autoverse-cli 0.15.6__py3-none-any.whl → 0.16.0__py3-none-any.whl

{autoverse_cli-0.15.6.dist-info → autoverse_cli-0.16.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: autoverse-cli
-Version: 0.15.6
+Version: 0.16.0
 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-0.15.6.dist-info → autoverse_cli-0.16.0.dist-info}/RECORD

@@ -1,5 +1,5 @@
 avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-avrs/app_version.py,sha256=v9Br085iieKNuq_J6EGpa-bvsQvMt3AKhZyvMLN7GQ8,856
+avrs/app_version.py,sha256=7W2iCUcjMLDoPUFUQQ3wOD_8Y6jZGALXahaqavBW6Lk,856
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
 avrs/avrs.py,sha256=bGF35a72MZU41OVWnFHmchqmgKXBKh9djokzGA_4pL4,4621
 avrs/can_tool.py,sha256=IBoctKobBJ3wCq4ZdtuXuXH4AMEUxazCfYT6YP0Luw8,7161
@@ -7,10 +7,11 @@ 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=8VHOrmCgdXKBBmAiX2e-muJ3dMxijwyJ7acR-LxytFo,19011
+avrs/race_cloud.py,sha256=Fm0hA7eCYnh3occXD6hWt7svoyXg90b3_ChZS6AELeA,19802
+avrs/race_cloud_bridge_can.py,sha256=aPA9AWjHa93axB4-J4F4LrAil_qcecHMsCaMOkssR5I,2329
 avrs/race_cloud_cfg_util.py,sha256=H3MLxkb-PBwFVXdA5IBGzWGjLeD-uBvPqIgkh7RGjfo,7214
 avrs/race_cloud_fwd_api.py,sha256=HuLE5kfmzVq08aP3tlEh3f8WNjGL5N3K5EbXg9uQomo,1506
-avrs/race_cloud_util.py,sha256=7pi6x2lgCqEgwmo3HXbdBZiCj43rTw5U9a1UDcClLm8,10753
+avrs/race_cloud_util.py,sha256=RWD6-zZVQ_iud1QzhdtRtZ8r0jEPcxbYcDaMJ7vb6-Q,12555
 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 +38,9 @@ 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-0.15.6.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
-autoverse_cli-0.15.6.dist-info/METADATA,sha256=sqc7xxvBENurbIEumRCVIlFV-FbVPacL8sfFVpNlMZM,3342
-autoverse_cli-0.15.6.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-autoverse_cli-0.15.6.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.15.6.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.15.6.dist-info/RECORD,,
+autoverse_cli-0.16.0.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
+autoverse_cli-0.16.0.dist-info/METADATA,sha256=HTEM3UstpFdi9vnb1ohrOFEEzpVobYM0faeRbBed8Wo,3342
+autoverse_cli-0.16.0.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+autoverse_cli-0.16.0.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.16.0.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.16.0.dist-info/RECORD,,

avrs/app_version.py

@@ -2,7 +2,7 @@ import http.client
 import json
 
 def get_app_version():
-    return '0.15.6'
+    return '0.16.0'
 
 def check_app_is_latest():
     pass

avrs/race_cloud.py

@@ -123,23 +123,6 @@ 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)
-
         fwd_server_parser = sps.add_parser(
             'fwd-api',
             help='forwards incoming external api requests to the simulator api')
@@ -157,6 +140,31 @@ class AvrsRaceCloud(AvrsApiRequest):
             help='the local port to forward api requests too')
         fwd_server_parser.set_defaults(func=self.fwd_api)
 
+        bridge_can_parser = sps.add_parser(
+            'bridge-can',
+            help='bridges a local vcan with a remote vcan over udp')
+
+        bridge_can_parser.add_argument(
+            'vcan_name')
+
+        bridge_can_parser.add_argument(
+            'mode',
+            choices=['bg', 'fg'],
+            help='whether to run in forground or background')
+
+        bridge_can_parser.add_argument(
+            'peer_ip')
+
+        bridge_can_parser.add_argument(
+            'peer_port',
+            type=int)
+
+        bridge_can_parser.add_argument(
+            'local_port',
+            type=int)
+
+        bridge_can_parser.set_defaults(func=self.bridge_can)
+
     def race_connect(self, args):
         logger = logging.getLogger('avrs')
 
@@ -430,11 +438,13 @@ class AvrsRaceCloud(AvrsApiRequest):
     def enable_peer_qos(self, args):
         print('enabling peer qos for id {} using ip address {}'.format(
             args.peer_id, args.ip))
-        enable_peer_qos(args.peer_id, args.ip)
+        out = enable_peer_qos(args.peer_id, args.ip)
+        print('{} {}'.format(out.out, out.err))
 
     def disable_peer_qos(self, args):
         print('disabling peer qos for id {}'.format(args.peer_id))
-        disable_peer_qos(args.peer_id)
+        out = disable_peer_qos(args.peer_id)
+        print('{} {}'.format(out.out, out.err))
 
     def fwd_api(self, args):
         # start a server that listens for http on some port and forwards
@@ -443,7 +453,6 @@ class AvrsRaceCloud(AvrsApiRequest):
 
         if args.mode == 'bg':
             # call the cli so that it starts the forwarding server in the background
-            
             # stop it if its already running
             try:
                 stop_result = stop_fwd_api()
@@ -474,3 +483,20 @@ class AvrsRaceCloud(AvrsApiRequest):
         save_cfg('avrs', self.cfg)
         return elapsed
 
