autoverse-cli 0.28.1__py3-none-any.whl

avrs/requests/fault_injection.py

@@ -0,0 +1,186 @@
+from avrs.requests.request import AvrsApiRequest
+from argparse import RawDescriptionHelpFormatter
+from argparse import RawTextHelpFormatter
+
+class AvrsFaultInjectionRequests():
+    def __init__(self, parser, cfg):
+        psr = parser.add_parser('inject-fault', help='utilty to inject faults into components (sensors, actuators, etc)')
+        sps = psr.add_subparsers(required= True, help='sub-command inject-fault')
+        AvrsGnssFaultRequest(sps, cfg)
+        AvrsLidarFaultRequest(sps, cfg)
+        AvrsImuFaultRequest(sps, cfg)
+        AvrsCanFaultRequest(sps, cfg)
+    
+def add_base_injection_args(psr):
+
+    psr.add_argument(
+        '--target',
+        default='ego',
+        help='the simulated object to apply the command to')
+
+    psr.add_argument(
+        '--duration',
+        type=float,
+        default=1.0,
+        help='how long to apply the fault (0.0 is infinite)')
+
+    psr.add_argument(
+            '--dropout',
+            action='store_true',
+            help='if specified, will apply a complete dropout fault')
+
+    psr.add_argument(
+            '--freeze',
+            action='store_true',
+            help='if specified, will freeze the data (values will not change)')
+
+class AvrsGnssFaultRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'FaultInjection', '')
+
+        psr = parser.add_parser(
+            'gnss', 
+            help='inject a gnss fault', 
+            formatter_class=RawTextHelpFormatter)
+
+        psr.add_argument(
+            '--horizontal-bias',
+            type=float,
+            default=0.0,
+            help='horizontal bias to apply to the sensor as a fault')
+
+        psr.add_argument(
+            '--vertical-bias',
+            type=float,
+            default=0.0,
+            help='vertical bias to apply to the sensor as a fault')
+
+        psr.add_argument(
+            '--horizontal-stdev',
+            type=float,
+            default=0.0,
+            help='horizontal standard deviation to apply to the sensor')
+
+        psr.add_argument(
+            '--vertical-stdev',
+            type=float,
+            default=0.0,
+            help='vertical standard deviation to apply to the sensor')
+
+        add_base_injection_args(psr)
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        self.target_object_id = args.target
+        self.verbose = args.verbose
+        return {
+            'faultType': 'GnssFault',
+            'duration': args.duration,
+            'bIsDropout': args.dropout,
+            'bIsFreeze': args.freeze,
+            'JsonBody': {
+                'verticalBias': args.vertical_bias,
+                'verticalStdev': args.vertical_stdev,
+                'horizontalBias': args.horizontal_bias,
+                'horizontalStdev': args.horizontal_stdev
+            }
+        }
+
+class AvrsImuFaultRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'FaultInjection', '')
+
+        psr = parser.add_parser(
+            'imu', 
+            help='inject an imu fault', 
+            formatter_class=RawTextHelpFormatter)
+
+        psr.add_argument(
+            '--bias',
+            type=float,
+            default=0.0,
+            help='horizontal bias to apply to the sensor as a fault')
+
+        psr.add_argument(
+            '--stdev',
+            type=float,
+            default=0.0,
+            help='horizontal standard deviation to apply to the sensor')
+
+        add_base_injection_args(psr)
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        self.target_object_id = args.target
+        self.verbose = args.verbose
+        return {
+            'faultType': 'ImuFault',
+            'duration': args.duration,
+            'bIsDropout': args.dropout,
+            'bIsFreeze': args.freeze,
+            'JsonBody': {
+                'bias': args.bias,
+                'stdev': args.stdev
+            }
+        }
+
+class AvrsLidarFaultRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'FaultInjection', '')
+
+        psr = parser.add_parser(
+            'lidar', 
+            help='inject a lidar fault', 
+            formatter_class=RawTextHelpFormatter)
+
+        psr.add_argument(
+            '--point-density-reduction',
+            type=float,
+            default=0.5,
+            help='the percent of point density reduction, where 1.0 drops all points')
+
+        add_base_injection_args(psr)
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        self.target_object_id = args.target
+        self.verbose = args.verbose
+        return {
+            'faultType': 'LidarFault',
+            'duration': args.duration,
+            'bIsDropout': args.dropout,
+            'bIsFreeze': args.freeze,
+            'JsonBody': {
+                'pointDensityReduction': args.point_density_reduction
+            }
+        }
+
+class AvrsCanFaultRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'FaultInjection', '')
+
+        psr = parser.add_parser(
+            'can', 
+            help='inject a can', 
+            formatter_class=RawTextHelpFormatter)
+
+        psr.add_argument(
+            'can_type',
+            choices = ['bsu', 'badenia', 'kistler', 'all'],
+            help='what type of the can interface you wish to apply the fault to')
+
+        add_base_injection_args(psr)
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        self.target_object_id = args.target
+        self.verbose = args.verbose
+        return {
+            'faultType': 'CanFault',
+            'duration': args.duration,
+            'bIsDropout': True,
+            'bIsFreeze': args.freeze,
+            'JsonBody': {
+                'canType': args.can_type
+            }
+        }

