autoverse-cli 0.4.1__py3-none-any.whl → 0.6.0__py3-none-any.whl

avrs/simconfig_util.py

@@ -0,0 +1,70 @@
+import os
+import json
+
+class SimConfigFiles():
+    def __init__(self, saved_dir):
+
+        self.required_files = {
+            'main': os.path.join(saved_dir, 'simconfig.json'),
+            'eav24': os.path.join(saved_dir, 'Objects', 'Eav24_default.json'),
+            'yas': os.path.join(saved_dir, 'Environments', 'yasmarina_env.json')
+        }
+        self.files = {}
+
+        ok, status = self.valdiate()
+        if ok:
+            for name, path in self.required_files.items():
+                with open(path, 'r', encoding='utf-8') as f:
+                    self.files[name] = json.load(f)
+
+    def valdiate(self):
+        for name, path in self.required_files.items():
+            if not os.path.exists(path):
+                return (False, '{} not found'.format(path))
+        return (True, '')
+
+    def save(self):
+        for name, path in self.required_files.items():
+            with open(path, 'w', encoding='utf-8') as f:
+                json.dump(self.files[name], f, ensure_ascii=False, indent=4)
+
+def apply_simconfig_preset(sim_saved_dir, preset_name):
+    cfg_files = SimConfigFiles(sim_saved_dir)
+    ok, status = cfg_files.valdiate()
+    if not ok:
+        print(status)
+        return
+
+    presets = {
+        'default': apply_default_simconfig_preset,
+        'lightweight': apply_lightweight_simconfig_preset,
+        'a2rl': apply_a2rl_simconfig_preset
+    }
+    presets[preset_name](cfg_files)    
+
+def apply_default_simconfig_preset(cfg_files):
+    files = cfg_files.files
+    
+    print('globally enabling ROS2 and CAN')
+    files['main']['interfaces']['bEnableRos2'] = True
+    files['main']['interfaces']['bEnableCan'] = True
+
+    print('ensuring default eav24 and yasmarina are reference in main config')
+    if not 'Environments/yasmarina_env.json' in files['main']['environmentPaths']:
+        print('missing yas environment. adding')
+        print('{}'.format(files['main']['environmentPaths']))
+    if not 'Objects/Eav24_default.json' in files['main']['objectTemplatePaths']:
+        print('missing eav24. adding')
+
+    cfg_files.save()
+
+
+def apply_lightweight_simconfig_preset(cfg_files):
+    files = cfg_files.files
+    
+    cfg_files.save()
+
+def apply_a2rl_simconfig_preset(cfg_files):
+    files = cfg_files.files
+    
+    cfg_files.save()

autoverse_cli-0.4.1.dist-info/RECORD

@@ -1,28 +0,0 @@
-avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-avrs/app_version.py,sha256=Ko9gSD_3pTimSupH_9L-pJ4Mi__5bhfLe7AbEmiATVA,855
-avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
-avrs/avrs.py,sha256=3dP6YE8aB2IGN0wu_FUcRW4fch6h-b97sFcUeF0vfC0,1953
-avrs/cfg.py,sha256=9NBtPrJjVN7gj_vxlvO4wOEx3OFw4d2qQgLIVLiccD0,701
-avrs/launcher.py,sha256=OWwIQDgeIwGLgmLnCxv7RbzVfRNLxSbg3eaZLJ2K64s,7467
-avrs/launcher_util.py,sha256=X60Jd2JUXr1MmdEF0lwjUBC5gHZte9uLlSgLWOLofXc,5121
-avrs/tests.py,sha256=3JeYBjn0tRqHXERDROfzmYuW1KXeCcKur5Bw-EIegto,153
-avrs/requests/can.py,sha256=iL2Dsk-V4tm37D-F1QoauaxeQtLAbg5br7zJcoR9h0o,5295
-avrs/requests/code_booz.py,sha256=5bzT8Ra6EIwI19TqXMxkHG_llnyFgqSzTSo7yLNV9Vc,2274
-avrs/requests/demo.py,sha256=TksvKX5YmL8-FQ4h7MWwjyIwcaZQrF9vCQ20PdfgS3Q,1138
-avrs/requests/edit_environment.py,sha256=iITvLHJ4N6m-RE8dC_KnFxoTNKSjQu7ydERfQvVtb58,828
-avrs/requests/input.py,sha256=SkfVjk3LsOhYNXEwn0rcSS6kZK3g8DXoMPX8Zc9LnCo,1855
-avrs/requests/log_path.py,sha256=Ur24C9VqPVx78MfpicgQu2uOEe-0dXbGoWF_7dzMtZE,1326
-avrs/requests/move_to_landmark.py,sha256=cLRBKu9XEDsmCoftBJ8JwoBLqzb0IZsxFMBnus4T-kc,702
-avrs/requests/npc.py,sha256=Y_WovbcLomCCcOLAMMO_DHZtc1crAzWo97qEIGS3SvU,9691
-avrs/requests/request.py,sha256=3hbBAt_Kd9n-HuggIbziJ3xs-VcRfLBc2GEFSOQ-LJ4,1512
-avrs/requests/reserve_mv_slot.py,sha256=p_jiTV7rcoyJU6u3UR9sqPBpSaq8-PWMEs0Ckm2Hf8w,3843
-avrs/requests/reset_to_track.py,sha256=lSd2YavBxDV_hQMhVoi08_TpTFEq7G2MA18xosFYa1g,450
-avrs/requests/restart.py,sha256=ih5mnWiU34q3-xhOth45CtOUXxKI0PoMDCnFJV0JbwE,415
-avrs/requests/teleport.py,sha256=WpnB2-Ii0FGI11EXTAHlaF5zqZIsgEyJnJ2j_w4rDFY,824
-avrs/requests/vd.py,sha256=at6oUAGY2h0OxYU6MLOi1gnxyUn6i24vL9DUAj0L880,1600
-autoverse_cli-0.4.1.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
-autoverse_cli-0.4.1.dist-info/METADATA,sha256=bH_SXpVXI7_MIGg6qVxJZ26pEBNDVBLRdh0xFh_Oe5U,3317
-autoverse_cli-0.4.1.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-autoverse_cli-0.4.1.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.4.1.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.4.1.dist-info/RECORD,,

