autoverse-cli 0.28.3__py3-none-any.whl → 0.29.1.dev409__py3-none-any.whl

{autoverse_cli-0.28.3.dist-info → autoverse_cli-0.29.1.dev409.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: autoverse-cli
-Version: 0.28.3
+Version: 0.29.1.dev409
 Summary: The Autoverse CLI
 Author-email: Dan Kamrath <dan.kamrath@autonomalabs.com>
 License: # End-User License Agreement (EULA) of the Autonoma AutoVerse CLI
@@ -52,10 +52,31 @@ The new implementation of the Autoverse CLI
 
 ## Installation
 
+### Stable Release (Recommended)
 ```bash
 pip install autoverse-cli
 ```
 
+### Development Versions
+
+Development versions are published from feature branches and follow the format `X.Y.Z.devN`.
+
+```bash
+# Install the latest development version
+pip install autoverse-cli --pre
+
+# Install a specific development version
+pip install autoverse-cli==0.29.1.dev123
+
+# Check available versions (including dev)
+pip index versions autoverse-cli
+
+# Upgrade to latest dev version
+pip install --upgrade --pre autoverse-cli
+```
+
+> **Note:** `pip install autoverse-cli` (without `--pre`) always installs the latest stable release from `main`. Development versions require the `--pre` flag explicitly.
+
 ## Shell Completion
 
 To enable tab completion for the `avrs` command, run:

{autoverse_cli-0.28.3.dist-info → autoverse_cli-0.29.1.dev409.dist-info}/RECORD

@@ -1,6 +1,6 @@
-autoverse_cli-0.28.3.dist-info/licenses/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
+autoverse_cli-0.29.1.dev409.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/app_version.py,sha256=Vb1DRkLyCKiKGLD9odhFnqePSW-VWpkduU5iQjFLvrw,864
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
 avrs/avrs.py,sha256=pQHc8KLAD0hCxpBoNbXOgj2Et3qiqxSMKyAXFLwWFjE,5787
 avrs/can_tool.py,sha256=IBoctKobBJ3wCq4ZdtuXuXH4AMEUxazCfYT6YP0Luw8,7161
@@ -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=jcAUPYUSQvO1P-DASkiLpYRzfK7ObHtjqaQ4p_Fg7y8,20143
+avrs/race_cloud.py,sha256=Pl8YrefTFJzhax2qFEEQVrZtezANbqNX7pxOcsjkirA,23728
 avrs/race_cloud_bridge_can.py,sha256=K3is7GFzWo2KBojr6V65kz138UfkVFXXofVxSAziArY,2888
-avrs/race_cloud_cfg_util.py,sha256=kxeVqCAs1UaZ8FxAIScJcIIn5kR3qtC026os-HpdV5A,13706
+avrs/race_cloud_cfg_util.py,sha256=TF_gsP7c_39MKs1CyzeXkTH-Fwyd8wLkFkMbqQVmdeo,12066
 avrs/race_cloud_fwd_api.py,sha256=jB4kt6Shu9Pj96WPVjK790PZjucYxmuHjjVKczQfyZI,1620
-avrs/race_cloud_util.py,sha256=yV7NC7-zGpCvXxzCq2nzRQMu3YdbwNFzQyT59k2V00I,15175
+avrs/race_cloud_util.py,sha256=0wGVEwnJi5ndZyiBoIp-4QdojhAshr082cUJVjE8a8s,16805
 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-0.28.3.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-0.29.1.dev409.dist-info/METADATA,sha256=63780yqs6dL_q95_hsfp4xHIMcWfFkT5-cBtZ55kNGU,4588
+autoverse_cli-0.29.1.dev409.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+autoverse_cli-0.29.1.dev409.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.29.1.dev409.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.29.1.dev409.dist-info/RECORD,,

avrs/app_version.py

@@ -2,7 +2,7 @@ import http.client
 import json
 
 def get_app_version():
-    return '0.28.2'
+    return '0.29.1.dev409'
 
 def check_app_is_latest():
     pass

avrs/race_cloud.py

@@ -2,6 +2,7 @@ import subprocess
 import base64
 import logging
 import time
+import ipaddress
 from avrs.cfg import *
 from avrs.race_cloud_util import *
 from avrs.race_cloud_cfg_util import *
@@ -11,6 +12,47 @@ from avrs.util import *
 from avrs.requests.request import AvrsApiRequest
 from argparse import RawTextHelpFormatter
 