+    def bridge_can(self, args):
+        logger = logging.getLogger('avrs')
+
+        if args.mode == 'bg':
+            # call the cli so that it starts the forwarding server in the background
+            # stop it if its already running
+            try:
+                stop_result = stop_can_brdige()
+                logger.info('stopped can bridge: {}'.format(stop_result))
+                start_result = start_can_bridge(args)
+                logger.info('started can bridge: {}'.format(start_result))
+            except Exception as e:
+                logger.error('failed to restart can bridge: {}'.format(e))
+
+        else:
+            logger.info('starting can bridge in forground')
+            can_bridge_loop(args)

avrs/race_cloud_bridge_can.py

@@ -0,0 +1,77 @@
+import can
+import argparse
+import socket
+import struct
+
+BUFFER_SIZE = 512
+
+class UdpTxCanListener(can.Listener):
+    def __init__(self, target_port, target_ip):
+        self.target_port = target_port
+        self.target_ip = target_ip
+        self.s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    def on_message_received(self, msg):
+        #print('l got m {}'.format(msg))
+        data = struct.pack('=HBBBBBBBB', msg.arbitration_id, *msg.data)
+        self.s.sendto(data, (self.target_ip, self.target_port))
+
+def can_bridge_loop(args):
+    logger = logging.getLogger('avrs')
+    logger.info('starting can bridge tx on {} to {}:{} (listen on {})'.format(
+        args.vcan_name, args.peer_ip, args.peer_port, args.local_port))
+    try:
+        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        #s.settimeout(0.1)
+        s.bind(('', args.local_port))
+        with can.interface.Bus(args.vcan_name, interface='socketcan') as bus:
+            l = UdpTxCanListener(args.peer_port, args.peer_ip)
+            can.Notifier(bus, [l])
+            while True:
+                try:
+                    data, server = s.recvfrom(BUFFER_SIZE)
+                    #print('got udp data {}'.format(data))
+                    up = struct.unpack('=HBBBBBBBB', data)
+
+                    tx_msg = can.Message(
+                        arbitration_id=up[0], 
+                        data=up[1:], 
+                        is_extended_id=False, 
+                        dlc=8)
+
+                    bus.send(tx_msg)
+                except Exception as e:
+                    logger.error('can bridge error: {}'.format(e))
+                    break
+    except Exception as e:
+        logger.('can bridge setup error: {}'.format(e))
+        return
+
+if __name__ == '__main__':
+
+    parser = argparse.ArgumentParser(
+        prog='canbridge',
+        description='can bridge')
+
+    vcan_name_psr = parser.add_argument(
+        'vcan_name')
+
+    peer_ip_psr = parser.add_argument(
+        'peer_ip')
+
+    peer_port_psr = parser.add_argument(
+        'peer_port',
+        type=int)
+
+    peer_port_psr = parser.add_argument(
+        'local_port',
+        type=int)
+
+    version_psr = parser.add_argument(
+        '--peer_ip', 
+        help='')
+
+    parser.set_defaults(func=bridge_loop)
+
+    args = parser.parse_args()
+    args.func(args)

avrs/race_cloud_util.py

@@ -62,11 +62,37 @@ DEFAULT_RMW_QOS = '''
 </profiles>
 '''
 
+DEFAULT_RMW_CYCLONE = '''
+    <?xml version="1.0" encoding="UTF-8" ?>
+      <CycloneDDS>
+        <Domain id="any">
+            <Discovery>
+                <ParticipantIndex>auto</ParticipantIndex>
+                <Peers>
+                        <Peer address='127.0.0.1'/>
+                        <!--<Peer address='PEER_0'/>PEER0-->
+                        <!--<Peer address='PEER_1'/>PEER1-->
+                        <!--<Peer address='PEER_2'/>PEER2-->
+                        <!--<Peer address='PEER_3'/>PEER3-->
+                        <!--<Peer address='PEER_4'/>PEER4-->
+                        <!--<Peer address='PEER_5'/>PEER5-->
+                </Peers>
+            </Discovery>
+        </Domain>
+    </CycloneDDS>
+'''
+
 DISABLE_PEER_QOS_SCRIPT = '''
     QOS_FILE_PATH={qos_path}
+    CYCLONE_PATH={cyclone_path}
     PEER_ID={peer_id}
+
+    # for the origin rmw qos file
     sed -i -E "s,(<locator> <udpv4> <address>)(.+)(</address> </udpv4> </locator>)<!--(PEER$PEER_ID-->),<!--\\1PEER$PEER_ID\\3\\4,g" $QOS_FILE_PATH
 
