autoverse-cli 0.5.0__py3-none-any.whl → 0.7.0__py3-none-any.whl

{autoverse_cli-0.5.0.dist-info → autoverse_cli-0.7.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: autoverse-cli
-Version: 0.5.0
+Version: 0.7.0
 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-0.5.0.dist-info → autoverse_cli-0.7.0.dist-info}/RECORD

@@ -1,7 +1,7 @@
 avrs/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-avrs/app_version.py,sha256=BSr1FCeH2yZvQPWvXc3T_L0B_fSZK5ZDJ6bTWkdYClY,855
+avrs/app_version.py,sha256=bO0-qxfSWvkZgYy9nV11HSq5gNRuKteUi2-YrsSoTwM,855
 avrs/argparse_help.py,sha256=EoEaohGXZXqJvs1dFEzbo9vh47CYdHdSY2Im2Ps2iFo,945
-avrs/avrs.py,sha256=_lz9eYgDCEAk7atb-m5BofGWdi84MtZhiyGl4gHUKkI,2530
+avrs/avrs.py,sha256=9DfUzBn3yuCUTVs2Mx_hYgznEAHbErHqGXShCIO4Iqg,2844
 avrs/can_tool.py,sha256=IBoctKobBJ3wCq4ZdtuXuXH4AMEUxazCfYT6YP0Luw8,7161
 avrs/can_tool_util.py,sha256=G3q21dTGMLc09SDq_RieoW7kSn-kXPkXxPDjavPh4hQ,7710
 avrs/cfg.py,sha256=kMn08Z4Ms1PAu2-U1QI8weEJeIVEppP4A4_tFfwnjtg,2924
@@ -10,26 +10,30 @@ avrs/launcher_util.py,sha256=y_F2YvIe81l3B1_lCjpoOgkbE4hAr2C9eaPio0es34o,5236
 avrs/simconfig.py,sha256=CtpIeU32Lfsek37Z4XR4mjSKwF27IlYvC92184VOuuQ,2389
 avrs/simconfig_util.py,sha256=R3ggjx1fIdOAHpUroNLjH6gg0G07PbFTI4PfwUOWtdw,2277
 avrs/tests.py,sha256=3JeYBjn0tRqHXERDROfzmYuW1KXeCcKur5Bw-EIegto,153
-avrs/requests/code_booz.py,sha256=5bzT8Ra6EIwI19TqXMxkHG_llnyFgqSzTSo7yLNV9Vc,2274
+avrs/requests/change_camera.py,sha256=twqdE049DHwdjgKFZbindwpK7Oz-ivCjbI8WQj8QsxI,416
+avrs/requests/code_booz.py,sha256=SXaEAMTqID4lf1o_4Cc1wY9609X-dNcfNa-UZv3FWF4,2471
 avrs/requests/demo.py,sha256=cbGQJK-OfeFUkQwVzafHgoWP15xoKL-ZgYkQ7moEt2A,872
 avrs/requests/environment.py,sha256=ORwOBxhXPcatn_W8aY5pgIy4f2paUbqIYii5oE540xA,1305
-avrs/requests/fault_injection.py,sha256=BwGywvvwpHM0Q06u65GDd79XFd3bgDJkrSoX-nGIFZc,4965
+avrs/requests/fault_injection.py,sha256=EkpjPCx-UtrNbAR_vQS1zaGKN49UDCyYOoVcdlP1T0M,5948
+avrs/requests/get_object_config.py,sha256=Mkwp32lfskQERsqfmAgHi4vf4C0hfjg6Ru8UjyMt3cw,654
 avrs/requests/list_sim_objects.py,sha256=YWpqHdCHijerPxI5606_KjeFvezcLFN33wO4YOr9G3U,977
 avrs/requests/log_path.py,sha256=Ur24C9VqPVx78MfpicgQu2uOEe-0dXbGoWF_7dzMtZE,1326
+avrs/requests/misc.py,sha256=PpoyCsFID7PyoW1M6wjDQ7Mcf-dyCtJwIuiWu0tWFQg,431
