autoverse-cli 0.17.1__py3-none-any.whl → 0.17.3__py3-none-any.whl

{autoverse_cli-0.17.1.dist-info → autoverse_cli-0.17.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: autoverse-cli
-Version: 0.17.1
+Version: 0.17.3
 Summary: The Autoverse CLI
 Author-email: Dan Kamrath <dan.kamrath@autonomalabs.com>
 License: # End-User License Agreement (EULA) of the Autonoma AutoVerse CLI
@@ -43,6 +43,7 @@ Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: boto3
 Requires-Dist: cantools
+Dynamic: license-file
 
 # Autoverse CLI
 

{autoverse_cli-0.17.1.dist-info → autoverse_cli-0.17.3.dist-info}/RECORD

@@ -1,15 +1,16 @@
+autoverse_cli-0.17.3.dist-info/licenses/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
 avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-avrs/app_version.py,sha256=PO1phS8RUWLEuL-4OLCf2ZP_OVsTqgTq9YPN554Y3PQ,856
+avrs/app_version.py,sha256=2oXEAqnQd-QpTA32-FLVigt9qiX6HHsOKOE9PUNERck,856
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
-avrs/avrs.py,sha256=zmpqfy5-a2B0igkdrHj9WnwjJqS71jpoavCNBwEpSXM,4735
+avrs/avrs.py,sha256=wRwZJeSvyJNlixkZnC3E2cwzEe_fjYHl7hD-HgRF2po,4717
 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=kk1lyHHLgFZ4zsFfa_zV5f1kYbUODT6wEILJ8TZ16rQ,9353
 avrs/launcher_util.py,sha256=sO3k_z3A-HIQdJVkVXNXUAE_MGFwAYiZUqQBoFwOqew,5325
-avrs/race_cloud.py,sha256=W6qdevbEeu2k-qaUmvx4cQTbIIcd6qBzX-T-9rqmbgw,20124
+avrs/race_cloud.py,sha256=F95_ssdiKpkmTQQkqllaLJJFAnLK3NEfRiQZcofgDGo,20125
 avrs/race_cloud_bridge_can.py,sha256=K3is7GFzWo2KBojr6V65kz138UfkVFXXofVxSAziArY,2888
-avrs/race_cloud_cfg_util.py,sha256=H3MLxkb-PBwFVXdA5IBGzWGjLeD-uBvPqIgkh7RGjfo,7214
+avrs/race_cloud_cfg_util.py,sha256=VMa7n7wF0LyeL0vvouQ8LT9YzAU_zoptzUa-e2vk5Q0,9818
 avrs/race_cloud_fwd_api.py,sha256=HuLE5kfmzVq08aP3tlEh3f8WNjGL5N3K5EbXg9uQomo,1506
 avrs/race_cloud_util.py,sha256=WwhmqxKIQJMxf4L4ReAJrW1Reu1A8tLfmYeEwTZDl-k,13184
 avrs/simconfig.py,sha256=UZc4FrxVHUkk2e9IglSpuojXkaL_nPrJW7trbEGgOOo,2907
@@ -21,16 +22,17 @@ avrs/requests/code_booz.py,sha256=SXaEAMTqID4lf1o_4Cc1wY9609X-dNcfNa-UZv3FWF4,24
 avrs/requests/demo.py,sha256=cbGQJK-OfeFUkQwVzafHgoWP15xoKL-ZgYkQ7moEt2A,872
 avrs/requests/dump_sim_config.py,sha256=ePtJZhq3gYLgMQkbi-YObIAaPk3Z2b0NWlWM5IYkCaM,479
 avrs/requests/environment.py,sha256=ORwOBxhXPcatn_W8aY5pgIy4f2paUbqIYii5oE540xA,1305
-avrs/requests/fault_injection.py,sha256=EkpjPCx-UtrNbAR_vQS1zaGKN49UDCyYOoVcdlP1T0M,5948
+avrs/requests/fault_injection.py,sha256=UWf_Jzqkd4CdkNpLbxwyuyLPkuIYNz4LDABM0myHv3A,5950
 avrs/requests/get_object_config.py,sha256=Mkwp32lfskQERsqfmAgHi4vf4C0hfjg6Ru8UjyMt3cw,654
 avrs/requests/list_sim_objects.py,sha256=YWpqHdCHijerPxI5606_KjeFvezcLFN33wO4YOr9G3U,977
 avrs/requests/log_path.py,sha256=Ur24C9VqPVx78MfpicgQu2uOEe-0dXbGoWF_7dzMtZE,1326
-avrs/requests/misc.py,sha256=995yXxzVS35X3CLqm4OtkJhWvFrqEhV1cPwbWxlFeHs,1779
+avrs/requests/misc.py,sha256=sydYsBMLBFmpUHTnTK5VhM2JF6xYXgk_Xmdq7oIJC_s,2232
 avrs/requests/move_to_landmark.py,sha256=cLRBKu9XEDsmCoftBJ8JwoBLqzb0IZsxFMBnus4T-kc,702
 avrs/requests/npc.py,sha256=Y_WovbcLomCCcOLAMMO_DHZtc1crAzWo97qEIGS3SvU,9691
-avrs/requests/race_control.py,sha256=jkAGJMD_A2xn-eSO50Bu7ERU8NFWfXX5Lue35bL2XCM,1199
+avrs/requests/race_control.py,sha256=IVpaaveeLOze0qXzuJVgkoYjydm0KBLEFXDmJnwtTpQ,1409
 avrs/requests/request.py,sha256=uUAndVZPbTQgbiXqrd4S3l3TQ0J_3STBtghEFlVr5GA,2058
 avrs/requests/reset_to_track.py,sha256=6BXe2EtezdZR1Xrs0pej_eBK-ilqeN8ZrJGN_KKPLbk,672
+avrs/requests/rest_request.py,sha256=G4WzZw8OsF7ZnZeCcpRiADP9XK50e5VBaP6qpu9yXLs,1398
 avrs/requests/restart.py,sha256=ih5mnWiU34q3-xhOth45CtOUXxKI0PoMDCnFJV0JbwE,415
 avrs/requests/scenario_control.py,sha256=u-KQx-mdCm6IE_c88a6iEgWUsZZVOayxBo58Ocjg0ZI,1502
 avrs/requests/spawn_object.py,sha256=RzTJprcyPpNIesu4s_GMuEYbHII-sopw1sDcbTDgvrY,1429
@@ -39,9 +41,8 @@ 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-0.17.1.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
-autoverse_cli-0.17.1.dist-info/METADATA,sha256=a9LKkwOss-wx2x92QyaPNibTje10QhQT5bYnRjdFaKY,3342
-autoverse_cli-0.17.1.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-autoverse_cli-0.17.1.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.17.1.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.17.1.dist-info/RECORD,,
+autoverse_cli-0.17.3.dist-info/METADATA,sha256=4J_L2v28tGUsfbxmbh29BZE3dR3xyntCUT2iEHN9O5U,3364
+autoverse_cli-0.17.3.dist-info/WHEEL,sha256=pxyMxgL8-pra_rKaQ4drOZAegBVuX-G_4nRHjjgWbmo,91
+autoverse_cli-0.17.3.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.17.3.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.17.3.dist-info/RECORD,,