avrs/requests/get_object_config.py

@@ -0,0 +1,18 @@
+from avrs.requests.request import AvrsApiRequest
+
+class AvrsGetObjectConfigRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+            AvrsApiRequest.__init__(self, parser, cfg, 'GetObjectConfig', '')
+            psr = parser.add_parser('get-object-config', help='returns the JSON structure of an objects configuration')
+
+            psr.add_argument(
+                '--target',
+                default='ego',
+                help='the simulated object to return config for')
+
+            psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        self.target_object_id = args.target
+        return {
+        }

avrs/requests/get_web_viz_meta.py

@@ -0,0 +1,11 @@
+from avrs.requests.rest_request import AvrsRestApiRequest
+
+
+class AvrsGetWebVizMetaRequest(AvrsRestApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsRestApiRequest.__init__(self, parser, cfg, '/api/v1.0/get-web-viz-meta', 'GET')
+        psr = parser.add_parser('get-web-viz-meta', help='get metadata from the simulator needed by the web frontend')
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_params(self, args):
+        return {}

avrs/requests/leaderboard.py

@@ -0,0 +1,74 @@
+from avrs.requests.request import AvrsApiRequest
+
+class AvrsLeaderboardRequest():
+    def __init__(self, parser, cfg):
+        psr = parser.add_parser('leaderboard', help='utilities for leaderboard management')
+        sps = psr.add_subparsers(required= True, help='sub-command of leaderboard')
+        ToggleLeaderboard(sps, cfg)
+        ChronoLeaderboard(sps, cfg)
+        LapsLeaderboard(sps, cfg)
+        ResetLeaderboard(sps, cfg)
+
+class ToggleLeaderboard(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ToggleLeaderboard', '')
+        psr = parser.add_parser('toggle', help='Toggles the leaderboard on or off')
+
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        self.target_object_id = ''
+        return {
+        }
+    
+class ChronoLeaderboard(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ChronoLeaderboard', '')
+        psr = parser.add_parser('chrono', help='Displays some options for the chrono in free practice and qualifying')
+        
+        group = psr.add_mutually_exclusive_group()
+        group.add_argument('--start', action='store_true', help="Start the timer")
+        group.add_argument('--stop', action='store_true', help="Stop the timer")
+        group.add_argument('--reset', action='store_true', help="Reset the timer to its initial value")
+
+        psr.add_argument('--set', type=int, help="Set a new initial value for the timer")
+
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        self.target_object_id = ''
+        return {
+            'Start': args.start,
+            'Stop': args.stop,
+            'Reset': args.reset,
+            'Set': args.set
+        }
+    
+class LapsLeaderboard(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'LapsLeaderboard', '')
+        psr = parser.add_parser('set-laps', help='Set the number of laps to complete the race')
+
+        psr.add_argument('laps', type=int, help='Number of laps')
+
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        self.target_object_id = ''
+        return {
+            'Laps': args.laps
+        }
+    
+class ResetLeaderboard(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ResetLeaderboard', '')
+        psr = parser.add_parser('reset', help='Reset all the leaderboard data')
+
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        self.target_object_id = ''
+        return {
+        }
+    
+    