 avrs/requests/move_to_landmark.py,sha256=cLRBKu9XEDsmCoftBJ8JwoBLqzb0IZsxFMBnus4T-kc,702
 avrs/requests/npc.py,sha256=Y_WovbcLomCCcOLAMMO_DHZtc1crAzWo97qEIGS3SvU,9691
-avrs/requests/request.py,sha256=qRSB54LC_UANf2kSbxI2zqQPOguoxg6O5_nUw4iW3dM,1607
-avrs/requests/reserve_mv_slot.py,sha256=p_jiTV7rcoyJU6u3UR9sqPBpSaq8-PWMEs0Ckm2Hf8w,3843
+avrs/requests/request.py,sha256=eUorvMKuKn7OuxjLCty40CX_uE0v1o6xfqsNO5cGvt8,1611
+avrs/requests/reserve_mv_slot.py,sha256=ejB_RSZBXCpxY7B_2f66Or8twKdMI1gn9nEQgZ2YYEY,3843
 avrs/requests/reset_to_track.py,sha256=lSd2YavBxDV_hQMhVoi08_TpTFEq7G2MA18xosFYa1g,450
 avrs/requests/restart.py,sha256=ih5mnWiU34q3-xhOth45CtOUXxKI0PoMDCnFJV0JbwE,415
 avrs/requests/scenario_control.py,sha256=u-KQx-mdCm6IE_c88a6iEgWUsZZVOayxBo58Ocjg0ZI,1502
-avrs/requests/teleport.py,sha256=WpnB2-Ii0FGI11EXTAHlaF5zqZIsgEyJnJ2j_w4rDFY,824
+avrs/requests/teleport.py,sha256=X4OfUOWXiAaG9d6iRxb5xL9XpFXYG8waQRp0Ar8BR48,863
+avrs/requests/toggle_hud.py,sha256=sV5t5QZc4uvRihPVk8jEKZiQNsyF9tsUwq5b4jjZplc,397
 avrs/requests/vd.py,sha256=at6oUAGY2h0OxYU6MLOi1gnxyUn6i24vL9DUAj0L880,1600
 avrs/requests/vehicle_input.py,sha256=R1b1xkRtOBkwyU6OSN4bWVlYsIUroZG0WKbYbc4pEH8,729
-avrs/requests/vehicle_replay.py,sha256=U2zIQO-V63nQ1KZAnb8Bg2BAHl4aaEone6JwoEfNfDg,6265
-autoverse_cli-0.5.0.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
-autoverse_cli-0.5.0.dist-info/METADATA,sha256=gqt-z3KopUJcBAiR2yIngNDjCh8kORk9bVNFW3VC76I,3341
-autoverse_cli-0.5.0.dist-info/WHEEL,sha256=OVMc5UfuAQiSplgO0_WdW7vXVGAt9Hdd6qtN4HotdyA,91
-autoverse_cli-0.5.0.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
-autoverse_cli-0.5.0.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
-autoverse_cli-0.5.0.dist-info/RECORD,,
+avrs/requests/vehicle_replay.py,sha256=nCAE21VNyKoeIjjXBGAihgOLO7zYHcu-HWvPZYxdQ2c,11099
+autoverse_cli-0.7.0.dist-info/LICENSE,sha256=d4eWXho-u18HkBsX4K21uHX_bBb2UXZSrJdsb7Z_JlM,2647
+autoverse_cli-0.7.0.dist-info/METADATA,sha256=Lc7liX7GMeXqWbvB9DdD0keiyI_KJhC27P-rXq8w7PQ,3341
+autoverse_cli-0.7.0.dist-info/WHEEL,sha256=R06PA3UVYHThwHvxuRWMqaGcr-PuniXahwjmQRFMEkY,91
+autoverse_cli-0.7.0.dist-info/entry_points.txt,sha256=Cb9qsUyU5AKkklehCcvtfT0-N3SXbUEqvjze4iEU5kE,40
+autoverse_cli-0.7.0.dist-info/top_level.txt,sha256=-AJO2e4MCVej6hY0U84pu5NfMeMW5qaAPSMisDT5rmA,5
+autoverse_cli-0.7.0.dist-info/RECORD,,

