carla-driver-interface 1.0.0__tar.gz

carla_driver_interface-1.0.0/LICENSE

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carla_driver_interface-1.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: carla-driver-interface
+Version: 1.0.0
+Summary: Both ends of alpasim's egodriver gRPC contract: serve a driving policy, or drive one without CARLA
+Author: Masaya Kataoka
+Author-email: Masaya Kataoka <ms.kataoka@gmail.com>
+License-Expression: Apache-2.0
+License-File: LICENSE
+Requires-Dist: grpcio>=1.60
+Requires-Dist: protobuf>=4.25.0,<8
+Requires-Dist: numpy>=1.21
+Requires-Dist: scipy>=1.8
+Requires-Dist: pillow>=10.0
+Requires-Python: >=3.10, <3.15
+Description-Content-Type: text/markdown
+
+# carla-driver-interface
+
+Both ends of [NVlabs/alpasim](https://github.com/NVlabs/alpasim)'s
+`egodriver.EgodriverService` gRPC contract, light enough for a driving policy to depend on:
+
+- **policy side**: implement `BaseDriver.drive()` and serve it with `run_server()` /
+  `serving()` (or `carla-driver-interface serve --policy route_follower`, or any
+  `package.module:Class` through `load_policy()`); session bookkeeping, frame retention,
+  ego history and the rig/local conversion are handled for you;
+- **a CARLA-free runtime** for tests: `testing.FakeLoop` drives any policy server over
+  real gRPC on a straight road, rendering each declared pinhole camera
+  (`carla-driver-interface demo --driver localhost:50051`).
+
+The CARLA runtime lives in
+[autoware_carla_scenario](https://github.com/autowarefoundation/autoware_carla_scenario):
+with `ego.entity=carla_driver` it drives the same policy server inside a scenario. An
+upstream alpasim runtime drives it too — nothing about the alpasim wire format is changed.
+
+## Install
+
+```console
+$ pip install carla-driver-interface
+```
+
+Python 3.10–3.14. Dependencies: grpcio, protobuf (4.25+), numpy, scipy, Pillow. No CARLA,
+no alpasim distribution: the wire contract is vendored ([`proto/README.md`](https://github.com/hakuturu583/carla_driver_interface/blob/main/proto/README.md))
+with field numbers and service names unchanged.
+
+## Writing a policy
+
+```python
+from carla_driver_interface.driver import BaseDriver, DriveContext, DriveResult
+from carla_driver_interface.geometry import Pose, Trajectory
+from carla_driver_interface.server import run_server
+
+
+class MyPolicy(BaseDriver):
+    name = "my_policy"
+
+    def drive(self, ctx: DriveContext) -> DriveResult:
+        frame = ctx.session.latest_frame("camera_front")  # .as_array() -> RGB
+        plan = Trajectory.empty()
+        for i in range(1, 41):  # 4 s ahead, in the rig frame (x forward, y left)
+            plan.append(
+                ctx.time_now_us + i * 100_000, Pose.from_xyz_yaw(0.5 * i, 0.0, 0.0, 0.0)
+            )
+        return DriveResult(trajectory_in_rig=plan)
+
+
+run_server(MyPolicy(), port=50051)
+```
+
+Every sensor reaches a policy the same way: as a frame in `session.frame_history`
+(`CameraFrame`, `LidarFrame`), announced through `on_frame`, each with `as_array()`.
+Beyond alpasim's cameras, a policy run by autoware_carla_scenario gets LiDAR sweeps (rig
+frame) that way and, with `map_dir` set to its copy of the runtime's `driver.map_dir`, the
+world's map as files (`ctx.map`) and every traffic light resolved into that map's own
+elements (`ctx.stop_lines()`, `carla_driver_interface.hdmap`). CARLA ground truth arrives
+in `ctx.renderer_data` (`None` when an alpasim runtime drives the policy).
+
+## Testing a policy without CARLA
+
+```console
+$ carla-driver-interface serve --policy route_follower --port 50051 &
+$ carla-driver-interface demo --driver localhost:50051 --steps 200
+```
+
+or, in a test, `FakeLoop("localhost:50051", [FakeCamera()])` from
+`carla_driver_interface.testing` (a context manager; `.run(steps)` returns a
+`LoopResult`). The ego follows the returned plan exactly, so what is tested is the policy
+and the wire, not a controller.
