autoverse-cli 0.14.1__py3-none-any.whl → 0.15.0__py3-none-any.whl

{autoverse_cli-0.14.1.dist-info → autoverse_cli-0.15.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: autoverse-cli
-Version: 0.14.1
+Version: 0.15.0
 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-0.14.1.dist-info → autoverse_cli-0.15.0.dist-info}/RECORD

@@ -1,5 +1,5 @@
 avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-avrs/app_version.py,sha256=BIDygw6oqIkqW7CFqzSznzgZHofnBxYO3myYKeEXxJg,856
+avrs/app_version.py,sha256=59Na2yuqMGePrUbQYBadd_1kANo4tl9ULmjNC8g2WQg,856
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
 avrs/avrs.py,sha256=bGF35a72MZU41OVWnFHmchqmgKXBKh9djokzGA_4pL4,4621
 avrs/can_tool.py,sha256=IBoctKobBJ3wCq4ZdtuXuXH4AMEUxazCfYT6YP0Luw8,7161
@@ -7,10 +7,10 @@ avrs/can_tool_util.py,sha256=G3q21dTGMLc09SDq_RieoW7kSn-kXPkXxPDjavPh4hQ,7710
 avrs/cfg.py,sha256=kMn08Z4Ms1PAu2-U1QI8weEJeIVEppP4A4_tFfwnjtg,2924
 avrs/launcher.py,sha256=kk1lyHHLgFZ4zsFfa_zV5f1kYbUODT6wEILJ8TZ16rQ,9353
 avrs/launcher_util.py,sha256=sO3k_z3A-HIQdJVkVXNXUAE_MGFwAYiZUqQBoFwOqew,5325
-avrs/race_cloud.py,sha256=gIZOGSZYPpdwEihqadS7e78RWwlNP8YHSUuLV70tMr0,15823
-avrs/race_cloud_cfg_util.py,sha256=Rqp-SemS_ZL6wD_nABsMDc5thkoit7FQTJecaB9oWA8,5261
+avrs/race_cloud.py,sha256=XwwSfrSMaCxOaBSmxqDeC7Jlg5mRZnVBUo7cFFaKcso,18863
+avrs/race_cloud_cfg_util.py,sha256=IV_bKylgfAj5g8aRf817pP-0x55A_jIX-rZYgRJlzxQ,6059
 avrs/race_cloud_fwd_api.py,sha256=HuLE5kfmzVq08aP3tlEh3f8WNjGL5N3K5EbXg9uQomo,1506
-avrs/race_cloud_util.py,sha256=MQ6nNsUdRFsJC7vC9MUzsU2EMIXIO6CbLNuim0EZl_g,10230
+avrs/race_cloud_util.py,sha256=ykTFSk9AVDEFAAS7wXBz-By4RnEp_kJKRvvACruv8Sk,10709
 avrs/simconfig.py,sha256=UZc4FrxVHUkk2e9IglSpuojXkaL_nPrJW7trbEGgOOo,2907
 avrs/simconfig_util.py,sha256=1RmnmhK5C4HlCicTQeqn-1ORz3Xrku_QMt1Fqr9XjZs,4839
 avrs/tests.py,sha256=3JeYBjn0tRqHXERDROfzmYuW1KXeCcKur5Bw-EIegto,153
@@ -37,9 +37,9 @@ avrs/requests/toggle_hud.py,sha256=sV5t5QZc4uvRihPVk8jEKZiQNsyF9tsUwq5b4jjZplc,3
 avrs/requests/vd.py,sha256=gdt5XCdCCVdECL3qt8y-PKDrlArjeY_lxtT4VpZmAJo,1804
 avrs/requests/vehicle_input.py,sha256=R1b1xkRtOBkwyU6OSN4bWVlYsIUroZG0WKbYbc4pEH8,729
 avrs/requests/vehicle_replay.py,sha256=nCAE21VNyKoeIjjXBGAihgOLO7zYHcu-HWvPZYxdQ2c,11099
-autoverse_cli-0.14.1.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
-autoverse_cli-0.14.1.dist-info/METADATA,sha256=ms3yFQDCI7ORD2_VXjNRGfU7cz_FqQOZmxenPsxD9AI,3342
-autoverse_cli-0.14.1.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-autoverse_cli-0.14.1.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.14.1.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.14.1.dist-info/RECORD,,
+autoverse_cli-0.15.0.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
+autoverse_cli-0.15.0.dist-info/METADATA,sha256=eD4w4cQQ9WKA4CkW-_17sgEQkzK8ibJeOdaPZ4Q5Avk,3342
+autoverse_cli-0.15.0.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+autoverse_cli-0.15.0.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.15.0.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.15.0.dist-info/RECORD,,

avrs/app_version.py

@@ -2,7 +2,7 @@ import http.client
 import json
 
 def get_app_version():
-    return '0.14.1'
+    return '0.15.0'
 
