lasvsim-openapi

Name	lasvsim-openapi JSON
Version	0.1.16 JSON
	download
home_page	https://github.com/rl-lasvsim/openapi-sdk-python
Summary	Lasvsim OpenAPI SDK for Python - A client library for accessing Lasvsim's simulation platform
upload_time	2025-10-19 02:37:35
maintainer	None
docs_url	None
author	Zhihong Luo
requires_python	>=3.0
license	None
keywords	qianxing lasvsim 自动驾驶 openapi simulation autonomous driving
VCS
bugtrack_url
requirements	urllib3 ujson
Travis-CI	No Travis.
coveralls test coverage	No coveralls.

            # Lasvsim OpenAPI SDK for Python

千行仿真平台（Lasvsim）的 Python SDK。提供了一种简单直观的方式来控制和获取自动驾驶场景的仿真。

## 安装

您可以直接从PyPI安装该软件包：

```bash
pip install lasvsim-openapi
```

## 快速开始

以下是 SDK 使用的简单示例：

```python
import os

from lasvsim_openapi.client import Client
from lasvsim_openapi.http_client import HttpConfig
from lasvsim_openapi.simulator import SimulatorConfig

# 接口地址
endpoint = os.getenv("QX_ENDPOINT")  # 线上环境地址: https://qianxing-api.risenlighten.com
# 授权token
token = os.getenv("QX_TOKEN")  # 登录仿真平台后访问https://qianxing.risenlighten.com/#/usecenter/personalCenter, 点击最下面按钮复制token

# 登录仿真平台, 选择想要进行联合仿真的任务及剧本
task_id = 0  # 替换为你的任务ID
record_id = 0  # 替换为你的剧本ID

# 1. 初始化客户端
cli = Client(HttpConfig(
    endpoint=endpoint,  # 接口地址
    token=token,  # 授权token
))

# 2. 拷贝剧本, 返回的结构中new_record_id字段就是新创建的剧本ID
# 仿真结束后可到该剧本下查看结果详情
new_record = cli.process_task.copy_record(task_id, record_id)
print("拷贝剧本成功")

# 3. 通过拷贝的场景Id、Version和SimRecordId初始化仿真器
simulator = cli.init_simulator_from_config(
    SimulatorConfig(
        scen_id=new_record.scen_id,
        scen_ver=new_record.scen_ver,
        sim_record_id=new_record.sim_record_id,
    )
)
print("初始化仿真器成功")

try:
    # 获取测试车辆列表
    test_vehicle_list = simulator.get_test_vehicle_id_list()
    print("测试车辆ID列表:", test_vehicle_list)

    # 记录仿真器运行状态(True: 运行中; False: 运行结束), 任务运行过程中持续更新该状态
    is_running = True

    # 使测试车辆环形行驶
    while is_running:
        # 设置方向盘转角10度, 纵向加速度0.05
        ste_wheel = 10.0
        lon_acc = 0.05

        # 设置车辆的控制信息
        simulator.set_vehicle_control_info(
            test_vehicle_list.list[0], ste_wheel, lon_acc
        )

        # 执行仿真器步骤
        step_res = simulator.step()
        print(f"第 {i} 步结果: {step_res}")
        
        is_running = step_res.code.is_running()

    # 可在此处继续调用其他接口, 查看联合仿真文档: https://www.risenlighten.com/#/union

    # 仿真结束后, 到千行仿真平台对应的taskId/recordId下查看联合仿真结果详情
    print(f"https://qianxing.risenlighten.com/#/configuration/circleTask?id={task_id}")

    # 如想直接查看本次联合仿真的回放视频, 可访问下面网址：
    print(f"https://qianxing.risenlighten.com/#/sampleRoad/cartest/?id={task_id}&record_id={new_record.new_record_id}&sim_record_id={new_record.sim_record_id}")

finally:
    # 停止仿真器, 释放服务器资源
    simulator.stop()
```

## 本地仿真
具体例子参考：examples/beginnr/local_sim.py
创建本地仿真client：
```python
from lasvsim_openapi.client import Client

# 初始化客户端
cli = Client(
    local_mode=True,
)
```

### 升级opensim
执行命令升级opensim：
```bash
python -c "import lasvsim_openapi.opensim;lasvsim_openapi.opensim.upgrade_opensim()"
```