+
+## Successor to carla-driver-interface 0.1.0
+
+This package replaces the previous `carla-driver-interface` 0.1.0 of this repository,
+which had two halves: a driver built on the `alpasim-grpc` distribution (Python 3.11–3.12
+only), and a CARLA runtime (`CarlaRuntime`, `CarlaWorldAdapter`, `FakeWorld`,
+`carla-driver-interface run`). From 1.0.0:
+
+- the **driver half** is this package. It was developed as `autoware-carla-egodriver`, a
+  workspace member of autoware_carla_scenario, and moves here under the old name so
+  policies and scenario packages version independently;
+- the **runtime half** is autoware_carla_scenario's `ego.entity=carla_driver`, which owns
+  the CARLA world, the ego and the traffic, and drives the policy over the same contract.
+  `testing.FakeLoop` replaces `FakeWorld` for CARLA-free tests.
+
+### Migrating from 0.1.0
+
+Policies port by changing imports; `BaseDriver`, `DriveContext`, `DriveResult`,
+`SessionState`, `CameraFrame`, `Pose` and `Trajectory` keep their names and fields.
+
+| 0.1.0 | 1.0.0 |
+| --- | --- |
+| `carla_driver_interface.driver.base` (`BaseDriver`, `DriveContext`, ...) | `carla_driver_interface.driver` |
+| `carla_driver_interface.driver.server` (`run_server`, `serving`, `build_server`) | `carla_driver_interface.server` |
+| `carla_driver_interface.driver.service.CarlaEgodriverServicer` | `carla_driver_interface.service.EgodriverServicer` |
+| `carla_driver_interface.driver.policies` | `carla_driver_interface.policies` (plus `load_policy`) |
+| `carla_driver_interface.grpc_api` (messages, stubs) | `carla_driver_interface.protocol` |
+| `carla_driver_interface.grpc_api.extension` (`pack_renderer_data`, `unpack_debug_info`, ...) | `carla_driver_interface.protocol` |
+| `carla_driver_interface.grpc_api.API_VERSION_MESSAGE` | `carla_driver_interface.protocol.ALPASIM_API_VERSION` |
+| `alpasim_grpc.v0.{common,egodriver,sensorsim}_pb2` | `carla_driver_interface.protocol.{common,egodriver,sensorsim,carla_driver}_pb2` |
+| `carla_driver_interface.geometry` (`Pose`, `Trajectory`), `.polyline` | unchanged |
+| `geometry.quat_mul`, `yaw_to_quat_xyzw`, `quat_to_yaw`, ... | `Pose` methods, or `scipy.spatial.transform.Rotation` |
+| `BaseDriver.on_image(session, frame)` | `BaseDriver.on_frame(session, frame)` (cameras and LiDAR) |
+| `carla_driver_interface.fakes.FakeWorld` | `carla_driver_interface.testing.FakeLoop` |
+| `carla_driver_interface.runtime` (`CarlaRuntime`, ...), `carla-driver-interface run` | autoware_carla_scenario, `ego.entity=carla_driver` |
+| `carla_driver_interface.compat`, `carla-driver-interface compat-report` | removed |
+
+`alpasim_grpc.v0.runtime_pb2` (`RolloutSpec`, `SimulationReturn`, ...) is not vendored: it
+is the runtime's own contract, not the egodriver one. Messages not re-exported by name in
+`protocol` (`CarlaDriveSessionInfo`, `CarlaCompatReport`, ...) remain available from
+`protocol.carla_driver_pb2`.
+
+## Versioning
+
+carla-driver-interface follows [semantic versioning](https://semver.org) on its own,
+independently of autoware_carla_scenario or any policy. The compatibility unit is the gRPC
+wire contract (`proto/`): any 1.x policy server and any runtime built against 1.x
+interoperate, so depend on it with a range (`carla-driver-interface>=1.0,<2`), not an
+exact pin.