+
+def is_valid_public_ip(value):
+    """Check if a string is a valid public IP address (not private, not loopback, not reserved)."""
+    try:
+        ip = ipaddress.ip_address(value)
+        # Reject private, loopback, reserved, multicast, and link-local addresses
+        return not (ip.is_private or ip.is_loopback or ip.is_reserved or
+                    ip.is_multicast or ip.is_link_local)
+    except ValueError:
+        return False
+
+
+def parse_sim_target(value):
+    """
+    Parse sim_target argument: can be a legacy index (0-5) or a public IP address.
+    Returns (is_valid, parsed_value, is_ip).
+    """
+    # First, check if it's a legacy integer index (0-5)
+    try:
+        index = int(value)
+        if 0 <= index <= 5:
+            return (True, index, False)
+        else:
+            return (False, "Legacy index must be between 0 and 5", False)
+    except ValueError:
+        pass
+
+    # Check if it's a valid public IP address
+    try:
+        ip = ipaddress.ip_address(value)
+        if is_valid_public_ip(value):
+            # Valid public IP address
+            return (True, value, True)
+        else:
+            # IP is private, loopback, or otherwise not public
+            return (False, "IP address must be public (not private, loopback, or reserved)", False)
+    except ValueError:
+        pass
+
+    return (False, "Must be a legacy index (0-5) or a valid public IP address", False)
+
 class AvrsRaceCloud(AvrsApiRequest):
     def __init__(self, parser, cfg):
         self.cfg = cfg
@@ -24,10 +66,9 @@ class AvrsRaceCloud(AvrsApiRequest):
             'connect',
             help='connect to an instance for cloud racing')
         connect_parser.add_argument(
-            'sim_index',
-            type = int,
-            choices = [0, 1, 2, 3, 4, 5],
-            help='the index of the simulator instance to connect to')
+            'sim_target',
+            type=str,
+            help='simulator target: legacy index (0-5) or PUBLIC IP address of the server instance (private IPs not allowed)')
         connect_parser.add_argument(
             'team_name',
             help='the name of the team to race under')
@@ -74,10 +115,9 @@ class AvrsRaceCloud(AvrsApiRequest):
             'sim-ctrl',
             help='control the sim program (start, stop, restart, reset)')
         sim_ctrl_parser.add_argument(
-            'sim_index',
-            type=int,
-            choices=[0, 1, 2, 3, 4, 5],
-            help='the index of the simulator instance to apply the action')
+            'sim_target',
+            type=str,
+            help='simulator target: legacy index (0-5) or PUBLIC IP address of the server instance (private IPs not allowed)')
         sim_ctrl_parser.add_argument(
             'action',
             choices=['start', 'stop', 'restart', 'reset-connection', 'get-log'],
@@ -169,15 +209,29 @@ class AvrsRaceCloud(AvrsApiRequest):
     def race_connect(self, args):
         logger = logging.getLogger('avrs')
 
+        print('[DEBUG] ===== RACE CONNECT START =====')
+        print('[DEBUG] sim_target argument: {}'.format(args.sim_target))
+
+        # Validate sim_target (can be legacy index 0-5 or public IP only)
+        is_valid, parsed_value, is_ip = parse_sim_target(args.sim_target)
+        print('[DEBUG] parse_sim_target result: is_valid={}, parsed_value={}, is_ip={}'.format(
+            is_valid, parsed_value, is_ip))
+
+        if not is_valid:
+            print('invalid sim_target: {}'.format(parsed_value))
+            return
+
         # make api call to begin connection
         our_ip = get_local_instance_ip()
+        print('[DEBUG] Local instance IP (our_ip): {}'.format(our_ip))
 
         if our_ip == '127.0.0.1':
             print('this machines IP was returned as localhost. was this run on the cloud instance?')
             return
 