+    # for the cyclone file
+    sed -i -E "s,(<Peer address=')(.+)('/>)<!--(PEER$PEER_ID-->),<!--\\1PEER$PEER_ID\\3\\4,g" $CYCLONE_PATH
+
     VCAN_NAME=vcan$PEER_ID
     if [[ -e $VCAN_NAME.lock ]]; then
         echo "stopping existing cannelloni connection with pid $(cat $VCAN_NAME.lock)"
@@ -77,9 +103,15 @@ DISABLE_PEER_QOS_SCRIPT = '''
 
 ENABLE_PEER_QOS_SCRIPT = '''
     QOS_FILE_PATH={qos_path}
+    CYCLONE_PATH={cyclone_path}
     PEER_ID={peer_id}
     PEER_ADDRESS={peer_ip}
+
+    # for the origin rmw qos file
     sed -i -E "s,(<!--?)(<locator> <udpv4> <address>)(.+)(</address> </udpv4> </locator>)(PEER$PEER_ID-->),\\2$PEER_ADDRESS\\4<!--\\5,g" $QOS_FILE_PATH
+
+    # for the cyclone file
+    sed -i -E "s,(<!--?)(<Peer address=')(.+)('/>)(PEER$PEER_ID-->),\\2$PEER_ADDRESS\\4<!--\\5,g" $CYCLONE_PATH
 '''
 
 CONNECT_PEER_VCAN_SCRIPT = '''
@@ -96,13 +128,13 @@ CONNECT_PEER_VCAN_SCRIPT = '''
     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)"
+        echo "stopping existing can_bridge connection with pid $(cat $LOCK_FILE)"
         kill $(cat $LOCK_FILE)
     fi
 
     # 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 avrs race-cloud bridge-can fg $PEER_ADDRESS $REMOTE_PORT $LOCAL_PORT >>"$LOG_FILE" 2>&1 < /dev/null &
     echo "$!" > $LOCK_FILE
 '''
 
@@ -166,15 +198,25 @@ def get_sim_exe_path():
 def get_rmw_qos_path():
     return os.path.join(os.environ['HOME'], '.rmw_qos.xml')
 
+def get_rmw_cyclone_qos_path():
+    return os.path.join(os.environ['HOME'], '.cyclone.xml')
+
 def reset_rmw_qos():
     with open(get_rmw_qos_path(), 'w', encoding='utf-8') as f:
         f.write(DEFAULT_RMW_QOS)
 
+def reset_rmw_cyclone_qos():
+    with open(get_rmw_cyclone_qos_path(), 'w', encoding='utf-8') as f:
+        f.write(DEFAULT_RMW_CYCLONE)
+
 def disable_peer_qos(peer_id):
     if not os.path.isfile(get_rmw_qos_path()):
         reset_rmw_qos()
+    if not os.path.isfile(get_rmw_cyclone_qos_path()):
+        reset_rmw_cyclone_qos()
     pargs = {
         'qos_path': get_rmw_qos_path(),
+        'cyclone_path': get_rmw_cyclone_qos_path(),
         'peer_id': peer_id
     }
     return run_process(['bash', '-c',
@@ -184,6 +226,7 @@ def enable_peer_qos(peer_id, peer_ip):
     disable_peer_qos(peer_ip) # disable first
     pargs = {
         'qos_path': get_rmw_qos_path(),
+        'cyclone_path': get_rmw_cyclone_qos_path(),
         'peer_id': peer_id,
         'peer_ip': peer_ip
     }
@@ -220,10 +263,18 @@ def stop_fwd_api():
     pres = run_process(['bash', '-c', STOP_FWD_API_SCRIPT])
     return pres.out
 
-def check_fwd_api_is_running():
-    pres = run_process(['bash', '-c', CHECK_FWD_API_IS_RUNNING])
-    print(pres.out)
-    return pres.out == 'yes'
+def start_can_bridge(args):
+    pargs = {
+        'peer_ip': args.peer_ip,
+        'peer_port': args.peer_port,
+        'local_port': args.local_port
+    }
+    pres = run_process(['bash', 'c', START_CAN_BRIDGE_SCRIPT.format(**pargs)])
+    return pres.out
+
+def stop_can_brdige():
+    pres = run_process(['bash'], '-c', STOP_CAN_BRIDGE_SCRIPT)
+    return pres.out
 
 def get_auto_vcan_name(peer_id, vcan_id):
     return 'vcan{}_{}'.format(peer_id, vcan_id)
@@ -252,6 +303,7 @@ def get_local_instance_ip():
 
 def reset_race_cloud_connection():
     reset_rmw_qos()
+    reset_rmw_cyclone_qos()
     run_process(['bash', '-c', 'rm ~/.simslot*']) # remove slot reservations
     run_process(['bash', '-c', 'rm ~/.vcan*']) # remove lock files
     bash_kill_process('cannelloni')