## 可用API

### 仿真器API

#### 仿真控制
- `init_simulator_from_config(sim_config)`: 从配置初始化仿真器
- `init_simulator_from_sim(simulation_id, addr)`: 从现有仿真初始化仿真器
- `step()`: 仿真前进一步
- `stop()`: 停止仿真
- `reset(reset_traffic_flow)`: 重置仿真器到初始状态，可选择是否重置交通流

#### 车辆API
- `get_vehicle_id_list()`: 获取所有车辆ID
- `get_test_vehicle_id_list()`: 获取测试车辆ID
- `get_vehicle_base_info(id_list)`: 获取车辆基本信息
- `get_vehicle_position(id_list)`: 获取车辆位置
- `get_vehicle_moving_info(id_list)`: 获取车辆运动信息
- `get_vehicle_control_info(id_list)`: 获取车辆控制参数
- `get_vehicle_perception_info(vehicle_id)`: 获取车辆感知信息
- `get_vehicle_reference_lines(vehicle_id)`: 获取可用参考线
- `get_vehicle_planning_info(vehicle_id)`: 获取车辆规划信息
- `get_vehicle_navigation_info(vehicle_id)`: 获取车辆导航信息
- `get_vehicle_collision_status(vehicle_id)`: 检查车辆碰撞状态
- `get_vehicle_target_speed(vehicle_id)`: 获取车辆目标速度
- `set_vehicle_position(vehicle_id, point, phi)`: 设置车辆位置和航向角
- `set_vehicle_control_info(vehicle_id, ste_wheel, lon_acc)`: 设置车辆控制参数
- `set_vehicle_planning_info(vehicle_id, planning_path)`: 设置车辆规划路径
- `set_vehicle_moving_info(vehicle_id, u, v, w, u_acc, v_acc, w_acc)`: 设置车辆运动参数
- `set_vehicle_base_info(vehicle_id, base_info)`: 设置车辆基本信息

            