avrs/requests/list_sim_objects.py

@@ -0,0 +1,26 @@
+from avrs.requests.request import AvrsApiRequest
+
+class AvrsListSimObjectsRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ListSimObjects', 0)
+        psr = parser.add_parser('list-sim-objects', help='list all the sim objects that currently exist in the simulator')
+        psr.add_argument(
+            '-v',
+            action='store_true',
+            help='request verbose output')
+        psr.add_argument(
+            '--components',
+            action='store_true',
+            help='also print information about the object components')
+        psr.add_argument(
+            '--isolate',
+            default='',
+            help='indicate a specific object of interest')
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+            "bVerbose": args.v,
+            'bListComponents': args.components,
+            'isolate': args.isolate
+        }

avrs/requests/log_path.py

@@ -0,0 +1,28 @@
+from avrs.requests.request import AvrsApiRequest
+
+class LogPath(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'LogPath', 'Ego')
+        psr = parser.add_parser('log-path', help='logs the path of the current vehicle so it can be used as' +
+            ' an NPC profile')
+        
+        psr.add_argument('filename', help = 'the name of the file you want')
+        psr.add_argument('time', type = float, help = 'the time in seconds you want to log the vehicle path. If you want to keep continously logging until'
+            + ' end of simulation, enter -1')
+        psr.add_argument('--filepath', nargs='?', help = 'By default the csv saves in your saved folder located in the simulator.' + 
+            ' However if you would like to save to a new location, please provide an ABSOLUTE file path', default = None)
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        if args.filepath == None:
+            return {
+                'Filename' : args.filename,
+                'Time' : args.time,
+                'AbsolutePath' : ""
+            }
+        else:
+            return {
+                'Filename' : args.filename,
+                'Time' : args.time,
+                'Path' : args.filepath
+            }

avrs/requests/misc.py

@@ -0,0 +1,70 @@
+from avrs.requests.request import AvrsApiRequest
+from avrs.requests.rest_request import AvrsRestApiRequest
+
+class AvrsGetSimVersionRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'GetVersion', 0)
+        psr = parser.add_parser('get-sim-version', help='get the version of the currently running simulator')
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+        }
+    
+class AvrsGetSessionIdRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'GetSessionId', 0)
+        psr = parser.add_parser('get-session-id', help='get the session ID of the currently running simulator session')
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        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)
+        psr = parser.add_parser('exit-sim', help='exit the currently running simulator')
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+        }
+
+class AvrsPingRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'GetVersion', 0)
+        psr = parser.add_parser('ping', help='ping the simulator to see if it is running and responsive')
+        psr.set_defaults(func=self.send_ping)
+
+    def send_ping(self, args):
+        try:
+            self.send_http_request(args)
+        except:
+            print('no')
+
+class AvrsConfigureSimLodRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ConfigureSimLod', 'lodctrl')
+        psr = parser.add_parser('set-lod', help='set the LOD of the sim, possibly reducing GPU overhead')
+
+        psr.add_argument(
+            'lod', 
+            type=int, 
+            help='the new lod level to set. 0 is max lod, 1 is min lod')
+
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+            'newLod': args.lod
+        }

avrs/requests/move_to_landmark.py

@@ -0,0 +1,16 @@
+
+from avrs.requests.request import AvrsApiRequest
+
+class MoveToLandmarkRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'MoveToLandmark', 'Ego')
+        psr = parser.add_parser('move-to-landmark', help='command an object to move to a landmark')
+        psr.add_argument('--object-name', default='Ego', help='the name of the object to move')
+        psr.add_argument('landmark', help='the name of the landmark to move the object to')
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        self.target_object_id = args.object_name
+        return {
+            'LandmarkName': args.landmark
+        }