{autoverse_cli-0.5.0.dist-info → autoverse_cli-0.7.0.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.2.0)
+Generator: setuptools (75.5.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

avrs/app_version.py

@@ -2,7 +2,7 @@ import http.client
 import json
 
 def get_app_version():
-    return '0.5.0'
+    return '0.7.0'
 
 def check_app_is_latest():
     pass

avrs/avrs.py

@@ -25,7 +25,11 @@ from avrs.requests.vehicle_replay import *
 from avrs.requests.scenario_control import *
 from avrs.requests.list_sim_objects import *
 from avrs.requests.fault_injection import *
+from avrs.requests.change_camera import *
+from avrs.requests.toggle_hud import * 
 from avrs.simconfig import *
+from avrs.requests.get_object_config import *
+from avrs.requests.misc import *
 
 
 def get_version():
@@ -74,6 +78,10 @@ def main():
     AvrsScenarioRequests(sps, cfg)
     AvrsListSimObjectsRequest(sps, cfg)
     AvrsFaultInjectionRequests(sps, cfg)
+    AvrsChangeCameraRequest(sps, cfg)
+    AvrsToggleHudRequest(sps, cfg)
+    AvrsGetObjectConfigRequest(sps, cfg)
+    AvrsGetSimVersionRequest(sps, cfg)
 
     if os.environ.get('AVRS_WITH_DEMO', '0') == '1':
         AvrsDemoRequest(sps, cfg)

avrs/requests/change_camera.py

@@ -0,0 +1,11 @@
+from avrs.requests.request import AvrsApiRequest
+
+class AvrsChangeCameraRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ChangeCamera', '')
+        psr = parser.add_parser('change-camera', help='changes the active camera on an object')
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        return {
+        }

avrs/requests/code_booz.py

@@ -28,6 +28,9 @@ class AvrsCodeBoozStartLogging(AvrsApiRequest):
         psr.add_argument(
             '--rate-hz', type=float, default=100.0, help='the rate in hz to log data')
 
+        psr.add_argument(
+            '--csv-only-xyv', action='store_true', help='if true, will only record the x, y and velocity magnitude to csv')
+
         psr.set_defaults(func=self.send_request)
 
     def get_request_body(self, args):
@@ -35,7 +38,8 @@ class AvrsCodeBoozStartLogging(AvrsApiRequest):
             'Action': 'Start',
             'FileName': args.out_file,
             'RateHz': args.rate_hz,
-            'Format': args.format
+            'Format': args.format,
+            'bCsvOnlyXyv': args.csv_only_xyv
         }
 
 class AvrsCodeBoozStopLogging(AvrsApiRequest):

avrs/requests/fault_injection.py

@@ -9,6 +9,7 @@ class AvrsFaultInjectionRequests():
         AvrsGnssFaultRequest(sps, cfg)
         AvrsLidarFaultRequest(sps, cfg)
         AvrsImuFaultRequest(sps, cfg)
+        AvrsCanFaultRequest(sps, cfg)
     
 def add_base_injection_args(psr):
 
@@ -152,4 +153,34 @@ class AvrsLidarFaultRequest(AvrsApiRequest):
             '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/misc.py

@@ -0,0 +1,11 @@
+from avrs.requests.request import AvrsApiRequest
+
+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 {
+        }

avrs/requests/request.py

@@ -14,11 +14,11 @@ class AvrsApiRequest:
         self.verbose = False
 
     def get_request(self, args):
-        body = json.dumps(self.get_request_body(args))
+        body = self.get_request_body(args)
         return {
             'TargetObjectId': self.target_object_id,
             'RequestType': self.request_type,
-            'bVerboseResponse': self.verbose,
+            'bVerboseResponse': args.verbose or self.verbose,
             'RequestBody': body
         }
 

avrs/requests/reserve_mv_slot.py

@@ -44,7 +44,7 @@ class ReserveMvSlot(AvrsApiRequest):
 
         psr.add_argument(
             '--badenia-can-name', 
-            default='vcan1',
+            default='vcan2',
             help='the name of the CAN interface to use for the bandanania CAN bus on the new vehicle')
 
         psr.add_argument(
@@ -75,9 +75,9 @@ class ReserveMvSlot(AvrsApiRequest):
         eav_init_pld = {
             'TypeName': 'Eav24Initializer',
             'Body': {
-                'BsuCanName': args.bsu_can_name,
-                'KistlerCanNam': args.kistler_can_name,
-                'BadeniaCanName': args.badenia_can_name,
+                'bsuCanName': args.bsu_can_name,
+                'kistlerCanNam': args.kistler_can_name,
+                'badeniaCanName': args.badenia_can_name,
                 'bHudEnabled': not args.disable_hud,
                 'bEnableLidar': args.enable_lidar,
                 'bEnableCameraSensor': args.enable_camera_sensor