-        logger.info('starting race-cloud connect for team {} to instance {}'.format(
-            args.team_name, args.sim_index))
+        target_display = args.sim_target if is_ip else 'index {}'.format(parsed_value)
+        logger.info('starting race-cloud connect for team {} to {}'.format(
+            args.team_name, target_display))
         print('connecting to race with team name: {}'.format(args.team_name))
 
         if args.no_restart_sim:
@@ -217,7 +271,7 @@ class AvrsRaceCloud(AvrsApiRequest):
 
         connection_request = {
             'action': 'connect',
-            'sim_index': args.sim_index,
+            'sim_id': str(parsed_value),  # Can be index (0-5) or public IP address only
             'ip_to_reserve': our_ip,
             'team_name': args.team_name,
             'sim_id_override': args.instance_id,
@@ -226,11 +280,18 @@ class AvrsRaceCloud(AvrsApiRequest):
             'config_data': vcfg_data
         }
 
+        print('[DEBUG] ===== CONNECTION REQUEST =====')
+        print('[DEBUG] sim_id (parsed): {}'.format(parsed_value))
+        print('[DEBUG] our_ip: {}'.format(our_ip))
+        print('[DEBUG] team_name: {}'.format(args.team_name))
+        print('[DEBUG] instance_id override: {}'.format(args.instance_id))
+
         ok, response = call_race_cloud_api(connection_request)
         if not ok:
             print('connect api error: {}'.format(response))
             return
 
+        print('[DEBUG] API call succeeded, parsing response...')
         ok, rbody, sim_ip = get_api_script_response(response)
         if not ok:
             print(rbody)
@@ -242,9 +303,27 @@ class AvrsRaceCloud(AvrsApiRequest):
 
         slot_info = {}
         for k, v in rbody.items():
-            #print('out: {}'.format(v['stdout']))
-            #print('err: {}'.format(v['stderr']))
-            slot_info = json.loads(v['stdout'])
+            logger.info('Processing response for key: {}'.format(k))
+            logger.info('stdout: {}'.format(v.get('stdout', '')))
+            logger.info('stderr: {}'.format(v.get('stderr', '')))
+
+            stdout = v.get('stdout', '').strip()
+            stderr = v.get('stderr', '').strip()
+
+            if not stdout:
+                print('Error: No stdout from remote command')
+                if stderr:
+                    print('stderr: {}'.format(stderr))
+                return
+
+            try:
+                slot_info = json.loads(stdout)
+            except json.JSONDecodeError as e:
+                print('Error parsing JSON from stdout: {}'.format(e))
+                print('stdout content: {}'.format(stdout[:500]))  # Print first 500 chars
+                if stderr:
+                    print('stderr: {}'.format(stderr))
+                return
 
         if not slot_info['ok']:
             print('issue reserving slot: {}'.format(slot_info['msg']))
@@ -406,6 +485,12 @@ class AvrsRaceCloud(AvrsApiRequest):
     def remote_sim_ctrl(self, args):
         logger = logging.getLogger('avrs')
 
+        # Validate sim_target (can be legacy index 0-5 or public IP only)
+        is_valid, parsed_value, is_ip = parse_sim_target(args.sim_target)
+        if not is_valid:
+            print('invalid sim_target: {}'.format(parsed_value))
+            return
+
         # go ahead and reset local connection as well
         if args.action == 'reset-connection':
             reset_race_cloud_connection()
@@ -414,7 +499,7 @@ class AvrsRaceCloud(AvrsApiRequest):
 
         reset_request = {
             'action': args.action,
-            'sim_index': args.sim_index,
+            'sim_id': str(parsed_value),  # Can be index (0-5) or public IP address only
             'ip_to_reserve': our_ip,
             'sim_id_override': args.instance_id,
             'ensure_instance_is_running': False

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'] = False
+    eav24['body']['bRenderHudInWorld'] = True
 
     # do not disable HUD
     #logger.info('disabling hud for received vehicle config')
@@ -208,32 +208,6 @@ 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

@@ -1,7 +1,10 @@
 import os
 import json
-import http.client
 import logging
+import boto3
+from botocore.auth import SigV4Auth
+from botocore.awsrequest import AWSRequest
+import urllib.request
 from avrs.util import *
 
 BASH_KILL_PROCESS_SCRIPT = '''
@@ -360,45 +363,83 @@ def call_race_cloud_api(body):
     logger = logging.getLogger('avrs')
     logger.info('calling race-cloud api with body: {}'.format(body))
 
-    api_url = 'gitzels0l7.execute-api.us-east-1.amazonaws.com'
+    url = 'https://9gca6018p0.execute-api.us-east-1.amazonaws.com/backend/race-connect'
+    region = 'us-east-1'
 
