autoverse-cli 0.28.2__tar.gz → 0.28.3__tar.gz

{autoverse_cli-0.28.2 → autoverse_cli-0.28.3}/PKG-INFO

@@ -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 → autoverse_cli-0.28.3}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "autoverse-cli"
-version = "0.28.2"
+version = "0.28.3"
 dependencies = [
   "boto3",
   "cantools",

{autoverse_cli-0.28.2 → autoverse_cli-0.28.3}/src/autoverse_cli.egg-info/PKG-INFO

@@ -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 → autoverse_cli-0.28.3}/src/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:

{autoverse_cli-0.28.2 → autoverse_cli-0.28.3}/src/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':

{autoverse_cli-0.28.2 → autoverse_cli-0.28.3}/src/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)