autoverse-cli 0.19.3__py3-none-any.whl → 0.19.5__py3-none-any.whl

{autoverse_cli-0.19.3.dist-info → autoverse_cli-0.19.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: autoverse-cli
-Version: 0.19.3
+Version: 0.19.5
 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-0.19.3.dist-info → autoverse_cli-0.19.5.dist-info}/RECORD

@@ -1,6 +1,6 @@
-autoverse_cli-0.19.3.dist-info/licenses/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
+autoverse_cli-0.19.5.dist-info/licenses/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
 avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-avrs/app_version.py,sha256=2R8nUXbZBrRejAzRlA93dVyTgSFo_m80e3LElWphhbk,856
+avrs/app_version.py,sha256=Jnu1h5hX14BcogR5uiQaMmmviWWqv-SW9RoekGUilMM,856
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
 avrs/avrs.py,sha256=oTtEGdiKJUw03EpKKvgwWahbr9OxxJW3uSrCuFt7DDg,4755
 avrs/can_tool.py,sha256=IBoctKobBJ3wCq4ZdtuXuXH4AMEUxazCfYT6YP0Luw8,7161
@@ -8,16 +8,16 @@ 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=F95_ssdiKpkmTQQkqllaLJJFAnLK3NEfRiQZcofgDGo,20125
+avrs/race_cloud.py,sha256=0m7BdclKhTrqdAA2kLIobwfoYA8X_PRDCFWoizHtPIQ,20124
 avrs/race_cloud_bridge_can.py,sha256=K3is7GFzWo2KBojr6V65kz138UfkVFXXofVxSAziArY,2888
-avrs/race_cloud_cfg_util.py,sha256=enflYBseoJOPdf7ntFw-CAlT95WXwixOURREk0y_7vA,10811
-avrs/race_cloud_fwd_api.py,sha256=HuLE5kfmzVq08aP3tlEh3f8WNjGL5N3K5EbXg9uQomo,1506
-avrs/race_cloud_util.py,sha256=WwhmqxKIQJMxf4L4ReAJrW1Reu1A8tLfmYeEwTZDl-k,13184
+avrs/race_cloud_cfg_util.py,sha256=TImuouwekbl3nfGQBNx_dNMyW0h0Tnl4n_J0-eUwZ_s,11552
+avrs/race_cloud_fwd_api.py,sha256=jB4kt6Shu9Pj96WPVjK790PZjucYxmuHjjVKczQfyZI,1620
+avrs/race_cloud_util.py,sha256=g1gCxmK-8n32aNj0NWEiZr79s1rB0EYbGmNLabsIW0U,14297
 avrs/simconfig.py,sha256=UZc4FrxVHUkk2e9IglSpuojXkaL_nPrJW7trbEGgOOo,2907
 avrs/simconfig_util.py,sha256=1RmnmhK5C4HlCicTQeqn-1ORz3Xrku_QMt1Fqr9XjZs,4839
 avrs/tests.py,sha256=3JeYBjn0tRqHXERDROfzmYuW1KXeCcKur5Bw-EIegto,153
 avrs/util.py,sha256=SB8Jgsh8IpFdpy3pWPuEoYExLed9XimEAMtYn4gU42g,301
-avrs/requests/change_camera.py,sha256=JTZG9K_BP3wTJxc084ehHKf-TUrBOuaYqOnkvR3OzFU,851
+avrs/requests/change_camera.py,sha256=p7S5C2KtSBuknj4-0jkAJtTQcdlSQ5Mwm0lmZIk3QTI,857
 avrs/requests/code_booz.py,sha256=SXaEAMTqID4lf1o_4Cc1wY9609X-dNcfNa-UZv3FWF4,2471
 avrs/requests/demo.py,sha256=cbGQJK-OfeFUkQwVzafHgoWP15xoKL-ZgYkQ7moEt2A,872
 avrs/requests/dump_sim_config.py,sha256=ePtJZhq3gYLgMQkbi-YObIAaPk3Z2b0NWlWM5IYkCaM,479
@@ -40,9 +40,9 @@ avrs/requests/teleport.py,sha256=5x2eJAv3zloYO27ghCkIiIuvLgVQHhO-UrUMYDfI9Ro,140
 avrs/requests/toggle_hud.py,sha256=sV5t5QZc4uvRihPVk8jEKZiQNsyF9tsUwq5b4jjZplc,397
 avrs/requests/vd.py,sha256=Rd0mCc89m2yKjftVf0cMHMFbJG4iFd09KzrI-DsCLgI,2606
 avrs/requests/vehicle_input.py,sha256=R1b1xkRtOBkwyU6OSN4bWVlYsIUroZG0WKbYbc4pEH8,729
-avrs/requests/vehicle_replay.py,sha256=8kFzR0u7DSxedgtV6_Bl1XgPxMptupUa0TqEhqiejWY,11105
-autoverse_cli-0.19.3.dist-info/METADATA,sha256=idKeKh1tjUKj8X8eFDo6tSMxty2OWlV8Ydr0rD9dH0g,3364
-autoverse_cli-0.19.3.dist-info/WHEEL,sha256=DnLRTWE75wApRYVsjgc6wsVswC54sMSJhAEd4xhDpBk,91
-autoverse_cli-0.19.3.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.19.3.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.19.3.dist-info/RECORD,,
+avrs/requests/vehicle_replay.py,sha256=dQ9jQX8UhC5hNbdSu_zTn4gicR2GuTCyOmSBiCYBipI,14696
+autoverse_cli-0.19.5.dist-info/METADATA,sha256=X-MYLwfngWxnGM3dao5SgPsO-2fTdCcFFEp10Qg5yEM,3364
+autoverse_cli-0.19.5.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+autoverse_cli-0.19.5.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.19.5.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.19.5.dist-info/RECORD,,