avrs/requests/can.py

@@ -1,131 +0,0 @@
-from avrs.requests.request import AvrsApiRequest
-import can
-import cantools
-import time
-import os
-import pandas as pd
-import datetime
-
-# class Can():
-#     def __init__(self, parser, cfg):
-#         psr = parser.add_parser('can', help='Peforms a variety of CAN commands')
-#         sps = psr.add_subparsers(required= True, help='sub-command of NPC')
-#         SendCan(sps, dbc)
-#         #TestCanRates(sps, cfg)
-#         LogCan(sps, dbc)  
-
-
-# class SendCan(AvrsApiRequest):
-#     def __init__(self, parser, dbc):
-#         psr = parser.add_parser('send', help='sends CAN data for given duration (seconds) with given throttle and steer percent values')
-#         psr.add_argument('duration', type=float, help='Length of time to send Can data')
-#         psr.add_argument('hertz', type=float, help = 'Frequency of Can Messages')
-#         psr.add_argument('throttle', type=float, help='throttle (in percent)')
-#         psr.add_argument('steer', type=float, help='steer (in percent)')
-#         self.dbc = dbc
-#         psr.set_defaults(func=self.send_can_values)
-
-
-#     def send_can_values(self, args):
-#         with can.interface.Bus('vcan0', bustype='socketcan') as bus:
-#             message_1 = self.dbc.get_message_by_name("HL_Msg_01")
-#             message_2 = self.dbc.get_message_by_name("HL_Msg_02")
-#             signals_1 = {
-#                 "HL_TargetThrottle": args.throttle,
-#                 "HL_TargetGear": 1,
-#                 "HL_TargetPressure_RR": 0,
-#                 "HL_TargetPressure_RL": 0,
-#                 "HL_TargetPressure_FR": 0,
-#                 "HL_TargetPressure_FL": 0,
-#                 "HL_Alive_01": 0, 
-#             }
-
-#             signals_2 = {
-#                 "HL_Alive_02": 0, 
-#                 "HL_PSA_Profile_Vel_rad_s": 0,
-#                 "HL_PSA_Profile_Dec_rad_s2": 0,
-#                 "HL_PSA_Profile_Acc_rad_s2": 0,
-#                 "HL_TargetPSAControl": args.steer,
-#                 "HL_PSA_ModeOfOperation": 0,
-#             }
-
-#             start_time = time.time()
-
-#             print('sending can data...')
-#             while time.time() - start_time < args.duration:
-#                 data = message_1.encode(signals_1)
-#                 msg = can.Message(arbitration_id=message_1.frame_id, data=data, is_extended_id=False)
-#                 bus.send(msg)
-
-#                 data = message_2.encode(signals_2)
-#                 msg = can.Message(arbitration_id=message_2.frame_id, data=data, is_extended_id=False)
-#                 bus.send(msg)
-#                 time.sleep(args.hertz)
-#             print('done')
-    
-
-# # class TestCanRates(AvrsApiRequest):
-# #     def __init__(self, parser, cfg):
-# #         AvrsApiRequest.__init__(self, parser, cfg, 'TestCanRates')
-# #         psr = parser.add_parser('test-rates', help='get average can message rates over given duration for all can messages on vcan0')
-# #         psr.add_argument('duration', type=float, help='Length of time to test Can rates')
-# #         psr.set_defaults(func=self.send_request)
-        
-
-# #     def get_request_body(self, args):
-# #         return {
-# #             'Duration': args.duration,
-# #         }
-    
-# class LogCan(AvrsApiRequest):
-#     def __init__(self, parser, dbc):
-#         psr = parser.add_parser('log', help='logs csv CAN data for given duration (seconds) to the given absolute file path. Will append numbers to colliding file names')
-#         psr.add_argument('duration', type=float, help='length of time to log Can data')
-#         psr.add_argument('path', help='absoulte file path')
-#         psr.set_defaults(func=self.log_can)
-#         self.dbc = dbc
-    
-#     def log_can(self, args):
-#         start_time = time.time()
-
-#         # Check and remove the existing 'messages.csv' file
-#         file_no = 1
-#         tmp_file_path = args.path
-#         print(tmp_file_path)
-#         while os.path.exists(tmp_file_path):
-#             tmp_file_path = args.path.replace('.csv', '{}.csv'.format(file_no))
-#             file_no += 1
-#         args.path = tmp_file_path
-
-#         messages_list = []
-#         databases = [self.dbc]
-#         print('logging can data...')
-        
-#         with can.interface.Bus('vcan0', bustype='socketcan') as bus:
-#             while time.time() - start_time < args.duration:
-#                 message = bus.recv()
-#                 # If a message was received
-#                 if message is not None:
-#                     for db in databases:
-#                         decoded = self.decode_message(message)
-#                         if decoded:
-#                             messages_list.append(decoded)
-#                             break
-#             df = pd.DataFrame(messages_list)
-#             df.to_csv(args.path, index=False)
-#         print('done')
-
-
-#     def decode_message(self, message):
-#         try:
-#             decoded_message = self.dbc.decode_message(message.arbitration_id, message.data)
-#             message_name = self.dbc.get_message_by_frame_id(message.arbitration_id).name
-#             timestamp = datetime.datetime.now().isoformat()
-#             return {'timestamp': timestamp, 'name': message_name, 'data': decoded_message}
-#         except KeyError:
-#             # Return None if decoding fails
-#             return None
-    
-
-        
-

