autoverse-cli 0.28.1__py3-none-any.whl

avrs/race_cloud_cfg_util.py

@@ -0,0 +1,310 @@
+import os
+import glob
+import json
+import base64
+import logging
+import datetime
+
+from avrs.simconfig_util import *
+
+# these corresond to what SimConfigFiles sets in its init
+# and should autospawns configured
+# todo: we could parse these from simconfig.json's environments
+# inside SimConfigFiles instead of doing it manually
+EXPECTED_ENV_NAMES = [
+    "yas",
+    "adrome",
+    "suzuka",
+    "yasnorth"
+]
+
+def get_payload(cfg_object, payload_name):
+    for p in cfg_object['payloads']:
+        if p['typeName'].lower() == payload_name.lower():
+            return p
+    return None
+
+def clear_autospawns():
+    logger = logging.getLogger('avrs')
+    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()
+    if not cfg_ok:
+        logger.error(msg)
+        return
+
+    # also remove all configs from Objects dir
+    files = glob.glob(os.path.join(sim_saved, 'Objects/*'))
+    for f in files:
+        # do not remove default !!
+        if 'Eav24_default' in f:
+            logger.info('not removing {} because it is the default'.format(f))
+        else:
+            logger.info('removing object config: {}'.format(f))
+            os.remove(f)
+
+
+    for ee in EXPECTED_ENV_NAMES:
+        cfg_files.files[ee]['autoSpawnObjects'] = []
+    
+    # keep the default!
+    cfg_files.files['main']['objectTemplatePaths'] = ['Objects/Eav24_default.json']
+
+    # we want splitscreen in cloud
+    cfg_files.files['main']['bEnableSplitscreen'] = True
+
+    cfg_files.save()
+
+def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan, badenia_vcan):
+    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 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:
+        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
+    eav24['body']['bRenderHudInWorld'] = True
+
+    # do not disable HUD
+    #logger.info('disabling hud for received vehicle config')
+    eav24['body']['bHudEnabled'] = True
+
+    logger.info('setting primary vcan to: {}, secondary to: {}, and <unused> to: {}'.format(
+        bsu_vcan, kistler_vcan, badenia_vcan))
+    eav24['body']['primaryCanName'] = bsu_vcan
+    eav24['body']['secondaryCanName'] = 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"] = 10000
+
+    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("body", {}).get("sensorDesc", {}).get("namedDataStreams", {}).get("CommonGroup", {}).get("rateHz", 0) > 100:
+        logger.info("vn CommonGroup rate was > 100. clamping")
+        vn["body"]["sensorDesc"]["namedDataStreams"]["CommonGroup"]["rateHz"] = 100
+
+    if vn.get("body", {}).get("sensorDesc", {}).get("namedDataStreams", {}).get("GpsGroup", {}).get("rateHz", 0) > 10:
+        logger.info("vn GpsGroup rate was > 10. clamping")
+        vn["body"]["sensorDesc"]["namedDataStreams"]["GpsGroup"]["rateHz"] = 10
+
+    if vn.get("body", {}).get("sensorDesc", {}).get("namedDataStreams", {}).get("Gps2Group", {}).get("rateHz", 0) > 10:
+        logger.info("vn Gps2Group rate was > 10. clamping")
+        vn["body"]["sensorDesc"]["namedDataStreams"]["Gps2Group"]["rateHz"] = 10
+
+    if vn.get("body", {}).get("sensorDesc", {}).get("namedDataStreams", {}).get("ImuGroup", {}).get("rateHz", 0) > 150:
+        logger.info("vn ImuGroup rate was > 150. clamping")
+        vn["body"]["sensorDesc"]["namedDataStreams"]["ImuGroup"]["rateHz"] = 150
+
+    if vn.get("body", {}).get("sensorDesc", {}).get("namedDataStreams", {}).get("AttitudeGroup", {}).get("rateHz", 0) > 100:
+        logger.info("vn AttitudeGroup rate was > 100. clamping")
+        vn["body"]["sensorDesc"]["namedDataStreams"]["AttitudeGroup"]["rateHz"] = 100
+
+    if vn.get("body", {}).get("sensorDesc", {}).get("namedDataStreams", {}).get("Tii", {}).get("rateHz", 0) > 100:
+        logger.info("vn Tii rate was > 100. clamping")
+        vn["body"]["sensorDesc"]["namedDataStreams"]["Tii"]["rateHz"] = 100
+
+    if vn.get("body", {}).get("sensorDesc", {}).get("namedDataStreams", {}).get("NavSatFix", {}).get("rateHz", 0) > 10:
+        logger.info("vn NavSatFix rate was > 10. clamping")
+        vn["body"]["sensorDesc"]["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))
+        # 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())
+        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': {
+
+            }
+        })
+    else:
+        logger.info('found WorldTextComponent payload. ensuring it is enabled')
+        wtc['bEnabled'] = True
+
+    # auto add / enable ground truth payload
+    gtc = get_payload(cfg_object, 'GroundTruthSensor')
+    if gtc is None:
+        logger.info('no GroundTruthSensor payload found. adding')
+        cfg_object['payloads'].append({
+            'typeName': 'GroundTruthSensor',
+            'body': {
+                'myGroundTruthDsd': {
+                    'streamName': 'ground_truth',
+                    'rateHz': 50.0
+                },
+                'opponentGroundTruthDsd': {
+                    'streamName': 'v2v_ground_truth',
+                    'rateHz': 50.0
+                },
+                'bUseOpponentRelativeRotation': False 
+            }
+        })
+    else:
+        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))
+        cfg_object['name'] = 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', 
+        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 = 'PitsSlot{}'.format(slot + 1)
+
+    for ee in EXPECTED_ENV_NAMES:
+        entry_exists = False
+
+        # we want logging on for all environments
+        cfg_files.files[ee]['bAutoRecordVehicles'] = True
+
+        for i in cfg_files.files[ee]['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[ee]['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(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()
+
+    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')
+    #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)
+
+    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)
+
+
+
+    bsu_vcan = eav24['body'].get('primaryCanName', '')
+    if bsu_vcan == '':
+        logger.info('primaryCanName key not found, trying old bsuCanName')
+        bsu_vcan = eav24['body'].get('bsuCanName', '')
+    kistler_vcan = eav24['body'].get('secondaryCanName', '')
+    if kistler_vcan == '':
+        logger.info('secondaryCanName key not found, trying old kistlerCanName')
+        kistler_vcan = eav24['body'].get('kistlerCanName', '')
+    badenia_vcan = 'unused'
+
+    if bsu_vcan == '':
+        logger.error('could not find either primaryCanName or bsuCanName')
+    if kistler_vcan == '':
+        logger.error('could not find either secondaryCanName or kistlerCanName')
+
+    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)
+

avrs/race_cloud_fwd_api.py

@@ -0,0 +1,49 @@
+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)
+        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()
+        self.wfile.write(sim_response.encode('utf-8'))
+        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') # already a string here
+        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
+