autoverse-cli 0.28.2__py3-none-any.whl → 0.28.3__py3-none-any.whl

{autoverse_cli-0.28.2.dist-info → autoverse_cli-0.28.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: autoverse-cli
-Version: 0.28.2
+Version: 0.28.3
 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-0.28.2.dist-info → autoverse_cli-0.28.3.dist-info}/RECORD

@@ -1,4 +1,4 @@
-autoverse_cli-0.28.2.dist-info/licenses/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
+autoverse_cli-0.28.3.dist-info/licenses/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
 avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 avrs/app_version.py,sha256=ullV714kk4FcU4YhcTqWvwnpaDh3TO1AMKAxlmgp2dM,857
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
@@ -8,11 +8,11 @@ avrs/can_tool_util.py,sha256=G3q21dTGMLc09SDq_RieoW7kSn-kXPkXxPDjavPh4hQ,7710
 avrs/cfg.py,sha256=kMn08Z4Ms1PAu2-U1QI8weEJeIVEppP4A4_tFfwnjtg,2924
 avrs/launcher.py,sha256=uk7xG2JTLJv7FJMDo1diwc-zmTvUxXJME9-0ctrZRuk,11352
 avrs/launcher_util.py,sha256=zXUbJByn9M-ErkNM6DvLCFtUkueYH-R0dehjQj0aYEs,6879
-avrs/race_cloud.py,sha256=0m7BdclKhTrqdAA2kLIobwfoYA8X_PRDCFWoizHtPIQ,20124
+avrs/race_cloud.py,sha256=jcAUPYUSQvO1P-DASkiLpYRzfK7ObHtjqaQ4p_Fg7y8,20143
 avrs/race_cloud_bridge_can.py,sha256=K3is7GFzWo2KBojr6V65kz138UfkVFXXofVxSAziArY,2888
-avrs/race_cloud_cfg_util.py,sha256=TF_gsP7c_39MKs1CyzeXkTH-Fwyd8wLkFkMbqQVmdeo,12066
+avrs/race_cloud_cfg_util.py,sha256=kxeVqCAs1UaZ8FxAIScJcIIn5kR3qtC026os-HpdV5A,13706
 avrs/race_cloud_fwd_api.py,sha256=jB4kt6Shu9Pj96WPVjK790PZjucYxmuHjjVKczQfyZI,1620
-avrs/race_cloud_util.py,sha256=g1gCxmK-8n32aNj0NWEiZr79s1rB0EYbGmNLabsIW0U,14297
+avrs/race_cloud_util.py,sha256=yV7NC7-zGpCvXxzCq2nzRQMu3YdbwNFzQyT59k2V00I,15175
 avrs/shell_completion.py,sha256=_IM85ADKQHYNMlTa1_nhnYWsgdOzRQ7tIFHxAT6EWWA,4298
 avrs/simconfig.py,sha256=UZc4FrxVHUkk2e9IglSpuojXkaL_nPrJW7trbEGgOOo,2907
 avrs/simconfig_util.py,sha256=ronvXg9Mraz60K99ABBvo_YDI1_rWphUWUn_s_voTKw,6044
@@ -44,8 +44,8 @@ avrs/requests/toggle_hud.py,sha256=sV5t5QZc4uvRihPVk8jEKZiQNsyF9tsUwq5b4jjZplc,3
 avrs/requests/vd.py,sha256=Rd0mCc89m2yKjftVf0cMHMFbJG4iFd09KzrI-DsCLgI,2606
 avrs/requests/vehicle_input.py,sha256=R1b1xkRtOBkwyU6OSN4bWVlYsIUroZG0WKbYbc4pEH8,729
 avrs/requests/vehicle_replay.py,sha256=7HPfVLjSLNbOyzU77Bz29qpHqRsMUAIWvnwvnNiw2nk,15026
-autoverse_cli-0.28.2.dist-info/METADATA,sha256=EN_N8x4TzqMGdvq37kRqV-3quJT2GrSWWa0ZV-ec-lc,3935
-autoverse_cli-0.28.2.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-autoverse_cli-0.28.2.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.28.2.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.28.2.dist-info/RECORD,,
+autoverse_cli-0.28.3.dist-info/METADATA,sha256=EXbQmiNN-6TDB1n9TPkZESMdFANMOU726lVwhCV5s7c,3935
+autoverse_cli-0.28.3.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+autoverse_cli-0.28.3.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.28.3.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.28.3.dist-info/RECORD,,