{autoverse_cli-0.17.1.dist-info → autoverse_cli-0.17.3.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.0)
+Generator: setuptools (79.0.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

avrs/app_version.py

@@ -2,7 +2,7 @@ import http.client
 import json
 
 def get_app_version():
-    return '0.17.1'
+    return '0.17.3'
 
 def check_app_is_latest():
     pass

avrs/avrs.py

@@ -73,12 +73,11 @@ def init_logging():
 
 def main():
 
+    # logging will fail in pipeline
     try:
         init_logging()
     except Exception as e:
         pass
-        # printing here breaks pipeline when it calls --version
-        #print('failed to init logging: {}'.format(e))
 
     parser = argparse.ArgumentParser(
             prog='avrs', 
@@ -133,6 +132,9 @@ def main():
     AvrsDumpSimConfigRequest(sps, cfg)
     AvrsRaceControlRequest(sps, cfg)
 
+    # new api requests
+    AvrsDescribeSimRestRequest(sps, cfg)
+
     if os.environ.get('AVRS_WITH_DEMO', '0') == '1':
         AvrsDemoRequest(sps, cfg)
 

avrs/race_cloud.py

@@ -387,7 +387,7 @@ class AvrsRaceCloud(AvrsApiRequest):
             bash_kill_process('Autoverse')
         if args.action == 'start' or args.action == 'restart':
             logger.info('starting race-cloud simulator program')
-            print('starting sim program on sim instance')
+            #print('starting sim program on sim instance')
             exe_path = os.path.join(get_sim_exe_path())
             start_exe(exe_path)
         if args.action == 'get-log':

avrs/race_cloud_cfg_util.py

@@ -62,8 +62,9 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
     eav24['body']['bPublishGroundTruth'] = False
     eav24['body']['bPublishInputs'] = False
 