avrs/requests/teleport.py

@@ -4,9 +4,9 @@ class Teleport(AvrsApiRequest):
     def __init__(self, parser, cfg):
         AvrsApiRequest.__init__(self, parser, cfg, 'Teleport', "Ego")
         psr = parser.add_parser('teleport', help='Teleports the car to the given x,y,z in either enu or lla.')
-        psr.add_argument('x', type=float, help='new x position')
-        psr.add_argument('y', type=float, help='new y position')
-        psr.add_argument('z', type=float, help='new z position')
+        psr.add_argument('x', type=float, help='new x position (NED meters)')
+        psr.add_argument('y', type=float, help='new y position (NED meters)')
+        psr.add_argument('z', type=float, help='new z position (NED meters)')
         #psr.add_argument('nav', help='lla or enu coordinate system.', nargs=1, choices=('lla', 'enu'))
         psr.set_defaults(func=self.send_request)
 

avrs/requests/toggle_hud.py

@@ -0,0 +1,11 @@
+from avrs.requests.request import AvrsApiRequest
+
+class AvrsToggleHudRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ToggleHud', 'Ego')
+        psr = parser.add_parser('toggle-hud', help='toggles the HUD on or off')
+        psr.set_defaults(func=self.send_request)
+
+    def get_request_body(self, args):
+        return {
+        }

avrs/requests/vehicle_replay.py

@@ -1,3 +1,4 @@
+import random
 from avrs.requests.request import AvrsApiRequest
 from argparse import RawDescriptionHelpFormatter
 from argparse import RawTextHelpFormatter
@@ -9,6 +10,7 @@ class AvrsVehicleReplayRequests():
         SpawnReplayVehicle(sps, cfg)
         StartVehicleReplayRecording(sps, cfg)
         StopVehicleReplayRecording(sps, cfg)
+        DespawnReplayVehicle(sps, cfg)
 
 class SpawnReplayVehicle(AvrsApiRequest):
     def __init__(self, parser, cfg):
@@ -23,7 +25,7 @@ class SpawnReplayVehicle(AvrsApiRequest):
 
         psr.add_argument(
             '--name', 
-            default='npc0', 
+            default='', 
             help='name of the replay vehicle to spawn')
 
         psr.add_argument(
@@ -71,6 +73,27 @@ class SpawnReplayVehicle(AvrsApiRequest):
             action='store_true',
             help='if set, the npc will begin moving immediately')
 
+        psr.add_argument(
+            '--count',
+            type=int,
+            default=1,
+            help='the number of npcs to spawn (only works with automatic name)')
+
+        psr.add_argument(
+            '--enable-front-lidar',
+            action='store_true',
+            help='if set, will enable the front lidar on the replay vehicle')
+
+        psr.add_argument(
+            '--enable-left-lidar',
+            action='store_true',
+            help='if set, will enable the left lidar on the replay vehicle')
+
+        psr.add_argument(
+            '--enable-right-lidar',
+            action='store_true',
+            help='if set, will enable the right lidar on the replay vehicle')
+
         # psr.add_argument(
         #     '--enable-sensors', 
         #     type=bool, 
@@ -84,6 +107,9 @@ class SpawnReplayVehicle(AvrsApiRequest):
         
         psr.set_defaults(func=self.send_request)
     
+    def send_request(self, args):
+        for i in range(args.count):
+            self.send_http_request(args)
 
     def get_request_body(self, args):
 
@@ -108,39 +134,140 @@ class SpawnReplayVehicle(AvrsApiRequest):
             "bEnableKistlerCan": False,
             "bEnableBadeniaCan": False,
             "bHudEnabled": False,
-            "bLidarEnabled": False,
+            "bLidarEnabled": True,
             "bCameraEnabled": False,
             "bPublishInputs": False,
             "bPublishGroundTruth": False
         }
 