+
+- **patch**: fixes that change neither the wire nor the Python API;
+- **minor**: additions — new fields or messages in the `carla_driver` extension (old peers
+  ignore them), new Python API;
+- **major**: anything that breaks a peer or a policy — a changed or removed field number,
+  a renamed service, a removed Python API.
+
+The vendored alpasim contract is never edited; following a newer alpasim revision is a
+minor release when it is wire-compatible and a major one when it is not.
+
+## Development
+
+```console
+$ uv sync --group dev
+$ uv run ruff check . && uv run ruff format --check .
+$ uv run mypy src tests scripts
+$ uv run pytest -q
+```
+
+The generated protobuf modules in `src/carla_driver_interface/_proto` are committed;
+regenerate them with `uv run python scripts/compile_protos.py` (on Python 3.10–3.12, see
+[`proto/README.md`](https://github.com/hakuturu583/carla_driver_interface/blob/main/proto/README.md)). `--check`, also run by the test suite, verifies
+they are current.
+
+## Releasing
+
+Releases are cut by merging, and go to
+[PyPI](https://pypi.org/project/carla-driver-interface/) from
+[`.github/workflows/release.yml`](https://github.com/hakuturu583/carla_driver_interface/blob/main/.github/workflows/release.yml)
+through Trusted Publishing — no API token is stored anywhere.
+
+**Every PR carries exactly one of the labels `bump patch`, `bump minor` or `bump major`**
+(the *Check Version Bump Label* check fails otherwise), chosen by the
+[versioning](#versioning) rules above. Do not edit `version` in `pyproject.toml` by hand.
+When the PR is merged to `main`, the release workflow:
+
+1. bumps `version` in `pyproject.toml` by the label, re-locks (`uv lock`) and pushes the
+   commit `chore: bump version to X.Y.Z` to `main`;
+2. tags it `vX.Y.Z` and creates the GitHub Release;
+3. builds the sdist and wheel (`uv build`), checks them with `twine check --strict`,
+   installs the wheel into a clean virtual environment on every supported Python
+   (3.10–3.14) and runs `carla-driver-interface --help`;
+4. publishes to PyPI.
+
+A merge without a bump label releases nothing.
+
+**Re-running a failed release.** If a step after the bump failed (the tag, the Release,
+PyPI), do not re-run the push run — it would bump again. Run the workflow by hand instead
+(Actions → Release → Run workflow, on `main`) with the `version` it bumped to, e.g.
+`1.2.3`. It builds from that version's tag, or else from its
+`chore: bump version to 1.2.3` commit, never from a later `main`, and reuses an existing
+tag or Release; files already on PyPI are skipped.
+
+The successor keeps the predecessor's version line: it starts from 0.1.0, and the PR
+that introduces it is merged with `bump major`, which releases 1.0.0 like any other
+release.
+
+**Pushing to `main`.** The bump commit and the tag are pushed with `GITHUB_TOKEN`, which
+works while `main` has no branch protection rules. If `main` gets a ruleset whose bypass
+list does not include `github-actions[bot]`, add a `GH_PAT` repository secret (a token
+that may push to `main` and create tags); the workflow uses it whenever it exists.
+
+**One-time PyPI setup.** PyPI needs a (pending) trusted publisher for the project
+`carla-driver-interface` (the distribution name in `pyproject.toml`) with owner
+`hakuturu583`, repository `carla_driver_interface`, workflow `release.yml` and environment
+`pypi` (PyPI → Your account → Publishing), and this repository needs a `pypi` environment
+(Settings → Environments). Until then the publish job fails and the built distributions
+remain available as the run's `pypi-dist` artifact.
+
+## License
+
+Apache-2.0. The vendored alpasim protos are Apache-2.0 as well
+([`proto/LICENSE.alpasim`](https://github.com/hakuturu583/carla_driver_interface/blob/main/proto/LICENSE.alpasim)).

carla_driver_interface-1.0.0/README.md

@@ -0,0 +1,193 @@
+# carla-driver-interface
+
+Both ends of [NVlabs/alpasim](https://github.com/NVlabs/alpasim)'s
+`egodriver.EgodriverService` gRPC contract, light enough for a driving policy to depend on:
+
+- **policy side**: implement `BaseDriver.drive()` and serve it with `run_server()` /
+  `serving()` (or `carla-driver-interface serve --policy route_follower`, or any
+  `package.module:Class` through `load_policy()`); session bookkeeping, frame retention,
+  ego history and the rig/local conversion are handled for you;
+- **a CARLA-free runtime** for tests: `testing.FakeLoop` drives any policy server over
+  real gRPC on a straight road, rendering each declared pinhole camera
+  (`carla-driver-interface demo --driver localhost:50051`).
