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https://github.com/lgsvl/pythonapi

Python API for Simulator
https://github.com/lgsvl/pythonapi

Last synced: about 2 months ago
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Python API for Simulator

Host: GitHub
URL: https://github.com/lgsvl/pythonapi
Owner: lgsvl
License: other
Created: 2019-08-19T21:05:45.000Z (over 5 years ago)
Default Branch: master
Last Pushed: 2022-02-15T07:32:25.000Z (almost 3 years ago)
Last Synced: 2023-10-20T21:14:07.399Z (about 1 year ago)
Language: Python
Size: 406 KB
Stars: 52
Watchers: 12
Forks: 99
Open Issues: 32
Metadata Files:
- Readme: README.md
- License: LICENSE

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README

# lgsvl - A Python API for SVL Simulator

This folder contains **lgsvl**, a Python API for SVL Simulator.

# Documentation

Documentation is available on our website: https://www.svlsimulator.com/docs/python-api/

# Requirements

* Python 3.6 or higher
* Pip 21.1.1 or higher (install using `python3 -m pip install 'pip>=21.1.1'`)

# Installing

python3 -m pip install -r requirements.txt --user .

# install in development mode
python3 -m pip install -r requirements.txt --user -e .

Do not use the legacy `python3 setup.py install` nor `pip3 install`.

**NOTE:** If you are using release 2020.06 of SVL Simulator, you must switch to
the `release-2020.06` branch of this repository prior to installing:

git checkout -b release-2020.06

We encourage you to migrate to release 2021.1 of SVL Simulator soon as it is
feasible/practical to do so.

# Examples

Look into `quickstart` and `examples` folders for simple usages. To run these
examples, first make sure that these assets have been added to your Library:

| Type | Name | URL |
| ------- | -------------- | --- |
| Map | BorregasAve | https://wise.svlsimulator.com/maps/profile/aae03d2a-b7ca-4a88-9e41-9035287a12cc |
| Map | CubeTown | https://wise.svlsimulator.com/maps/profile/06773677-1ce3-492f-9fe2-b3147e126e27 |
| Map | SanFrancisco | https://wise.svlsimulator.com/maps/profile/5d272540-f689-4355-83c7-03bf11b6865f |
| Map | SingleLaneRoad | https://wise.svlsimulator.com/maps/profile/a6e2d149-6a18-4b83-9029-4411d7b2e69a |
| Map | Straight1LanePedestrianCrosswalk | https://wise.svlsimulator.com/maps/profile/a3a818b5-c66b-488a-a780-979bd5692db1 |
| Map | Straight1LaneSame | https://wise.svlsimulator.com/maps/profile/1e2287cf-c590-4804-bcb1-18b2fd3752d1 |
| Map | Straight2LaneOpposing | https://wise.svlsimulator.com/maps/profile/671868be-44f9-44a1-913c-cb0f29d12634 |
| Map | Straight2LaneSame | https://wise.svlsimulator.com/maps/profile/b39d3ef9-21d7-409d-851b-4c90dad80a25 |
| Map | Straight2LaneSameCurbRightIntersection | https://wise.svlsimulator.com/maps/profile/378edc3f-8fce-4596-87dc-7d12fc2ad743 |
| Vehicle | Jaguar2015XE | https://wise.svlsimulator.com/vehicles/profile/3f4211dc-e5d7-42dc-94c5-c4832b1331bb |
| Vehicle | Lincoln2017MKZ | https://wise.svlsimulator.com/vehicles/profile/73805704-1e46-4eb6-b5f9-ec2244d5951e |

and that the plugins required by these vehicle sensor configurations have been added to your Library:

| Vehicle | Sensor Configuration | URL |
| ------------ | -------------------- | --- |
Jaguar2015XE | Apollo 5.0 | https://wise.svlsimulator.com/vehicles/profile/3f4211dc-e5d7-42dc-94c5-c4832b1331bb/edit/configuration/c06d4932-5928-4730-8a91-ba64ac5f1813 |
Jaguar2015XE | Autoware AI | https://wise.svlsimulator.com/vehicles/profile/3f4211dc-e5d7-42dc-94c5-c4832b1331bb/edit/configuration/05cbb194-d095-4a0e-ae66-ff56c331ca83 |
Lincoln2017MKZ | Apollo 5.0 | https://wise.svlsimulator.com/vehicles/profile/73805704-1e46-4eb6-b5f9-ec2244d5951e/edit/configuration/47b529db-0593-4908-b3e7-4b24a32a0f70 |
Lincoln2017MKZ | Apollo 5.0 (Full Analysis) | https://wise.svlsimulator.com/vehicles/profile/73805704-1e46-4eb6-b5f9-ec2244d5951e/edit/configuration/22656c7b-104b-4e6a-9c70-9955b6582220 |
Lincoln2017MKZ | Apollo 5.0 (modular testing) | https://wise.svlsimulator.com/vehicles/profile/73805704-1e46-4eb6-b5f9-ec2244d5951e/edit/configuration/5c7fb3b0-1fd4-4943-8347-f73a05749718 |

Then launch a simulation on a local cluster selecting the **API Only** template.

By default, the examples expect to be able to connect to SVL Simulator using the
`localhost` address. To change it, set the `LGSVL__SIMULATOR_HOST` environment
variable to the hostname or IP address of the network interface of the machine
running SVL Simulator to which the examples should connect.

# Running unit tests

To run the unit tests, first make sure that these assets have been added to your Library:

and that the plugins required by these vehicle sensor configurations have been added to your Library:

Then launch an **API Only** simulation before running the unit tests.

By default, the unit tests expect to be able to connect to SVL Simulator using
the `localhost` address. To change it, set the `LGSVL__SIMULATOR_HOST`
environment variable to the hostname or IP address of the network interface of
the machine running SVL Simulator to which the unit tests should connect.

# run all unittests
python3 -m unittest discover -v -c

# run single test module
python3 -m unittest -v -c tests/test_XXXX.py

# run individual test case
python3 -m unittest -v tests.test_XXX.TestCaseXXX.test_XXX
python3 -m unittest -v tests.test_Simulator.TestSimulator.test_unload_scene

# Creating test coverage report

# (one time only) install coverage.py
pip3 install --user coverage

# run all tests with coverage
~/.local/bin/coverage run -m unittest discover

# generate html report
~/.local/bin/coverage html --omit "~/.local/*","tests/*"

# output is in htmlcov/index.html

# Tagging releases

The final change for a new release must be to set the argument of the
`get_version('')` call in `setup.py` to the new version.
Then commit this change and tag it with the new version:

git tag -a -m

# Copyright and License

This software contains code licensed as described in LICENSE.