+        lidar_front_pld = {
+            'componentConfig': {
+                'instanceName': 'lidar_front'
+            },
+            'sensorDesc': {
+                'frame': 'lidar_front',
+                'leverarm': {
+                    'translation': {
+                        'x': 85,
+                        'y': 0,
+                        'z': 73
+                    },
+                    'translationUnits': 'centimeters',
+                    'rotation': {
+                        'pitch': 0,
+                        'yaw': 0,
+                        'roll': 0
+                    },
+                    'rotationUnits': 'degrees'
+                },
+                'dataStream': {
+                    'streamName': 'lidar_front/points',
+                    'rateHz': 15
+                }
+            }
+        }
+
+        lidar_left_pld = {
+            'componentConfig': {
+                'instanceName': 'lidar_left'
+            },
+            'sensorDesc': {
+                'frame': 'lidar_left',
+                'leverarm': {
+                    'translation': {
+                        'x': 15,
+                        'y': -20,
+                        'z': 82
+                    },
+                    'translationUnits': 'centimeters',
+                    'rotation': {
+                        'pitch': 0,
+                        'yaw': 240,
+                        'roll': 0
+                    },
+                    'rotationUnits': 'degrees'
+                },
+                'dataStream': {
+                    'streamName': 'lidar_left/points',
+                    'rateHz': 15
+                }
+            }
+        }
+
+        lidar_right_pld = {
+            'componentConfig': {
+                'instanceName': 'lidar_right'
+            },
+            'sensorDesc': {
+                'frame': 'lidar_right',
+                'leverarm': {
+                    'translation': {
+                        'x': 15,
+                        'y': 20,
+                        'z': 82
+                    },
+                    'translationUnits': 'centimeters',
+                    'rotation': {
+                        'pitch': 0,
+                        'yaw': 120,
+                        'roll': 0
+                    },
+                    'rotationUnits': 'degrees'
+                },
+                'dataStream': {
+                    'streamName': 'lidar_right/points',
+                    'rateHz': 15
+                }
+            }
+        }
+
         plds = [
             {
-                'TypeName': 'WheeledVehicleReplayIpd',
-                'Body': replay_ipd
+                'typeName': 'WheeledVehicleReplayIpd',
+                'body': replay_ipd
             },
             {
-                'TypeName': 'Eav24Initializer',
-                'Body': eav_init_pld
+                'typeName': 'Eav24Initializer',
+                'body': eav_init_pld
+            },
+            {
+                'typeName': 'GenericLidarIpd',
+                'bEnabled': args.enable_front_lidar,
+                'body': lidar_front_pld
+            },
+            {
+                'typeName': 'GenericLidarIpd',
+                'bEnabled': args.enable_left_lidar,
+                'body': lidar_left_pld
+            },
+            {
+                'typeName': 'GenericLidarIpd',
+                'bEnabled': args.enable_right_lidar,
+                'body': lidar_right_pld
             }
         ]
 
         if args.with_view_cameras:
             plds.append(
                 {
-                    'TypeName': 'InitializerTemplates',
-                    'Body': {
-                        'Templates': [
+                    'typeName': 'InitializerTemplates',
+                    'body': {
+                        'templates': [
                             {
-                                'PayloadType': 'SimViewTargetIpd',
-                                'PayloadSpec': 'DefaultCarCams'
+                                'payloadType': 'SimViewTargetIpd',
+                                'payloadSpec': 'DefaultCarCams'
                             }
                         ]
                     }
                 })
 
+        # Create time based name if not specified
+        name = args.name
+        if name == '':
+            name = 'npc_{}'.format(random.randint(0, 100000))
+
         return {
-            'Name': args.name,
+            'Name': name,
             'Type': args.vehicle_type,
             'Location': {},
             'Rotation': {},
@@ -189,3 +316,31 @@ class StopVehicleReplayRecording(AvrsApiRequest):
         return {
             'recordAction': 'stop',
         }
+
+class DespawnReplayVehicle(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'DespawnObject', 'Ego')
+        psr = parser.add_parser(
+            'despawn', help='despawn a replay vehicle or all replay vehicles', formatter_class=RawTextHelpFormatter)
+
+        psr.add_argument(
+            '--name', 
+            default='',
+            help='name of the replay vehicle to despawn')
+
+        psr.add_argument(
+            '--all',
+            action='store_true',
+            help='if set, will despawn all replay vehicles')
+
+        psr.set_defaults(func=self.send_request)
+    
+
+    def get_request_body(self, args):
+        self.target_object_id = args.name
+        tags = ["Npc"] if args.all else []
+
+        return {
+            'tags': tags,
+            'bMatchAnyTag': True
+        }