+
+The CARLA runtime lives in
+[autoware_carla_scenario](https://github.com/autowarefoundation/autoware_carla_scenario):
+with `ego.entity=carla_driver` it drives the same policy server inside a scenario. An
+upstream alpasim runtime drives it too — nothing about the alpasim wire format is changed.
+
+## Install
+
+```console
+$ pip install carla-driver-interface
+```
+
+Python 3.10–3.14. Dependencies: grpcio, protobuf (4.25+), numpy, scipy, Pillow. No CARLA,
+no alpasim distribution: the wire contract is vendored ([`proto/README.md`](https://github.com/hakuturu583/carla_driver_interface/blob/main/proto/README.md))
+with field numbers and service names unchanged.
+
+## Writing a policy
+
+```python
+from carla_driver_interface.driver import BaseDriver, DriveContext, DriveResult
+from carla_driver_interface.geometry import Pose, Trajectory
+from carla_driver_interface.server import run_server
+
+
+class MyPolicy(BaseDriver):
+    name = "my_policy"
+
+    def drive(self, ctx: DriveContext) -> DriveResult:
+        frame = ctx.session.latest_frame("camera_front")  # .as_array() -> RGB
+        plan = Trajectory.empty()
+        for i in range(1, 41):  # 4 s ahead, in the rig frame (x forward, y left)
+            plan.append(
+                ctx.time_now_us + i * 100_000, Pose.from_xyz_yaw(0.5 * i, 0.0, 0.0, 0.0)
+            )
+        return DriveResult(trajectory_in_rig=plan)
+
+
+run_server(MyPolicy(), port=50051)
+```
+
+Every sensor reaches a policy the same way: as a frame in `session.frame_history`
+(`CameraFrame`, `LidarFrame`), announced through `on_frame`, each with `as_array()`.
+Beyond alpasim's cameras, a policy run by autoware_carla_scenario gets LiDAR sweeps (rig
+frame) that way and, with `map_dir` set to its copy of the runtime's `driver.map_dir`, the
+world's map as files (`ctx.map`) and every traffic light resolved into that map's own
+elements (`ctx.stop_lines()`, `carla_driver_interface.hdmap`). CARLA ground truth arrives
+in `ctx.renderer_data` (`None` when an alpasim runtime drives the policy).
+
+## Testing a policy without CARLA
+
+```console
+$ carla-driver-interface serve --policy route_follower --port 50051 &
+$ carla-driver-interface demo --driver localhost:50051 --steps 200
+```
+
+or, in a test, `FakeLoop("localhost:50051", [FakeCamera()])` from
+`carla_driver_interface.testing` (a context manager; `.run(steps)` returns a
+`LoopResult`). The ego follows the returned plan exactly, so what is tested is the policy
+and the wire, not a controller.
+
+## Successor to carla-driver-interface 0.1.0
+
+This package replaces the previous `carla-driver-interface` 0.1.0 of this repository,
+which had two halves: a driver built on the `alpasim-grpc` distribution (Python 3.11–3.12
+only), and a CARLA runtime (`CarlaRuntime`, `CarlaWorldAdapter`, `FakeWorld`,
+`carla-driver-interface run`). From 1.0.0:
+
+- the **driver half** is this package. It was developed as `autoware-carla-egodriver`, a
+  workspace member of autoware_carla_scenario, and moves here under the old name so
+  policies and scenario packages version independently;
+- the **runtime half** is autoware_carla_scenario's `ego.entity=carla_driver`, which owns
+  the CARLA world, the ego and the traffic, and drives the policy over the same contract.
+  `testing.FakeLoop` replaces `FakeWorld` for CARLA-free tests.
+
+### Migrating from 0.1.0
+
+Policies port by changing imports; `BaseDriver`, `DriveContext`, `DriveResult`,
+`SessionState`, `CameraFrame`, `Pose` and `Trajectory` keep their names and fields.