-    connection = http.client.HTTPSConnection(api_url)
-    headers = {
-        'Content-type': 'application/json',
-        'x-api-key': '7aQ83sJ89Q2DZ8NdIi9aUTBuUS2uyix5QoDwrl1j'
-    }
-    body = json.dumps(body).encode('utf-8')
-    connection.request('POST', '/beta/connect', body, headers)
-    response = connection.getresponse()
-    if response.status != 200:
-        return (False, 'response had status code {}'.format(response))
-    return (True, response.read().decode('utf-8'))
+    print('[DEBUG] ===== RACE CLOUD API CALL =====')
+    print('[DEBUG] URL: {}'.format(url))
+    print('[DEBUG] Request body: {}'.format(json.dumps(body, indent=2)))
 
-def get_api_script_response(raw):
-    logger = logging.getLogger('avrs')
-    try:
-        parsed = json.loads(raw)
-        decoded = parsed['body']
+    # Get credentials from boto3 session (uses IAM role on EC2)
+    session = boto3.Session()
+    credentials = session.get_credentials()
+
+    if credentials is None:
+        print('[DEBUG] ERROR: No AWS credentials found!')
+        return (False, 'No AWS credentials available')
 
-        # Handle double-encoded JSON (body is a string instead of dict)
-        if isinstance(decoded, str):
-            decoded = json.loads(decoded)
+    print('[DEBUG] AWS credentials found: access_key={}...'.format(
+        credentials.access_key[:10] if credentials.access_key else 'None'))
 
-        logger.info('race cloud api response: {}'.format(decoded))
+    # Prepare the request body
+    body_json = json.dumps(body)
 
-        if 'script_response' not in decoded:
-            return (False, 'missing script_response in response: {}'.format(decoded), None)
+    # Create AWS request for signing
+    request = AWSRequest(
+        method='POST',
+        url=url,
+        data=body_json,
+        headers={'Content-Type': 'application/json'}
+    )
 
-        if decoded['script_response']['statusCode'] != 200:
-            return (False, 'inner response had bad status code {}'.format(decoded), None)
+    # Sign the request with SigV4
+    SigV4Auth(credentials, 'execute-api', region).add_auth(request)
 
-        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)
+    print('[DEBUG] Request headers after signing:')
+    for k, v in request.headers.items():
+        # Don't print full auth header for security
+        if k.lower() == 'authorization':
+            print('[DEBUG]   {}: {}...'.format(k, v[:50]))
+        else:
+            print('[DEBUG]   {}: {}'.format(k, v))
+
+    # Make the request using urllib
+    try:
+        req = urllib.request.Request(
+            url,
+            data=body_json.encode('utf-8'),
+            headers=dict(request.headers),
+            method='POST'
+        )
+        print('[DEBUG] Sending request...')
+        with urllib.request.urlopen(req) as response:
+            response_body = response.read().decode('utf-8')
+            print('[DEBUG] Response status: {}'.format(response.status))
+            print('[DEBUG] Response body (first 500 chars): {}'.format(response_body[:500]))
+            return (True, response_body)
+    except urllib.error.HTTPError as e:
+        error_body = e.read().decode('utf-8')
+        print('[DEBUG] HTTP ERROR!')
+        print('[DEBUG]   Status code: {}'.format(e.code))
+        print('[DEBUG]   Reason: {}'.format(e.reason))
+        print('[DEBUG]   Headers: {}'.format(dict(e.headers)))
+        print('[DEBUG]   Body: {}'.format(error_body))
+        logger.error('API error - status: {}, body: {}'.format(e.code, error_body))
+        return (False, 'response had status code {} - {}'.format(e.code, error_body))
     except Exception as e:
-        logger.error('unexpected error parsing API response: {}'.format(e))
-        return (False, 'error parsing response: {}'.format(e), None)
+        print('[DEBUG] EXCEPTION: {} - {}'.format(type(e).__name__, str(e)))
+        logger.error('API request failed: {}'.format(str(e)))
+        return (False, 'request failed: {}'.format(str(e)))
+
+def get_api_script_response(raw):
+    logger = logging.getLogger('avrs')
+    # Parse API Gateway response, then parse the body which is also JSON string
+    api_response = json.loads(raw)
+    body_str = api_response['body']
+    # Body is a JSON string from Lambda Proxy integration
+    decoded = json.loads(body_str) if isinstance(body_str, str) else body_str
+    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'])