avrs/requests/input.py

@@ -1,46 +0,0 @@
-from avrs.requests.request import AvrsApiRequest
-
-class InputRequest(AvrsApiRequest):
-    def __init__(self, parser, cfg):
-        psr = parser.add_parser('user-input', help='Commands related to controlling the vehicles with controllers')
-        sps = psr.add_subparsers(required= True, help='sub-command of Input')
-        EnableInput(sps, cfg)
-        DisableInput(sps, cfg)
-        ChangeInput(sps, cfg)
-        
-class EnableInput(AvrsApiRequest):
-    def __init__(self, parser, cfg):
-        AvrsApiRequest.__init__(self, parser, cfg, 'EnableInput', 'Ego')
-        psr = parser.add_parser('enable', help='Enable user input on car')
-        psr.add_argument('controller', help='type of way to control the actor', nargs = 1,
-                         choices=('keyboard', 'xbox', 'wheel', 'can'))
-        psr.set_defaults(func=self.send_request)
-
-    def get_request_body(self, args):
-        return {
-            'Controller': args.controller
-        }
-
-class DisableInput(AvrsApiRequest):
-    def __init__(self, parser, cfg):
-        AvrsApiRequest.__init__(self, parser, cfg, 'DisableInput', 'Ego')
-        psr = parser.add_parser('disable', help='disable user input on car')
-        psr.set_defaults(func=self.send_request)
-
-    def get_request_body(self, args):
-        return {
-        }
-
-class ChangeInput(AvrsApiRequest):
-    def __init__(self, parser, cfg):
-        AvrsApiRequest.__init__(self, parser, cfg, 'ChangeInput', 'Ego')
-        psr = parser.add_parser('change', help='change the input type if input is already enabled')
-        psr.add_argument('controller', help='type of way to control the actor', nargs = 1,
-                         choices=('keyboard', 'xbox', 'wheel'))
-        psr.set_defaults(func=self.send_request)
-
-    def get_request_body(self, args):
-        return {
-            'Controller': args.controller
-        }
-