 def check_app_is_latest():
     pass

avrs/race_cloud.py

@@ -1,6 +1,7 @@
 import subprocess
 import base64
 import logging
+import time
 from avrs.cfg import *
 from avrs.race_cloud_util import *
 from avrs.race_cloud_cfg_util import *
@@ -36,6 +37,10 @@ class AvrsRaceCloud(AvrsApiRequest):
             '--instance-id',
             default = '',
             help='can be used directly instead of instance name if needed')
+        connect_parser.add_argument(
+            '--no-restart-sim',
+            action='store_true',
+            help='if set, the sim instance will not be restarted after connection')
         connect_parser.add_argument(
             '--no-check-cans',
             action='store_true',
@@ -55,6 +60,10 @@ class AvrsRaceCloud(AvrsApiRequest):
         rx_connect_parser.add_argument(
             'ip',
             help='the ip address of the incoming connection')
+        rx_connect_parser.add_argument(
+            '--restart',
+            action='store_true',
+            help='should the sim program be restarted after this connection')
         rx_connect_parser.add_argument(
             'cfg_data',
             help='the incoming vehicle configuration data')
@@ -150,10 +159,23 @@ class AvrsRaceCloud(AvrsApiRequest):
 
     def race_connect(self, args):
         logger = logging.getLogger('avrs')
+
+        # make api call to begin connection
+        our_ip = get_local_instance_ip()
+
+        if our_ip == '127.0.0.1':
+            print('this machines IP was returned as localhost. was this run on the cloud instance?')
+            return
+
         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))
 
+        if args.no_restart_sim:
+            print('the simulator will NOT be restarted automatically after this connection')
+        else:
+            print('the simulator WILL be restarted automatically after this connection')
+
         # reset local connection first
         logger.info('resetting local connection state prior to connection')
         reset_race_cloud_connection()
@@ -179,9 +201,6 @@ class AvrsRaceCloud(AvrsApiRequest):
         if not vcan_ok:
             return
 
-        # make api call to begin connection
-        our_ip = get_local_instance_ip()
-
         connection_request = {
             'action': 'connect',
             'sim_index': args.sim_index,
@@ -189,6 +208,7 @@ class AvrsRaceCloud(AvrsApiRequest):
             'team_name': args.team_name,
             'sim_id_override': args.instance_id,
             'ensure_instance_is_running': False,
+            'should_restart_sim_program': args.no_restart_sim,
             'config_data': vcfg_data
         }
 
@@ -215,11 +235,19 @@ class AvrsRaceCloud(AvrsApiRequest):
             print('issue reserving slot: {}'.format(slot_info['msg']))
             return
 
+        extra_msg = slot_info.get('extra_msg', '')
+        print(extra_msg)
+
         sim_slot = slot_info['slot']
 
         # enable first peer since this is on a client (only will ever have 1, the sim)
         enable_peer_qos(sim_slot, sim_ip)
 
+        print('creating vcan interfaces found in config locally: {}, {}, {} (if they do not exist)'.format(
+            bsu_vcan, kistler_vcan, badenia_vcan))
+
+        setup_vcans(bsu_vcan, kistler_vcan, badenia_vcan)
+
         # will need to get port from received slot id to connect peer vcans
         connect_peer_vcan(sim_slot, sim_ip, 0, bsu_vcan)
         connect_peer_vcan(sim_slot, sim_ip, 1, kistler_vcan)
@@ -242,7 +270,24 @@ class AvrsRaceCloud(AvrsApiRequest):
     # 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 {}'.format(args.team_name)) # remove ip from log
+
+        extra_msg = ''
+
+        # check time-since last connection here. if > 10mins auto reset connection state
+        time_since_last_connection = self.get_and_update_time_since_last_connection()
+        reset_connection_timeout = 600.0
+        if time_since_last_connection > 600.0:
+            logger.info('time since last connection rx {} > {}. resetting connection'.format(
+                time_since_last_connection, reset_connection_timeout))
+            clear_autospawns()
+            reset_race_cloud_connection()
+            extra_msg += 'automatically resetting simulation instance connection state'
+            extra_msg += ' (last connection was > {} seconds ago)'.format(reset_connection_timeout)
+        else:
+            extra_msg += 'NOT resetting connection state. last connection was only {} seconds ago'.format(
+                time_since_last_connection)
+
+        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)
@@ -294,6 +339,15 @@ class AvrsRaceCloud(AvrsApiRequest):
         start_result = start_fwd_api(30333, 30313)
         logger.info('started fwd-api: {}'.format(start_result))
 
+        if args.should_restart_sim_program:
+            logger.info('restarting sim program for new connection')
+            print('stopping sim program on sim instance')
+            bash_kill_process('Autoverse')
+            print('starting sim program on sim instance')
+            exe_path = os.path.join(get_sim_exe_path())
+            start_exe(exe_path)
+            extra_msg += '\n' if len(extra_msg) > 0 else ''
+            extra_msg += 'automatically restarting sim program on sim instance'
 
         print(json.dumps(response)) # print this so that when called from the ssh lambda we can get the result
 