{autoverse_cli-0.19.3.dist-info → autoverse_cli-0.19.5.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.4.0)
+Generator: setuptools (80.9.0)
 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 '0.19.3'
+    return '0.19.5'
 
 def check_app_is_latest():
     pass

avrs/race_cloud.py

@@ -336,7 +336,7 @@ class AvrsRaceCloud(AvrsApiRequest):
             out = connect_peer_vcan(slot, args.ip, 1)
             logger.info('connected second vcan result: {} {}'.format(out.out, out.err))
             out = connect_peer_vcan(slot, args.ip, 2)
-            logger.info('connected second vcan result: {} {}'.format(out.out, out.err))
+            logger.info('connected third vcan result: {} {}'.format(out.out, out.err))
 
         # go ahead and restart forwarding script here
         # stop it if its already running

avrs/race_cloud_cfg_util.py

@@ -3,6 +3,7 @@ import glob
 import json
 import base64
 import logging
+import datetime
 
 from avrs.simconfig_util import *
 
@@ -50,6 +51,12 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
     cfg_string = base64.b64decode(cfg_data)
     cfg_object = json.loads(cfg_string.decode('utf-8'))
 
+    # ensure replay for recording is enabled
+    logger.info('ensuring replay component is enabled')
+    replay = get_payload(cfg_object, 'WheeledVehicleReplayIpd')
+    replay['bEnabled'] = True
+    replay['body']['bEnableRecording'] = True
+
     # ensure perception is disabled
     eav24 = get_payload(cfg_object, 'Eav24Initializer')
     if eav24 is None:
@@ -61,10 +68,11 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
     eav24['body']['bRadarEnabled'] = False
     eav24['body']['bPublishGroundTruth'] = False
     eav24['body']['bPublishInputs'] = False
+    eav24['body']['bRenderHudInWorld'] = True
 
     # do not disable HUD
     #logger.info('disabling hud for received vehicle config')
-    #eav24['body']['bHudEnabled'] = False
+    eav24['body']['bHudEnabled'] = True
 
     logger.info('setting primary vcan to: {}, secondary to: {}, and <unused> to: {}'.format(
         bsu_vcan, kistler_vcan, badenia_vcan))
@@ -76,7 +84,7 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
 
     if eav24["body"]["canReceiveRate"] > 10000:
         logger.info("can rx was > 10000. clamping")
-        eav24["body"]["canReceiveRate"]
+        eav24["body"]["canReceiveRate"] = 10000
 
     if eav24["body"]["canLowSendRate"] > 10:
         logger.info("can tx low was > 10. clamping")
@@ -230,6 +238,13 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
     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)
+    backup_path = os.path.join(os.environ['HOME'], 'team_configs')
+    if not os.path.exists(backup_path):
+        os.mkdir(backup_path)
+    date_time = datetime.datetime.now(datetime.timezone.utc).strftime("%Y_%m_%d_%H_%M_%S")
+    backup_path = os.path.join(backup_path, '{}_{}'.format(date_time,new_cfg_name))
+    with open(backup_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')

avrs/race_cloud_fwd_api.py

@@ -22,6 +22,10 @@ class ApiForwardHandler(BaseHTTPRequestHandler):
         length = int(self.headers.get('content-length'))
         rfile_str = self.rfile.read(length).decode('utf8')
         sim_response = self.get_fwd_response(rfile_str)
+        try:
+            print("{} : {}".format(self.client_address, rfile_str))
+        except:
+            pass
         self.send_response(HTTPStatus.OK)
         self.send_header("Content-Type", "application/json")
         self.end_headers()

