = team_name
-	cfg_object['specName'] = 'eav24_{}'.format(team_name)
-
-	# also need to edit the yas_marina_env.json to have autospawn for this config
-	sim_path = os.environ.get('AVRS_INSTALL_PATH', 
-		os.path.join(os.environ['HOME'], 'autoverse-linux'))
-	sim_saved = os.path.join(sim_path, 'Linux', 'Autoverse', 'Saved')
-	cfg_files = SimConfigFiles(sim_saved)
-
-	cfg_ok, msg = cfg_files.validate()
-	if not cfg_ok:
-		print(msg)
-		return
-
-	start_landmark = 'MvStart{}'.format(slot)
-
-	entry_exists = False
-	for i in cfg_files.files['yas']['autoSpawnObjects']:
-		if 'objectSpec' in i and i['objectSpec'] == cfg_object['specName']:
-			entry_exists = True
-
-	if not entry_exists:
-		cfg_files.files['yas']['autoSpawnObjects'].append({
-				'bShouldSpawn': True,
-				'objectType': 'Eav24',
-				'objectSpec': cfg_object['specName'],
-				'bSpawnAtLandmark': True,
-				'spawnLandmarkName': start_landmark
-			})
-
-	# also need to add the object template to main sim config
-
-	new_cfg_name = 'eav24_{}.json'.format(team_name)
-	cfg_files.files['main']['objectTemplatePaths'].append(os.path.join('Objects', new_cfg_name))
-	cfg_files.save()
-
-	target_path = os.path.join(sim_saved, 'Objects', new_cfg_name)
-	with open(target_path, 'w', encoding='utf-8') as f:
-		json.dump(cfg_object, f, ensure_ascii=False, indent=4)
+    logger = logging.getLogger('avrs')
+    logger.info('registering received vehicle in slot {} for team {}'.format(slot, team_name))
+
+    cfg_string = base64.b64decode(cfg_data)
+    cfg_object = json.loads(cfg_string.decode('utf-8'))
+
+    # ensure perception is disabled
+    eav24 = get_payload(cfg_object, 'Eav24Initializer')
+    if eav24 is None:
+        return (False, 'no eav24 payload found')
+
+    logger.info('disabling perception for received vehicle config')
+    eav24['body']['bLidarEnabled'] = False
+    eav24['body']['bCameraEnabled'] = False
+    eav24['body']['bRadarEnabled'] = False
+    eav24['body']['bPublishGroundTruth'] = False
+    eav24['body']['bPublishInputs'] = False
+
+    logger.info('setting bsu vcan to: {}, kistler to: {}, and badenia to: {}'.format(
+        bsu_vcan, kistler_vcan, badenia_vcan))
+    eav24['body']['bsuCanName'] = bsu_vcan
+    eav24['body']['kistlerCanName'] = kistler_vcan
+    eav24['body']['badeniaCanName'] = badenia_vcan
+
+    ros2 = get_payload(cfg_object, 'Ros2')
+    if ros2 is None:
+        logger.info('no ros2 payload found. adding with domain id {}'.format(slot))
+        # need to add a ros2 payload for domain id
+        cfg_object['payloads'].append({
+            'typeName': 'Ros2',
+            'body': {
+                'domainId': slot
+            }
+        })
+    else:
+        logger.info('found Ros2 payload OK'.format())
+
+    # do not allow default object name (collision)
+    if cfg_object['name'] == 'eav24':
+        logger.info('setting vehicle name from default to team name: {}'.format(team_name))
+        cfg_object['name'] = team_name
+    cfg_object['specName'] = 'eav24_{}'.format(team_name)
+
+    # also need to edit the yas_marina_env.json to have autospawn for this config
+    sim_path = os.environ.get('AVRS_INSTALL_PATH', 
+        os.path.join(os.environ['HOME'], 'autoverse-linux'))
+    sim_saved = os.path.join(sim_path, 'Linux', 'Autoverse', 'Saved')
+    cfg_files = SimConfigFiles(sim_saved)
+
+    cfg_ok, msg = cfg_files.validate()
+    if not cfg_ok:
+        print(msg)
+        return
+
+    start_landmark = 'MvStart{}'.format(slot)
+
+    entry_exists = False
+    for i in cfg_files.files['yas']['autoSpawnObjects']:
+        if 'objectSpec' in i and i['objectSpec'] == cfg_object['specName']:
+            entry_exists = True
+            logger.info('config is already in auto spawn list')
+
+    if not entry_exists:
+        logger.info('config is not in auto spawn list. adding')
+        cfg_files.files['yas']['autoSpawnObjects'].append({
+                'bShouldSpawn': True,
+                'objectType': 'Eav24',
+                'objectSpec': cfg_object['specName'],
+                'bSpawnAtLandmark': True,
+                'spawnLandmarkName': start_landmark
+            })
+
+    # also need to add the object template to main sim config
+
+    new_cfg_name = 'eav24_{}.json'.format(team_name)
+    cfg_files.files['main']['objectTemplatePaths'].append(os.path.join('Objects', new_cfg_name))
+    logger.info('saving config file: {}'.format(new_cfg_name))
+    cfg_files.save()
+
+    target_path = os.path.join(sim_saved, 'Objects', new_cfg_name)
+    with open(target_path, 'w', encoding='utf-8') as f:
+        json.dump(cfg_object, f, ensure_ascii=False, indent=4)
 