@@ -401,3 +455,19 @@ class AvrsRaceCloud(AvrsApiRequest):
             handler = ApiForwardHandler(args.target_port)
             server = HTTPServer(('0.0.0.0', args.source_port), handler)
             server.serve_forever()
+
+    def test_reset_timeout(self, args):
+        print('testing reset timeout')
+
+        elapsed = self.get_and_update_time_since_last_connection()
+        print('elasped: {}'.format(elapsed))
+
+    def get_and_update_time_since_last_connection(self):
+        t = time.time()
+        # default to zero if not exist to force timeout
+        last_time = self.cfg.get('race-cloud-last-connect-time', 0)
+        elapsed = t - last_time
+        self.cfg['race-cloud-last-connect-time'] = t
+        save_cfg('avrs', self.cfg)
+        return elapsed
+

avrs/race_cloud_cfg_util.py

@@ -1,4 +1,5 @@
 import os
+import glob
 import json
 import base64
 import logging
@@ -12,10 +13,13 @@ def get_payload(cfg_object, payload_name):
     return None
 
 def clear_autospawns():
+    logger = logging.getLogger('avrs')
     # 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')
+    logger.info('clearing autospawns from sim saved at {}'.format(sim_saved))
+
     cfg_files = SimConfigFiles(sim_saved)
 
     cfg_ok, msg = cfg_files.validate()
@@ -23,6 +27,13 @@ def clear_autospawns():
         print(msg)
         return
 
+    # also remove all configs from Objects dir
+    files = glob.glob(os.path.join(sim_saved, 'Objects'))
+    for f in files:
+        logger.info('removing object config: {}'.format(f))
+        os.remove(f)
+
+
     cfg_files.files['yas']['autoSpawnObjects'] = []
     cfg_files.files['main']['objectTemplatePaths'] = []
     cfg_files.save()
@@ -67,12 +78,26 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
         })
     else:
         logger.info('found Ros2 payload OK'.format())
+        logger.info('setting ros2 domain id to {}'.format(slot))
+        ros2['body']['domainId'] = slot
+
+    # auto add display widget
+    wtc = get_payload(cfg_object, 'WorldTextComponent')
+    if wtc is None:
+        logger.info('no WorldTextComponent payload found. adding')
+        cfg_object['payloads'].append({
+            'typeName': 'WorldTextComponent',
+            'body': {
+
+            }
+        })
 
     # 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)
+    object_spec_name = 'eav24_{}'.format(team_name)
+    cfg_object['specName'] = object_spec_name
 
     # also need to edit the yas_marina_env.json to have autospawn for this config
     sim_path = os.environ.get('AVRS_INSTALL_PATH', 
@@ -105,7 +130,7 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
 
     # also need to add the object template to main sim config
 
-    new_cfg_name = 'eav24_{}.json'.format(team_name)
+    new_cfg_name = 'eav24_{}.json'.format(object_spec_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()

avrs/race_cloud_util.py

@@ -114,6 +114,16 @@ CHECK_VCAN_EXISTS_SCRIPT = '''
     fi
 '''
 
+CREATE_VCANS_SCRIPT = '''
+    sudo modprobe vcan
+    sudo ip link add name "{a}" type vcan
+    sudo ip link set dev "{a}" up
+    sudo ip link add name "{b}" type vcan
+    sudo ip link set dev "{b}"" up
+    sudo ip link add name "{c}" type vcan
+    sudo ip link set dev "{c}" up
+'''
+
 START_FWD_API_SCRIPT = '''
     nohup avrs race-cloud fwd-api fg {source_port} {target_port} > ~/fwd_api.log 2>&1 < /dev/null &
     echo "$!" > ~/fwd_api_pid
@@ -187,6 +197,16 @@ def check_vcan_exists(vcan_name):
         CHECK_VCAN_EXISTS_SCRIPT.format(**pargs)])
     return pres.out == 'yes'
 
+def setup_vcans(vcan0, vcan1, vcan2):
+    pargs = {
+        'a': vcan0,
+        'b': vcan1,
+        'c': vcan2
+    }
+    pres = run_process(['bash'], '-c',
+        CREATE_VCANS_SCRIPT.format(**pargs))
+    return pres.out + ' ' + pres.err
+
 def start_fwd_api(source_port, target_port):
     pargs = {
         'source_port': source_port,
@@ -216,7 +236,7 @@ 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)) #remove because of security (ips in logs)
+    logger.info('connecting vcan with args: {}'.format(pargs))
     return run_process(['bash', '-c',
         CONNECT_PEER_VCAN_SCRIPT.format(**pargs)])