+
+| 0.1.0 | 1.0.0 |
+| --- | --- |
+| `carla_driver_interface.driver.base` (`BaseDriver`, `DriveContext`, ...) | `carla_driver_interface.driver` |
+| `carla_driver_interface.driver.server` (`run_server`, `serving`, `build_server`) | `carla_driver_interface.server` |
+| `carla_driver_interface.driver.service.CarlaEgodriverServicer` | `carla_driver_interface.service.EgodriverServicer` |
+| `carla_driver_interface.driver.policies` | `carla_driver_interface.policies` (plus `load_policy`) |
+| `carla_driver_interface.grpc_api` (messages, stubs) | `carla_driver_interface.protocol` |
+| `carla_driver_interface.grpc_api.extension` (`pack_renderer_data`, `unpack_debug_info`, ...) | `carla_driver_interface.protocol` |
+| `carla_driver_interface.grpc_api.API_VERSION_MESSAGE` | `carla_driver_interface.protocol.ALPASIM_API_VERSION` |
+| `alpasim_grpc.v0.{common,egodriver,sensorsim}_pb2` | `carla_driver_interface.protocol.{common,egodriver,sensorsim,carla_driver}_pb2` |
+| `carla_driver_interface.geometry` (`Pose`, `Trajectory`), `.polyline` | unchanged |
+| `geometry.quat_mul`, `yaw_to_quat_xyzw`, `quat_to_yaw`, ... | `Pose` methods, or `scipy.spatial.transform.Rotation` |
+| `BaseDriver.on_image(session, frame)` | `BaseDriver.on_frame(session, frame)` (cameras and LiDAR) |
+| `carla_driver_interface.fakes.FakeWorld` | `carla_driver_interface.testing.FakeLoop` |
+| `carla_driver_interface.runtime` (`CarlaRuntime`, ...), `carla-driver-interface run` | autoware_carla_scenario, `ego.entity=carla_driver` |
+| `carla_driver_interface.compat`, `carla-driver-interface compat-report` | removed |
+
+`alpasim_grpc.v0.runtime_pb2` (`RolloutSpec`, `SimulationReturn`, ...) is not vendored: it
+is the runtime's own contract, not the egodriver one. Messages not re-exported by name in
+`protocol` (`CarlaDriveSessionInfo`, `CarlaCompatReport`, ...) remain available from
+`protocol.carla_driver_pb2`.
+
+## Versioning
+
+carla-driver-interface follows [semantic versioning](https://semver.org) on its own,
+independently of autoware_carla_scenario or any policy. The compatibility unit is the gRPC
+wire contract (`proto/`): any 1.x policy server and any runtime built against 1.x
+interoperate, so depend on it with a range (`carla-driver-interface>=1.0,<2`), not an
+exact pin.
+
+- **patch**: fixes that change neither the wire nor the Python API;
+- **minor**: additions — new fields or messages in the `carla_driver` extension (old peers
+  ignore them), new Python API;
+- **major**: anything that breaks a peer or a policy — a changed or removed field number,
+  a renamed service, a removed Python API.
+
+The vendored alpasim contract is never edited; following a newer alpasim revision is a
+minor release when it is wire-compatible and a major one when it is not.
+
+## Development
+
+```console
+$ uv sync --group dev
+$ uv run ruff check . && uv run ruff format --check .
+$ uv run mypy src tests scripts
+$ uv run pytest -q
+```
+
+The generated protobuf modules in `src/carla_driver_interface/_proto` are committed;
+regenerate them with `uv run python scripts/compile_protos.py` (on Python 3.10–3.12, see
+[`proto/README.md`](https://github.com/hakuturu583/carla_driver_interface/blob/main/proto/README.md)). `--check`, also run by the test suite, verifies
+they are current.
+
+## Releasing
+
+Releases are cut by merging, and go to
+[PyPI](https://pypi.org/project/carla-driver-interface/) from
+[`.github/workflows/release.yml`](https://github.com/hakuturu583/carla_driver_interface/blob/main/.github/workflows/release.yml)
+through Trusted Publishing — no API token is stored anywhere.