 def prepare_vehicle_cfg(cfg_path):
+    logger = logging.getLogger('avrs')
+    #print('preparing config for transmission: {}'.format(cfg_path))
 
-	#print('preparing config for transmission: {}'.format(cfg_path))
+    if not os.path.isfile(cfg_path):
+        return (False, '{} is not a valid file'.format(cfg_path), None, None, None)
 
-	if not os.path.isfile(cfg_path):
-		return (False, '{} is not a valid file'.format(cfg_path), None, None, None)
+    cfg_object = {}
+    with open(cfg_path, 'r', encoding='utf-8') as f:
+        cfg_object = json.load(f)
 
-	cfg_object = {}
-	with open(cfg_path, 'r', encoding='utf-8') as f:
-		cfg_object = json.load(f)
 
+    # obtain desired CAN names to start cannelloni
+    eav24 = get_payload(cfg_object, 'Eav24Initializer')
+    if eav24 is None:
+        return (False, 'no eav24 payload found', None, None, None)
 
-	# obtain desired CAN names to start cannelloni
-	eav24 = get_payload(cfg_object, 'Eav24Initializer')
-	if eav24 is None:
-		return (False, 'no eav24 payload found', None, None, None)
+    bsu_vcan = eav24['body']['bsuCanName']
+    kistler_vcan = eav24['body']['kistlerCanName']
+    badenia_vcan = eav24['body']['badeniaCanName']
 
-	bsu_vcan = eav24['body']['bsuCanName']
-	kistler_vcan = eav24['body']['kistlerCanName']
-	badenia_vcan = eav24['body']['badeniaCanName']
+    logger.info('detected vcan names from sent config: bsu {}, kistler {}, badenia {}'.format(
+        bsu_vcan, kistler_vcan, badenia_vcan))
 
-	cfg_data = base64.b64encode(json.dumps(cfg_object).encode('utf-8')).decode('utf-8')
-	return (True, cfg_data, bsu_vcan, kistler_vcan, badenia_vcan)
+    cfg_data = base64.b64encode(json.dumps(cfg_object).encode('utf-8')).decode('utf-8')
+    return (True, cfg_data, bsu_vcan, kistler_vcan, badenia_vcan)
 

avrs/race_cloud_fwd_api.py

@@ -0,0 +1,43 @@
+import argparse
+import json
+import re
+import threading
+import http
+from http import HTTPStatus
+from http.server import BaseHTTPRequestHandler, HTTPServer
+
+# https://gist.github.com/dfrankow/f91aefd683ece8e696c26e183d696c29
+
+class ApiForwardHandler(BaseHTTPRequestHandler):
+    def __init__(self, target_port):
+        self.target_port = target_port
+
+    # allows to be passed to the HTTPServer ctor
+    def __call__(self, *args, **kwargs):
+        """Handle a request."""
+        super().__init__(*args, **kwargs)
+
+    def do_POST(self):
+
+        length = int(self.headers.get('content-length'))
+        rfile_str = self.rfile.read(length).decode('utf8')
+        sim_response = self.get_fwd_response(rfile_str)
+        self.wfile.write(data.encode(sim_response))
+        self.send_response(HTTPStatus.OK)
+        self.end_headers()
+        
+    def get_fwd_response(self, body):
+        connection = http.client.HTTPConnection('localhost', self.target_port, timeout=3)
+        headers = {
+            'Content-type': 'application/json',
+        }
+        body = json.dumps(body).encode('utf-8')
+        connection.request('POST', '/post', body, headers)
+        response = connection.getresponse()
+        response_string = ''
+        if response.status != 200:
+            pass
+        else:
+            response_string = response.read().decode('utf-8')
+        return response_string
+    

avrs/race_cloud_util.py

@@ -1,6 +1,7 @@
 import os
 import json
 import http.client
+import logging
 from avrs.util import *
 