avrs/race_cloud_util.py

@@ -55,6 +55,13 @@ DEFAULT_RMW_QOS = '''
                     <!--<locator> <udpv4> <address>PEER_3</address> </udpv4> </locator>PEER3-->
                     <!--<locator> <udpv4> <address>PEER_4</address> </udpv4> </locator>PEER4-->
                     <!--<locator> <udpv4> <address>PEER_5</address> </udpv4> </locator>PEER5-->
+                    <!--<locator> <udpv4> <address>PEER_6</address> </udpv4> </locator>PEER6-->
+                    <!--<locator> <udpv4> <address>PEER_7</address> </udpv4> </locator>PEER7-->
+                    <!--<locator> <udpv4> <address>PEER_8</address> </udpv4> </locator>PEER8-->
+                    <!--<locator> <udpv4> <address>PEER_9</address> </udpv4> </locator>PEER9-->
+                    <!--<locator> <udpv4> <address>PEER_10</address> </udpv4> </locator>PEER10-->
+                    <!--<locator> <udpv4> <address>PEER_11</address> </udpv4> </locator>PEER11-->
+                    <!--<locator> <udpv4> <address>PEER_12</address> </udpv4> </locator>PEER12-->
                 </initialPeersList>
             </builtin>
             <userTransports>
@@ -80,6 +87,13 @@ DEFAULT_RMW_CYCLONE = '''
                         <!--<Peer address='PEER_3'/>PEER3-->
                         <!--<Peer address='PEER_4'/>PEER4-->
                         <!--<Peer address='PEER_5'/>PEER5-->
+                        <!--<Peer address='PEER_6'/>PEER6-->
+                        <!--<Peer address='PEER_7'/>PEER7-->
+                        <!--<Peer address='PEER_8'/>PEER8-->
+                        <!--<Peer address='PEER_9'/>PEER9-->
+                        <!--<Peer address='PEER_10'/>PEER10-->
+                        <!--<Peer address='PEER_11'/>PEER11-->
+                        <!--<Peer address='PEER_12'/>PEER12-->
                 </Peers>
             </Discovery>
         </Domain>
@@ -161,7 +175,7 @@ CREATE_VCANS_SCRIPT = '''
 '''
 
 START_FWD_API_SCRIPT = '''
-    nohup avrs race-cloud fwd-api fg {source_port} {target_port} > ~/fwd_api.log 2>&1 < /dev/null &
+    nohup avrs race-cloud fwd-api fg {source_port} {target_port} >> ~/fwd_api.log 2>&1 < /dev/null &
     echo "$!" > ~/fwd_api_pid
 '''
 
@@ -325,7 +339,7 @@ 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):
+    for i in range(12):
         slot_file_path = os.path.join(slot_file_dir, '.simslot_{}'.format(i))
 
         if os.path.isfile(slot_file_path):

avrs/requests/change_camera.py

@@ -6,8 +6,8 @@ class AvrsChangeCameraRequest(AvrsApiRequest):
         psr = parser.add_parser('change-camera', help='changes the active camera on an object')
 
         psr.add_argument(
-            '--object-name',
-            default='ego',
+            'object_name',
+            metavar='object-name',
             help='the specific object to change cameras on')
 
         psr.add_argument(

avrs/requests/vehicle_replay.py

@@ -11,6 +11,7 @@ class AvrsVehicleReplayRequests():
         StartVehicleReplayRecording(sps, cfg)
         StopVehicleReplayRecording(sps, cfg)
         DespawnReplayVehicle(sps, cfg)
+        SpawnVehicleReplayGroup(sps, cfg)
 
 class SpawnReplayVehicle(AvrsApiRequest):
     def __init__(self, parser, cfg):
@@ -79,6 +80,11 @@ class SpawnReplayVehicle(AvrsApiRequest):
             default=1,
             help='the number of npcs to spawn (only works with automatic name)')
 
+        psr.add_argument(
+            '--group-name',
+            default="",
+            help="if specified, all vehicles will begin recording with the given group name")
+
         psr.add_argument(
             '--enable-front-lidar',
             action='store_true',
@@ -125,7 +131,9 @@ class SpawnReplayVehicle(AvrsApiRequest):
                 'bUseRandomProfile': args.replay_file == 'random',
                 'replayAction': 'start' if args.auto_start else '',
                 'bStartReplayAtRandomTime': args.random_start,
-                'relativeDistance': args.relative_dist
+                'relativeDistance': args.relative_dist,
+                'bRecordAllVehiclesAsGroup': args.group_name != "",
+                'RecordingGroupName': args.group_name
             }
         }
 
@@ -221,6 +229,21 @@ class SpawnReplayVehicle(AvrsApiRequest):
             }
         }
 
