autoverse-cli 0.5.0__tar.gz → 0.7.0__tar.gz

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/PKG-INFO

@@ -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 → autoverse_cli-0.7.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "autoverse-cli"
-version = "0.5.0"
+version = "0.7.0"
 dependencies = [
   "boto3",
   "cantools"

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/autoverse_cli.egg-info/PKG-INFO

@@ -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 → autoverse_cli-0.7.0}/src/autoverse_cli.egg-info/SOURCES.txt

@@ -19,12 +19,15 @@ src/avrs/launcher_util.py
 src/avrs/simconfig.py
 src/avrs/simconfig_util.py
 src/avrs/tests.py
+src/avrs/requests/change_camera.py
 src/avrs/requests/code_booz.py
 src/avrs/requests/demo.py
 src/avrs/requests/environment.py
 src/avrs/requests/fault_injection.py
+src/avrs/requests/get_object_config.py
 src/avrs/requests/list_sim_objects.py
 src/avrs/requests/log_path.py
+src/avrs/requests/misc.py
 src/avrs/requests/move_to_landmark.py
 src/avrs/requests/npc.py
 src/avrs/requests/request.py
@@ -33,6 +36,7 @@ src/avrs/requests/reset_to_track.py
 src/avrs/requests/restart.py
 src/avrs/requests/scenario_control.py
 src/avrs/requests/teleport.py
+src/avrs/requests/toggle_hud.py
 src/avrs/requests/vd.py
 src/avrs/requests/vehicle_input.py
 src/avrs/requests/vehicle_replay.py

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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)

autoverse_cli-0.7.0/src/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 {
+        }

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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):

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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
+            }
         }

autoverse_cli-0.7.0/src/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 {
+        }

autoverse_cli-0.7.0/src/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 {
+        }

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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
         }
 

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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)
 

autoverse_cli-0.7.0/src/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 {
+        }

{autoverse_cli-0.5.0 → autoverse_cli-0.7.0}/src/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
+        }