 BASH_KILL_PROCESS_SCRIPT = '''
@@ -92,7 +93,7 @@ CONNECT_PEER_VCAN_SCRIPT = '''
     if [[ -z $VCAN_NAME ]]; then
         VCAN_NAME=vcan$PEER_ID
     fi
-    echo "connecting peer id $PEER_ID using local port $LOCAL_PORT and remote port $REMOTE_PORT and vcan name $VCAN_NAME"
+    echo "connecting peer id $PEER_ID using local port $LOCAL_PORT and remote port $REMOTE_PORT and vcan name $VCAN_NAME" > "$LOG_FILE" 2>&1
 
     if [[ -e $LOCK_FILE ]]; then
         echo "stopping existing cannelloni connection with pid $(cat $LOCK_FILE)"
@@ -101,7 +102,7 @@ CONNECT_PEER_VCAN_SCRIPT = '''
 
     # https://stackoverflow.com/questions/29142/getting-ssh-to-execute-a-command-in-the-background-on-target-machine
     # nohup to avoid SSH issues, send stdout to loni.log, send stderr to stdout, dont expect input, and background with "&"
-    nohup cannelloni -I $VCAN_NAME -R $PEER_ADDRESS -r $REMOTE_PORT -l $LOCAL_PORT >"$LOG_FILE" 2>&1 < /dev/null &
+    nohup cannelloni -I $VCAN_NAME -R $PEER_ADDRESS -r $REMOTE_PORT -l $LOCAL_PORT >>"$LOG_FILE" 2>&1 < /dev/null &
     echo "$!" > $LOCK_FILE
 '''
 
@@ -136,7 +137,7 @@ def get_sim_install_path():
 def get_sim_exe_path():
     exe_path = os.environ.get('AVRS_EXE_PATH',
         os.path.join(os.environ['HOME'], 'autoverse-linux', 'Linux', 'utils', 'run_autoverse.sh'))
-    return exe_path()
+    return exe_path
 
 def get_rmw_qos_path():
     return os.path.join(os.environ['HOME'], '.rmw_qos.xml')
@@ -177,6 +178,7 @@ def get_auto_vcan_name(peer_id, vcan_id):
     return 'vcan{}_{}'.format(peer_id, vcan_id)
 
 def connect_peer_vcan(peer_id, peer_ip, vcan_id, vcan_name=''):
+    logger = logging.getLogger('avrs')
     vcan_id = 0
     pargs = {
         'peer_id': peer_id,
@@ -185,6 +187,7 @@ def connect_peer_vcan(peer_id, peer_ip, vcan_id, vcan_name=''):
         'local_port': 20000 + peer_id * 3 + vcan_id,
         'vcan_name': vcan_name if vcan_name != '' else get_auto_vcan_name(peer_id, vcan_id)
     }
+    logger.info('connecting vcan with args: {}'.format(pargs))
     return run_process(['bash', '-c',
         CONNECT_PEER_VCAN_SCRIPT.format(**pargs)])
 
@@ -204,8 +207,9 @@ def reset_race_cloud_connection():
     bash_kill_process('cannelloni')
 
 def try_get_open_slot(team_name, ip):
-
+    logger = logging.getLogger('avrs')
     slot_file_dir = os.environ['HOME']
+    logger.info('finding a slot for team {}'.format(team_name))
     for i in range(6):
         slot_file_path = os.path.join(slot_file_dir, '.simslot_{}'.format(i))
 
@@ -213,15 +217,20 @@ def try_get_open_slot(team_name, ip):
             with open(slot_file_path, 'r', encoding='utf-8') as f:
                 content = f.read()
                 if content == ip:
+                    logger.info('slot {} already reserved by team {}'.format(i, team_name))
                     return (True, 'slot {} is already reserved by you'.format(i), i)
         else:
             with open(slot_file_path, 'w', encoding='utf-8') as f:
                 f.write(ip)
+                logger.info('slot {} successfuly reserved by team {}'.format(i, team_name))
                 return (True, 'reserved slot {}'.format(i), i)
+    logger.info('no open slot found for team {}'.format(team_name))
     return (False, 'no open slots', i)
 
-
 def call_race_cloud_api(body):
+    logger = logging.getLogger('avrs')
+    logger.info('calling race-cloud api with body: {}'.format(body))
+
     api_url = 'gitzels0l7.execute-api.us-east-1.amazonaws.com'
 
     connection = http.client.HTTPSConnection(api_url)
@@ -238,6 +247,8 @@ def call_race_cloud_api(body):
 
 def get_api_script_response(raw):
     decoded = json.loads(raw)['body']
+    logger = logging.getLogger('avrs')
+    logger.info('race cloud api response: {}'.format(decoded))
     if decoded['script_response']['statusCode'] != 200:
         return (False, 'inner response had bad status code {}'.format(decoded))
     #print(decoded)