autoverse-cli 0.6.0__tar.gz → 0.8.0__tar.gz

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: autoverse-cli
-Version: 0.6.0
+Version: 0.8.0
 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-0.6.0 → autoverse_cli-0.8.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "autoverse-cli"
-version = "0.6.0"
+version = "0.8.0"
 dependencies = [
   "boto3",
   "cantools"

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/src/autoverse_cli.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: autoverse-cli
-Version: 0.6.0
+Version: 0.8.0
 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-0.6.0 → autoverse_cli-0.8.0}/src/autoverse_cli.egg-info/SOURCES.txt

@@ -24,8 +24,10 @@ 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

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/src/avrs/app_version.py

@@ -2,7 +2,7 @@ import http.client
 import json
 
 def get_app_version():
-    return '0.6.0'
+    return '0.8.0'
 
 def check_app_is_latest():
     pass

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/src/avrs/avrs.py

@@ -28,6 +28,8 @@ 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():
@@ -78,6 +80,10 @@ def main():
     AvrsFaultInjectionRequests(sps, cfg)
     AvrsChangeCameraRequest(sps, cfg)
     AvrsToggleHudRequest(sps, cfg)
+    AvrsGetObjectConfigRequest(sps, cfg)
+    AvrsGetSimVersionRequest(sps, cfg)
+    AvrsPingRequest(sps, cfg)
+    AvrsConfigureSimLodRequest(sps, cfg)
 
     if os.environ.get('AVRS_WITH_DEMO', '0') == '1':
         AvrsDemoRequest(sps, cfg)

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/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-0.8.0/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-0.8.0/src/avrs/requests/misc.py

@@ -0,0 +1,40 @@
+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 {
+        }
+
+class AvrsPingRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'GetVersion', 0)
+        psr = parser.add_parser('ping', help='ping the simulator to see if it is running and responsive')
+        psr.set_defaults(func=self.send_ping)
+
+    def send_ping(self, args):
+        try:
+            self.send_http_request(args)
+        except:
+            print('no')
+
+class AvrsConfigureSimLodRequest(AvrsApiRequest):
+    def __init__(self, parser, cfg):
+        AvrsApiRequest.__init__(self, parser, cfg, 'ConfigureSimLod', 'lodctrl')
+        psr = parser.add_parser('set-lod', help='set the LOD of the sim, possibly reducing GPU overhead')
+
+        psr.add_argument(
+            'lod', 
+            type=int, 
+            help='the new lod level to set. 0 is max lod, 1 is min lod')
+
+        psr.set_defaults(func=self.send_request)
+    
+    def get_request_body(self, args):
+        return {
+            'newLod': args.lod
+        }

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/src/avrs/requests/request.py

@@ -18,7 +18,7 @@ class AvrsApiRequest:
         return {
             'TargetObjectId': self.target_object_id,
             'RequestType': self.request_type,
-            'bVerboseResponse': self.verbose,
+            'bVerboseResponse': args.verbose or self.verbose,
             'RequestBody': body
         }
 

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/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-0.8.0/src/avrs/requests/teleport.py

@@ -0,0 +1,22 @@
+from avrs.requests.request import AvrsApiRequest
+
+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 (NED meters) or latitude (if frame is set to lla)')
+        psr.add_argument('y', type=float, help='new y position (NED meters) or longitude (if frame is set to lla)')
+        psr.add_argument('z', type=float, help='new z position (NED meters) or altitude (if frame is set to lla)')
+        psr.add_argument('--yaw', type=float, default=0.0, help='the yaw in degrees (0 north, + CW) to apply post teleport')
+        psr.add_argument('--frame', choices=['lla', 'ned'], default='ned', help='LLA or NED coordinate system.')
+        psr.set_defaults(func=self.send_request)
+
+
+    def get_request_body(self, args):
+        return { 
+            "X": args.x,
+            "Y": args.y,
+            "Z": args.z,
+            "yaw": args.yaw,
+            "NavFrame": args.frame 
+        }

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/src/avrs/requests/vehicle_replay.py

@@ -79,6 +79,21 @@ class SpawnReplayVehicle(AvrsApiRequest):
             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, 
@@ -119,32 +134,128 @@ 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': 'GenericLidarIpd',
+                'bEnabled': args.enable_front_lidar,
+                'body': lidar_front_pld
+            },
+            {
+                'typeName': 'GenericLidarIpd',
+                'bEnabled': args.enable_left_lidar,
+                'body': lidar_left_pld
             },
             {
-                'TypeName': 'Eav24Initializer',
-                'Body': eav_init_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'
                             }
                         ]
                     }

{autoverse_cli-0.6.0 → autoverse_cli-0.8.0}/src/avrs/simconfig.py

@@ -15,6 +15,17 @@ class AvrsSimConfig:
 
         sps = sim_config_parser.add_subparsers(required=True, help='sim-config options')
 