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    "description": "# Lasvsim OpenAPI SDK for Python\n\n\u5343\u884c\u4eff\u771f\u5e73\u53f0\uff08Lasvsim\uff09\u7684 Python SDK\u3002\u63d0\u4f9b\u4e86\u4e00\u79cd\u7b80\u5355\u76f4\u89c2\u7684\u65b9\u5f0f\u6765\u63a7\u5236\u548c\u83b7\u53d6\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u4eff\u771f\u3002\n\n## \u5b89\u88c5\n\n\u60a8\u53ef\u4ee5\u76f4\u63a5\u4ecePyPI\u5b89\u88c5\u8be5\u8f6f\u4ef6\u5305\uff1a\n\n```bash\npip install lasvsim-openapi\n```\n\n## \u5feb\u901f\u5f00\u59cb\n\n\u4ee5\u4e0b\u662f SDK \u4f7f\u7528\u7684\u7b80\u5355\u793a\u4f8b\uff1a\n\n```python\nimport os\n\nfrom lasvsim_openapi.client import Client\nfrom lasvsim_openapi.http_client import HttpConfig\nfrom lasvsim_openapi.simulator import SimulatorConfig\n\n# \u63a5\u53e3\u5730\u5740\nendpoint = os.getenv(\"QX_ENDPOINT\")  # \u7ebf\u4e0a\u73af\u5883\u5730\u5740: https://qianxing-api.risenlighten.com\n# \u6388\u6743token\ntoken = os.getenv(\"QX_TOKEN\")  # \u767b\u5f55\u4eff\u771f\u5e73\u53f0\u540e\u8bbf\u95eehttps://qianxing.risenlighten.com/#/usecenter/personalCenter, \u70b9\u51fb\u6700\u4e0b\u9762\u6309\u94ae\u590d\u5236token\n\n# \u767b\u5f55\u4eff\u771f\u5e73\u53f0, \u9009\u62e9\u60f3\u8981\u8fdb\u884c\u8054\u5408\u4eff\u771f\u7684\u4efb\u52a1\u53ca\u5267\u672c\ntask_id = 0  # \u66ff\u6362\u4e3a\u4f60\u7684\u4efb\u52a1ID\nrecord_id = 0  # \u66ff\u6362\u4e3a\u4f60\u7684\u5267\u672cID\n\n# 1. \u521d\u59cb\u5316\u5ba2\u6237\u7aef\ncli = Client(HttpConfig(\n    endpoint=endpoint,  # \u63a5\u53e3\u5730\u5740\n    token=token,  # \u6388\u6743token\n))\n\n# 2. \u62f7\u8d1d\u5267\u672c, \u8fd4\u56de\u7684\u7ed3\u6784\u4e2dnew_record_id\u5b57\u6bb5\u5c31\u662f\u65b0\u521b\u5efa\u7684\u5267\u672cID\n# \u4eff\u771f\u7ed3\u675f\u540e\u53ef\u5230\u8be5\u5267\u672c\u4e0b\u67e5\u770b\u7ed3\u679c\u8be6\u60c5\nnew_record = cli.process_task.copy_record(task_id, record_id)\nprint(\"\u62f7\u8d1d\u5267\u672c\u6210\u529f\")\n\n# 3. \u901a\u8fc7\u62f7\u8d1d\u7684\u573a\u666fId\u3001Version\u548cSimRecordId\u521d\u59cb\u5316\u4eff\u771f\u5668\nsimulator = cli.init_simulator_from_config(\n    SimulatorConfig(\n        scen_id=new_record.scen_id,\n        scen_ver=new_record.scen_ver,\n        sim_record_id=new_record.sim_record_id,\n    )\n)\nprint(\"\u521d\u59cb\u5316\u4eff\u771f\u5668\u6210\u529f\")\n\ntry:\n    # \u83b7\u53d6\u6d4b\u8bd5\u8f66\u8f86\u5217\u8868\n    test_vehicle_list = simulator.get_test_vehicle_id_list()\n    print(\"\u6d4b\u8bd5\u8f66\u8f86ID\u5217\u8868:\", test_vehicle_list)\n\n    # \u8bb0\u5f55\u4eff\u771f\u5668\u8fd0\u884c\u72b6\u6001(True: \u8fd0\u884c\u4e2d; False: \u8fd0\u884c\u7ed3\u675f), \u4efb\u52a1\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u6301\u7eed\u66f4\u65b0\u8be5\u72b6\u6001\n    is_running = True\n\n    # \u4f7f\u6d4b\u8bd5\u8f66\u8f86\u73af\u5f62\u884c\u9a76\n    while is_running:\n        # \u8bbe\u7f6e\u65b9\u5411\u76d8\u8f6c\u89d210\u5ea6, \u7eb5\u5411\u52a0\u901f\u5ea60.05\n        ste_wheel = 10.0\n        lon_acc = 0.05\n\n        # \u8bbe\u7f6e\u8f66\u8f86\u7684\u63a7\u5236\u4fe1\u606f\n        simulator.set_vehicle_control_info(\n            test_vehicle_list.list[0], ste_wheel, lon_acc\n        )\n\n        # \u6267\u884c\u4eff\u771f\u5668\u6b65\u9aa4\n        step_res = simulator.step()\n        print(f\"\u7b2c {i} \u6b65\u7ed3\u679c: {step_res}\")\n        \n        is_running = step_res.code.is_running()\n\n    # \u53ef\u5728\u6b64\u5904\u7ee7\u7eed\u8c03\u7528\u5176\u4ed6\u63a5\u53e3, \u67e5\u770b\u8054\u5408\u4eff\u771f\u6587\u6863: https://www.risenlighten.com/#/union\n\n    # \u4eff\u771f\u7ed3\u675f\u540e, \u5230\u5343\u884c\u4eff\u771f\u5e73\u53f0\u5bf9\u5e94\u7684taskId/recordId\u4e0b\u67e5\u770b\u8054\u5408\u4eff\u771f\u7ed3\u679c\u8be6\u60c5\n    print(f\"https://qianxing.risenlighten.com/#/configuration/circleTask?id={task_id}\")\n\n    # \u5982\u60f3\u76f4\u63a5\u67e5\u770b\u672c\u6b21\u8054\u5408\u4eff\u771f\u7684\u56de\u653e\u89c6\u9891, \u53ef\u8bbf\u95ee\u4e0b\u9762\u7f51\u5740\uff1a\n    print(f\"https://qianxing.risenlighten.com/#/sampleRoad/cartest/?id={task_id}&record_id={new_record.new_record_id}&sim_record_id={new_record.sim_record_id}\")\n\nfinally:\n    # \u505c\u6b62\u4eff\u771f\u5668, \u91ca\u653e\u670d\u52a1\u5668\u8d44\u6e90\n    simulator.stop()\n```\n\n## \u672c\u5730\u4eff\u771f\n\u5177\u4f53\u4f8b\u5b50\u53c2\u8003\uff1aexamples/beginnr/local_sim.py\n\u521b\u5efa\u672c\u5730\u4eff\u771fclient\uff1a\n```python\nfrom lasvsim_openapi.client import Client\n\n# \u521d\u59cb\u5316\u5ba2\u6237\u7aef\ncli = Client(\n    local_mode=True,\n)\n```\n\n### \u5347\u7ea7opensim\n\u6267\u884c\u547d\u4ee4\u5347\u7ea7opensim\uff1a\n```bash\npython -c \"import lasvsim_openapi.opensim;lasvsim_openapi.opensim.upgrade_opensim()\"\n```\n\n## \u53ef\u7528API\n\n### \u4eff\u771f\u5668API\n\n#### \u4eff\u771f\u63a7\u5236\n- `init_simulator_from_config(sim_config)`: \u4ece\u914d\u7f6e\u521d\u59cb\u5316\u4eff\u771f\u5668\n- `init_simulator_from_sim(simulation_id, addr)`: \u4ece\u73b0\u6709\u4eff\u771f\u521d\u59cb\u5316\u4eff\u771f\u5668\n- `step()`: \u4eff\u771f\u524d\u8fdb\u4e00\u6b65\n- `stop()`: \u505c\u6b62\u4eff\u771f\n- `reset(reset_traffic_flow)`: \u91cd\u7f6e\u4eff\u771f\u5668\u5230\u521d\u59cb\u72b6\u6001\uff0c\u53ef\u9009\u62e9\u662f\u5426\u91cd\u7f6e\u4ea4\u901a\u6d41\n\n#### \u8f66\u8f86API\n- `get_vehicle_id_list()`: \u83b7\u53d6\u6240\u6709\u8f66\u8f86ID\n- `get_test_vehicle_id_list()`: \u83b7\u53d6\u6d4b\u8bd5\u8f66\u8f86ID\n- `get_vehicle_base_info(id_list)`: \u83b7\u53d6\u8f66\u8f86\u57fa\u672c\u4fe1\u606f\n- `get_vehicle_position(id_list)`: \u83b7\u53d6\u8f66\u8f86\u4f4d\u7f6e\n- `get_vehicle_moving_info(id_list)`: \u83b7\u53d6\u8f66\u8f86\u8fd0\u52a8\u4fe1\u606f\n- `get_vehicle_control_info(id_list)`: \u83b7\u53d6\u8f66\u8f86\u63a7\u5236\u53c2\u6570\n- `get_vehicle_perception_info(vehicle_id)`: \u83b7\u53d6\u8f66\u8f86\u611f\u77e5\u4fe1\u606f\n- `get_vehicle_reference_lines(vehicle_id)`: \u83b7\u53d6\u53ef\u7528\u53c2\u8003\u7ebf\n- `get_vehicle_planning_info(vehicle_id)`: \u83b7\u53d6\u8f66\u8f86\u89c4\u5212\u4fe1\u606f\n- `get_vehicle_navigation_info(vehicle_id)`: \u83b7\u53d6\u8f66\u8f86\u5bfc\u822a\u4fe1\u606f\n- `get_vehicle_collision_status(vehicle_id)`: \u68c0\u67e5\u8f66\u8f86\u78b0\u649e\u72b6\u6001\n- `get_vehicle_target_speed(vehicle_id)`: \u83b7\u53d6\u8f66\u8f86\u76ee\u6807\u901f\u5ea6\n- `set_vehicle_position(vehicle_id, point, phi)`: \u8bbe\u7f6e\u8f66\u8f86\u4f4d\u7f6e\u548c\u822a\u5411\u89d2\n- `set_vehicle_control_info(vehicle_id, ste_wheel, lon_acc)`: \u8bbe\u7f6e\u8f66\u8f86\u63a7\u5236\u53c2\u6570\n- `set_vehicle_planning_info(vehicle_id, planning_path)`: \u8bbe\u7f6e\u8f66\u8f86\u89c4\u5212\u8def\u5f84\n- `set_vehicle_moving_info(vehicle_id, u, v, w, u_acc, v_acc, w_acc)`: \u8bbe\u7f6e\u8f66\u8f86\u8fd0\u52a8\u53c2\u6570\n- `set_vehicle_base_info(vehicle_id, base_info)`: \u8bbe\u7f6e\u8f66\u8f86\u57fa\u672c\u4fe1\u606f\n",
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