+        world_label_pld = {
+            "typeName": "WorldTextComponent",
+            "bEnabled": True,
+            "body": {
+                "bUseObjectName": False,
+                "defaultString": "",
+                "fontSize": 34,
+                "offsetCm": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 150
+                }
+            }
+        }
+
         plds = [
             {
                 'typeName': 'WheeledVehicleReplayIpd',
@@ -244,7 +267,8 @@ class SpawnReplayVehicle(AvrsApiRequest):
                 'typeName': 'GenericLidarIpd',
                 'bEnabled': args.enable_right_lidar,
                 'body': lidar_right_pld
-            }
+            },
+            world_label_pld
         ]
 
         if args.with_view_cameras:
@@ -274,6 +298,36 @@ class SpawnReplayVehicle(AvrsApiRequest):
             'Payloads': plds
         }
 
+class SpawnVehicleReplayGroup(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ConfigureVehicleReplay', '')
+        psr = parser.add_parser(
+            'spawn-group', help='spawn each replay vehicle for a given group', formatter_class=RawTextHelpFormatter)
+
+        psr.add_argument(
+            'group_name',
+            default="",
+            help="if specified, all vehicles will begin recording with the given group name")
+
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+
+        return {
+            'PlayRate': -1.0,
+            'profile': '',
+            'replayAction': 'start',
+            #'teleportLocation': '',
+            'recordAction': '',
+            'bShouldOverrideRecordSingleLap': False,
+            'bRecordSingleLapOverride': False,
+            'bShouldOverrideRecordMinSpeedThresh': False,
+            'RecordMinSpeedThreshOverride': -1.0,
+            'recordFileName': '',
+            'recordRateHz': 100,
+            "RecordingGroupName": args.group_name
+        }
+
 class StartVehicleReplayRecording(AvrsApiRequest):
     def __init__(self, parser, cfg):
         AvrsApiRequest.__init__(self, parser, cfg, 'ConfigureVehicleReplay', 'Ego')
@@ -284,24 +338,50 @@ class StartVehicleReplayRecording(AvrsApiRequest):
             'out_file',
             help='the file name to use for the saved recording')
 
+        psr.add_argument('--object-name', default='Ego', help='the name of the object to record')
+
         psr.add_argument(
             '--rate-hz',
             type=float,
             default=100.0, 
             help='the rate to record vehicle motion. high rates will produce large files')
 
+        psr.add_argument(
+            '--group-name',
+            default="",
+            help="if specified, all vehicles will begin recording with the given group name")
+
+        psr.add_argument(
+            '--not-single-lap',
+            action='store_true', 
+            help='if set, recording will not try to capture exactly one lap and must be stopped by the user')
+
         psr.set_defaults(func=self.send_request)
     
 
     def get_request_body(self, args):
+        self.target_object_id = args.object_name
+
+        # we do not want to default to ego for group recordings
+        # because we want the replay manager to handle them
+        if args.group_name != "":
+            self.target_object_id = ""
+            # it doesnt make sense to do group recordings as single laps
+            args.not_single_lap = True
+
         return {
             'PlayRate': -1.0,
             'profile': '',
             'replayAction': '',
             #'teleportLocation': '',
             'recordAction': 'start',
+            'bShouldOverrideRecordSingleLap': args.not_single_lap,
+            'bRecordSingleLapOverride': not args.not_single_lap,
+            'bShouldOverrideRecordMinSpeedThresh': args.group_name != "", # no min speed for groups
+            'RecordMinSpeedThreshOverride': -1.0,
             'recordFileName': args.out_file,
-            'recordRateHz': args.rate_hz
+            'recordRateHz': args.rate_hz,
+            "RecordingGroupName": args.group_name
         }
 
 class StopVehicleReplayRecording(AvrsApiRequest):
@@ -309,12 +389,27 @@ class StopVehicleReplayRecording(AvrsApiRequest):
         AvrsApiRequest.__init__(self, parser, cfg, 'ConfigureVehicleReplay', 'Ego')
         psr = parser.add_parser(
             'stop-recording', help='begin recording vehicle motion', formatter_class=RawTextHelpFormatter)
+
+        psr.add_argument('--object-name', default='Ego', help='the name of the object to record')
+
+        psr.add_argument(
+            '--group-name',
+            default="",
+            help="if specified, all vehicles will begin recording with the given group name")
+
         psr.set_defaults(func=self.send_request)
     
 
     def get_request_body(self, args):
+        self.target_object_id = args.object_name
+
+        # we do not want to default to ego for group recordings
+        # because we want the replay manager to handle them
+        if args.group_name != "":
+            self.target_object_id = ""
         return {
             'recordAction': 'stop',
+            "RecordingGroupName": args.group_name
         }
 
 class DespawnReplayVehicle(AvrsApiRequest):