{autoverse_cli-0.28.2.dist-info → autoverse_cli-0.28.3.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.9.0)
+Generator: setuptools (80.10.2)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

avrs/race_cloud.py

@@ -229,6 +229,7 @@ class AvrsRaceCloud(AvrsApiRequest):
         ok, response = call_race_cloud_api(connection_request)
         if not ok:
             print('connect api error: {}'.format(response))
+            return
 
         ok, rbody, sim_ip = get_api_script_response(response)
         if not ok:

avrs/race_cloud_cfg_util.py

@@ -78,13 +78,13 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
     if eav24 is None:
         return (False, 'no eav24 payload found')
 
-    logger.info('disabling perception for received vehicle config')
-    eav24['body']['bLidarEnabled'] = False
+    #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']['bPublishGroundTruth'] = False
     eav24['body']['bPublishInputs'] = False
-    eav24['body']['bRenderHudInWorld'] = True
+    eav24['body']['bRenderHudInWorld'] = False
 
     # do not disable HUD
     #logger.info('disabling hud for received vehicle config')
@@ -208,6 +208,32 @@ def register_received_vehicle(team_name, slot, cfg_data, bsu_vcan, kistler_vcan,
         logger.info("opponentGroundTruthDsd rate was > 100. clamping")
         gtc["body"]["opponentGroundTruthDsd"]["rateHz"] = 100
 
+    # clamp lidar rates
+    for payload in cfg_object['payloads']:
+        if payload['typeName'].lower() == 'genericlidaripd':
+            lidar_rate = payload.get("body", {}).get("sensorDesc", {}).get("dataStream", {}).get("rateHz", 0)
+            if lidar_rate > 20:
+                instance_name = payload.get("body", {}).get("componentConfig", {}).get("instanceName", "unknown")
+                logger.info("lidar {} rate was > 20. clamping".format(instance_name))
+                payload["body"]["sensorDesc"]["dataStream"]["rateHz"] = 20
+
+    # clamp camera rates
+    for payload in cfg_object['payloads']:
+        if payload['typeName'].lower() == 'camerasensor':
+            camera_rate = payload.get("body", {}).get("sensorDesc", {}).get("dataStream", {}).get("rateHz", 0)
+            if camera_rate > 20:
+                instance_name = payload.get("body", {}).get("componentConfig", {}).get("instanceName", "unknown")
+                logger.info("camera {} rate was > 20. clamping".format(instance_name))
+                payload["body"]["sensorDesc"]["dataStream"]["rateHz"] = 20
+
+    # clamp radar rates
+    for payload in cfg_object['payloads']:
+        if payload['typeName'].lower() == 'radarsensor':
+            radar_rate = payload.get("body", {}).get("sensorDesc", {}).get("dataStream", {}).get("rateHz", 0)
+            if radar_rate > 20:
+                instance_name = payload.get("body", {}).get("componentConfig", {}).get("instanceName", "unknown")
+                logger.info("radar {} rate was > 20. clamping".format(instance_name))
+                payload["body"]["sensorDesc"]["dataStream"]["rateHz"] = 20
 
     # do not allow default object name (collision)
     if cfg_object['name'] == 'eav24':

avrs/race_cloud_util.py

@@ -375,10 +375,30 @@ def call_race_cloud_api(body):
     return (True, response.read().decode('utf-8'))
 
 def get_api_script_response(raw):
-    decoded = json.loads(raw)['body']
     logger = logging.getLogger('avrs')
-    logger.info('race cloud api response: {}'.format(decoded))
-    if decoded['script_response']['statusCode'] != 200:
-        return (False, 'inner response had bad status code {}'.format(decoded))
-    #print(decoded)
-    return (True, json.loads(decoded['script_response']['body']), decoded['sim_private_ip'])
+    try:
+        parsed = json.loads(raw)
+        decoded = parsed['body']
+
+        # Handle double-encoded JSON (body is a string instead of dict)
+        if isinstance(decoded, str):
+            decoded = json.loads(decoded)
+
+        logger.info('race cloud api response: {}'.format(decoded))
+
+        if 'script_response' not in decoded:
+            return (False, 'missing script_response in response: {}'.format(decoded), None)
+
+        if decoded['script_response']['statusCode'] != 200:
+            return (False, 'inner response had bad status code {}'.format(decoded), None)
+
+        return (True, json.loads(decoded['script_response']['body']), decoded['sim_private_ip'])
+    except json.JSONDecodeError as e:
+        logger.error('failed to parse API response as JSON: {}'.format(e))
+        return (False, 'invalid JSON response: {}'.format(raw[:500]), None)
+    except KeyError as e:
+        logger.error('missing expected key in API response: {}'.format(e))
+        return (False, 'missing key {} in response: {}'.format(e, raw[:500]), None)
+    except Exception as e:
+        logger.error('unexpected error parsing API response: {}'.format(e))
+        return (False, 'error parsing response: {}'.format(e), None)