-    logger.info('disabling hud for received vehicle config')
-    eav24['body']['bHudEnabled'] = False
+    # do not disable HUD
+    #logger.info('disabling hud for received vehicle config')
+    #eav24['body']['bHudEnabled'] = False
 
     logger.info('setting bsu vcan to: {}, kistler to: {}, and badenia to: {}'.format(
         bsu_vcan, kistler_vcan, badenia_vcan))
@@ -71,6 +72,55 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
     eav24['body']['kistlerCanName'] = kistler_vcan
     eav24['body']['badeniaCanName'] = badenia_vcan
 
+    # limit can rates to conserve resources
+
+    if eav24["body"]["canReceiveRate"] > 10000:
+        logger.info("can rx was > 10000. clamping")
+        eav24["body"]["canReceiveRate"]
+
+    if eav24["body"]["canLowSendRate"] > 10:
+        logger.info("can tx low was > 10. clamping")
+        eav24["body"]["canLowSendRate"] = 10
+
+    if eav24["body"]["canMedSendRate"] > 100:
+        logger.info("can tx med was > 100. clamping")
+        eav24["body"]["canMedSendRate"] = 100
+
+    if eav24["body"]["canHighSendRate"] > 500:
+        logger.info("can tx high was > 500. clamping")
+        eav24["body"]["canHighSendRate"] = 500
+
+    # clamp vectornav rates
+
+    vn = get_payload(cfg_object, "VectornavIpd")
+    if vn.get("namedDataStreams", {}).get("CommonGroup", {}).get("rateHz", 0) > 100:
+        logger.info("vn CommonGroup rate was > 100. clamping")
+        vn["namedDataStreams"]["CommonGroup"]["rateHz"] = 100
+
+    if vn.get("namedDataStreams", {}).get("GpsGroup", {}).get("rateHz", 0) > 10:
+        logger.info("vn GpsGroup rate was > 10. clamping")
+        vn["namedDataStreams"]["GpsGroup"]["rateHz"] = 10
+
+    if vn.get("namedDataStreams", {}).get("Gps2Group", {}).get("rateHz", 0) > 10:
+        logger.info("vn Gps2Group rate was > 10. clamping")
+        vn["namedDataStreams"]["Gps2Group"]["rateHz"] = 10
+
+    if vn.get("namedDataStreams", {}).get("ImuGroup", {}).get("rateHz", 0) > 150:
+        logger.info("vn ImuGroup rate was > 150. clamping")
+        vn["namedDataStreams"]["ImuGroup"]["rateHz"] = 150
+
+    if vn.get("namedDataStreams", {}).get("AttitudeGroup", {}).get("rateHz", 0) > 100:
+        logger.info("vn AttitudeGroup rate was > 100. clamping")
+        vn["namedDataStreams"]["AttitudeGroup"]["rateHz"] = 100
+
+    if vn.get("namedDataStreams", {}).get("Tii", {}).get("rateHz", 0) > 100:
+        logger.info("vn Tii rate was > 100. clamping")
+        vn["namedDataStreams"]["Tii"]["rateHz"] = 100
+
+    if vn.get("namedDataStreams", {}).get("NavSatFix", {}).get("rateHz", 0) > 10:
+        logger.info("vn NavSatFix rate was > 10. clamping")
+        vn["namedDataStreams"]["NavSatFix"]["rateHz"] = 10
+
     ros2 = get_payload(cfg_object, 'Ros2')
     if ros2 is None:
         logger.info('no ros2 payload found. adding with domain id {}'.format(slot))
@@ -122,6 +172,18 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
         logger.info('found GroundTruthSensor payload. ensuring it is enabled')
         gtc['bEnabled'] = True
 