+        compare_parser = sps.add_parser(
+            'compare-configs',
+            help='compare two sets of configuration files')
+        compare_parser.add_argument(
+            'a',
+            help='the path to the first set of config files')
+        compare_parser.add_argument(
+            'b',
+            help='the path to the second set of config files')
+        compare_parser.set_defaults(func=self.compare_configs)
+
         apply_preset_parser = sps.add_parser(
             'apply-preset',
             help='apply a preset configuration for a certain use-case')
@@ -58,4 +69,7 @@ the target
             return
 
         print('applying preset {} to sim install at {}'.format(args.preset_name, sim_path))
-        apply_simconfig_preset(get_sim_saved_dir(sim_path), args.preset_name)
+        apply_simconfig_preset(get_sim_saved_dir(sim_path), args.preset_name)
+
+    def compare_configs(self, args):
+        compare_simconfig_defaults(args.a, args.b)

autoverse_cli-0.8.0/src/avrs/simconfig_util.py

@@ -0,0 +1,146 @@
+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 compare_simconfig_defaults(sim_saved_dir, new_defaults_dir):
+    old_cfg_files = SimConfigFiles(sim_saved_dir)
+    new_cfg_files = SimConfigFiles(new_defaults_dir)
+
+    ok, status = old_cfg_files.valdiate()
+    if not ok:
+        print(status)
+        return
+    ok, status = new_cfg_files.valdiate()
+    if not ok:
+        print(status)
+        return
+
+    print('comparing config files at {} with those at {}'.format(
+        sim_saved_dir, new_defaults_dir))
+
+    out_cpr = {}
+    compare_dicts(old_cfg_files.files['main'], new_cfg_files.files['main'], 'main', out_cpr)
+
+    #print('{}'.format(out_cpr))
+    print_simconfig_compare(out_cpr['main'])
+
+def print_simconfig_compare(cpr):
+        for i in cpr['only_a']:
+            print('{} in a ({}) but not b'.format(i[0], i[1]))
+        for i in cpr['only_b']:
+            print('{} in b ({}) but not a'.format(i[0], i[1]))
+        for i in cpr['type_mismatch']:
+            print('{} ({}) does not match type {} ({})'.format(i[0], i[1], i[0], i[2]))
+        for i in cpr['value_mismatch']:
+            print('{} ({}) value does not match ({})'.format(i[0], i[1], i[2]))
+
+        for key, value in cpr['sub'].items():
+            print_simconfig_compare(value)
+
+def compare_dicts(a, b, parent_key, out_checks):
+
+    only_a = []
+    only_b = []
+    type_mismatch = []
+    value_mismatch = []
+
+    out_checks[parent_key] = {}
+    out_checks[parent_key]['sub'] = {}
+
+
+    for key, value in a.items():
+        key_chain = '{}.{}'.format(parent_key, key)
+        if key not in b:
+            only_a.append((key_chain, value))
+        else:
+            if type(value) != type(b[key]):
+                type_mismatch.append((key_chain, type(value), type(b[key])))
+            elif isinstance(value, dict):
+                compare_dicts(value, b[key], key_chain, out_checks[parent_key]['sub']) 
+            elif value != b[key]:
+                value_mismatch.append((key_chain, value, b[key]))
+
+    for key, value in b.items():
+        key_chain = '{}.{}'.format(parent_key, key)
+        if key not in a:
+            only_b.append((key_chain, value))
+
+    out_checks[parent_key]['only_a'] = only_a
+    out_checks[parent_key]['only_b'] = only_b
+    out_checks[parent_key]['type_mismatch'] = type_mismatch
+    out_checks[parent_key]['value_mismatch'] = value_mismatch
+
+    #print('only a \n {} \n\n'.format(only_a))
+    #print('only b \n {} \n\n'.format(only_b))
+    #print('type mismatch \n {} \n\n'.format(type_mismatch))
+    #print('value mismatch \n {} \n\n'.format(value_mismatch))
+    #print('sub_checks')
+
+
+
+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-0.6.0/src/avrs/requests/teleport.py

@@ -1,20 +0,0 @@
-from avrs.requests.request import AvrsApiRequest
-
-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('nav', help='lla or enu coordinate system.', nargs=1, choices=('lla', 'enu'))
-        psr.set_defaults(func=self.send_request)
-
-
-    def get_request_body(self, args):
-        return { 
-            "X": args.x,
-            "Y": args.y,
-            "Z": args.z
-            #'NavFrame': args.nav 
-        }

autoverse_cli-0.6.0/src/avrs/simconfig_util.py

@@ -1,70 +0,0 @@
-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()