+
+**Every PR carries exactly one of the labels `bump patch`, `bump minor` or `bump major`**
+(the *Check Version Bump Label* check fails otherwise), chosen by the
+[versioning](#versioning) rules above. Do not edit `version` in `pyproject.toml` by hand.
+When the PR is merged to `main`, the release workflow:
+
+1. bumps `version` in `pyproject.toml` by the label, re-locks (`uv lock`) and pushes the
+   commit `chore: bump version to X.Y.Z` to `main`;
+2. tags it `vX.Y.Z` and creates the GitHub Release;
+3. builds the sdist and wheel (`uv build`), checks them with `twine check --strict`,
+   installs the wheel into a clean virtual environment on every supported Python
+   (3.10–3.14) and runs `carla-driver-interface --help`;
+4. publishes to PyPI.
+
+A merge without a bump label releases nothing.
+
+**Re-running a failed release.** If a step after the bump failed (the tag, the Release,
+PyPI), do not re-run the push run — it would bump again. Run the workflow by hand instead
+(Actions → Release → Run workflow, on `main`) with the `version` it bumped to, e.g.
+`1.2.3`. It builds from that version's tag, or else from its
+`chore: bump version to 1.2.3` commit, never from a later `main`, and reuses an existing
+tag or Release; files already on PyPI are skipped.
+
+The successor keeps the predecessor's version line: it starts from 0.1.0, and the PR
+that introduces it is merged with `bump major`, which releases 1.0.0 like any other
+release.
+
+**Pushing to `main`.** The bump commit and the tag are pushed with `GITHUB_TOKEN`, which
+works while `main` has no branch protection rules. If `main` gets a ruleset whose bypass
+list does not include `github-actions[bot]`, add a `GH_PAT` repository secret (a token
+that may push to `main` and create tags); the workflow uses it whenever it exists.
+
+**One-time PyPI setup.** PyPI needs a (pending) trusted publisher for the project
+`carla-driver-interface` (the distribution name in `pyproject.toml`) with owner
+`hakuturu583`, repository `carla_driver_interface`, workflow `release.yml` and environment
+`pypi` (PyPI → Your account → Publishing), and this repository needs a `pypi` environment
+(Settings → Environments). Until then the publish job fails and the built distributions
+remain available as the run's `pypi-dist` artifact.
+
+## License
+
+Apache-2.0. The vendored alpasim protos are Apache-2.0 as well
+([`proto/LICENSE.alpasim`](https://github.com/hakuturu583/carla_driver_interface/blob/main/proto/LICENSE.alpasim)).

carla_driver_interface-1.0.0/pyproject.toml

@@ -0,0 +1,58 @@
+[project]
+name = "carla-driver-interface"
+version = "1.0.0"
+description = "Both ends of alpasim's egodriver gRPC contract: serve a driving policy, or drive one without CARLA"
+readme = "README.md"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+requires-python = ">=3.10,<3.15"
+dependencies = [
+    "grpcio>=1.60",
+    "protobuf>=4.25.0,<8",
+    "numpy>=1.21",
+    "scipy>=1.8",
+    "pillow>=10.0",
+]
+
+[[project.authors]]
+name = "Masaya Kataoka"
+email = "ms.kataoka@gmail.com"
+
+[project.scripts]
+carla-driver-interface = "carla_driver_interface.cli:main"
+
+[build-system]
+requires = ["uv_build>=0.9.7,<0.10.0"]
+build-backend = "uv_build"
+
+[dependency-groups]
+dev = [
+    "grpcio-tools>=1.60,<1.63; python_version < '3.13'",
+    "protobuf>=5; python_version >= '3.13'",
+    "pytest>=8",
+    "ruff>=0.7",
+    "mypy>=1.11",
+]
+
+[tool.ruff]
+extend-exclude = ["**/_proto"]
+
+[tool.ruff.lint]
+select = [
+    "E4",
+    "E7",
+    "E9",
+    "F",
+    "I",
+]
+
+[tool.mypy]
+ignore_missing_imports = true
+exclude = [".*/_proto/"]
+
+[[tool.mypy.overrides]]
+module = ["carla_driver_interface._proto.*"]
+ignore_errors = true
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]