+    # limit gt rates
+
+    gtc = get_payload(cfg_object, 'GroundTruthSensor')
+    if gtc["body"]["myGroundTruthDsd"]["rateHz"] > 100:
+        logger.info("myGroundTruthDsd rate was > 100. clamping")
+        gtc["body"]["myGroundTruthDsd"]["rateHz"] = 100
+
+    if gtc["body"]["opponentGroundTruthDsd"]["rateHz"] > 100:
+        logger.info("opponentGroundTruthDsd rate was > 100. clamping")
+        gtc["body"]["opponentGroundTruthDsd"]["rateHz"] = 100
+
+
     # 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))

avrs/requests/fault_injection.py

@@ -16,7 +16,7 @@ def add_base_injection_args(psr):
     psr.add_argument(
         '--target',
         default='ego',
-        help='the simulated object to apply the fault to')
+        help='the simulated object to apply the command to')
 
     psr.add_argument(
         '--duration',

avrs/requests/misc.py

@@ -1,4 +1,5 @@
 from avrs.requests.request import AvrsApiRequest
+from avrs.requests.rest_request import AvrsRestApiRequest
 
 class AvrsGetSimVersionRequest(AvrsApiRequest):
     def __init__(self, parser, cfg):
@@ -10,6 +11,15 @@ class AvrsGetSimVersionRequest(AvrsApiRequest):
         return {
         }
 
+class AvrsDescribeSimRestRequest(AvrsRestApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsRestApiRequest.__init__(self, parser, cfg, '/api/v1.0/describe-app', 'GET')
+        psr = parser.add_parser('describe-app', help='get the version of the currently running simulator')
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_params(self, args):
+        return {}
+
 class AvrsGetExitSimRequest(AvrsApiRequest):
     def __init__(self, parser, cfg):
         AvrsApiRequest.__init__(self, parser, cfg, 'ExitSim', 0)

avrs/requests/race_control.py

@@ -4,7 +4,7 @@ from avrs.requests.request import AvrsApiRequest
 class AvrsRaceControlRequest(AvrsApiRequest):
     def __init__(self, parser, cfg):
         AvrsApiRequest.__init__(self, parser, cfg, 'RaceControl', 'Ego')
-        psr = parser.add_parser('race-control', help='command an object to move to a landmark')
+        psr = parser.add_parser('race-control', help='send different flags to the race control')
 
         psr.add_argument(
             '--session-type', 
@@ -23,6 +23,12 @@ class AvrsRaceControlRequest(AvrsApiRequest):
             type=int, 
             default=-1,
             help='the id of the car flag to set')
+        
+        psr.add_argument(
+            '--sector-flag', 
+            type=int, 
+            default=-1,
+            help='the id of the sector flag to set')
 
         psr.add_argument(
             '--object-name', 
@@ -37,5 +43,6 @@ class AvrsRaceControlRequest(AvrsApiRequest):
         return {
             'sessionType': args.session_type,
             'trackFlag': args.track_flag,
-            'carFlag': args.car_flag
+            'carFlag': args.car_flag,
+            'sectorFlag': args.sector_flag
         }

avrs/requests/rest_request.py

@@ -0,0 +1,45 @@
+import socket
+import json
+import os
+import os.path
+import multiprocessing
+import time
+import sys
+import http.client
+
+# the new API request
+
+class AvrsRestApiRequest:
+    def __init__(self, parser, cfg, endpoint, method):
+        self.endpoint = endpoint
+        self.method = method
+        self.verbose = False
+        self.cfg = cfg
+
+    def get_request_body(self, args):
+        return {}
+
+    def get_request_params(self, args):
+        return {}
+
+    def send_request(self, args):
+
+        sim_address = '0.0.0.0'
+        # if 'sim_address' in self.cfg:
+        #     sim_address = self.cfg['sim_address']
+        # connection_addr = os.environ.get('AVRS_SIM_ADDRESS', sim_address)
+
+        sim_port = 51111
+        # if 'sim_api_port' in self.cfg:
+        #     sim_port = self.cfg['sim_api_port']
+
+        if args.verbose:
+            print('sending request to: {}:{}'.format(sim_address, sim_port))
+        connection = http.client.HTTPConnection(sim_address, sim_port, timeout=10)
+        headers = {'Content-type': 'application/json'}
+        body = json.dumps(self.get_request_body(args)).encode('utf-8')
+        connection.request(self.method, self.endpoint, body, headers)
+        response = connection.getresponse()
+        if response.status != 200:
+            print('response had status code {}'.format(response.status))
+        print('{}'.format(response.read().decode('utf-8')))