FAST-LIO pcap record/replay + Virtual Livox

[jeff-hykin]

Adds virtual mid360 pcap record/replay to FAST-LIO; rips out the in-process pcap reader and the output-cloud downsampling/denoising.

Usage / Testing

Pcap to DB

# snippet that normally diverges
PCAP_PATH="$(python -c "from dimos.utils.data import get_data; print(get_data('ruwik2_part3/ruwik2_part3.pcap'))")"

# gen .db from pcap
python -m dimos.hardware.sensors.lidar.fastlio2.tools.pcap_to_db --pcap "$PCAP_PATH"
# add to existing .db
python -m dimos.hardware.sensors.lidar.fastlio2.tools.pcap_to_db --db mem2.db  --pcap "$PCAP_PATH"

Record a Mid-360 pcap

# Allow using tcpdump without sudo (only need to do once)
sudo setcap cap_net_raw,cap_net_admin=eip "$(which tcpdump)"
# set this (env var or python module config)
export DIMOS_PCAP_IFACE=enp2s0

from dimos.core.coordination.blueprints import autoconnect
from dimos.core.coordination.module_coordinator import ModuleCoordinator
from dimos.hardware.sensors.lidar.livox.pcap_recorder import LivoxPcapRecorder

record = autoconnect(
    LivoxPcapRecorder.blueprint(
        pcap_path="recordings/run1.pcap",
        # lidar_ip="192.168.1.107",
        # record_pcap_iface="enp2s0",
    ),
)
ModuleCoordinator.build(record).loop()

Replay a pcap to a module

from dimos.core.coordination.blueprints import autoconnect
from dimos.core.coordination.module_coordinator import ModuleCoordinator
from dimos.hardware.sensors.lidar.livox.virtual_mid360.module import VirtualMid360
from dimos.hardware.sensors.lidar.fastlio2.module import FastLio2
from dimos.visualization.vis_module import vis_module

replay = autoconnect(
    VirtualMid360.blueprint(
        pcap="recordings/run1.pcap",
        # lidar_ip="192.168.1.155",
    ),
    FastLio2.blueprint(),
    vis_module("rerun"),
).global_config(n_workers=3)
ModuleCoordinator.build(replay).loop()

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
1881	1	1880	155

View the top 1 failed test(s) by shortest run time

dimos.project.test_no_sections::test_no_section_markers

Stack Traces | 0.477s run time

def test_no_section_markers():
        """
        Fail if any file contains section-style comment markers.
    
        If a file is too complicated to be understood without sections, then the
        sections should be files. We don't need "subfiles".
        """
        violations = find_section_markers()
        if violations:
            report_lines = [
                f"Found {len(violations)} section marker(s). "
                "If a file is too complicated to be understood without sections, "
                'then the sections should be files. We don\'t need "subfiles".',
                "",
            ]
            for path, lineno, text in violations:
                report_lines.append(f"  {path}:{lineno}: {text.strip()}")
>           raise AssertionError("\n".join(report_lines))
E           AssertionError: Found 4 section marker(s). If a file is too complicated to be understood without sections, then the sections should be files. We don't need "subfiles".
E           
E             .../fastlio2/tools/pcap_to_db.py:112: # ---------------------------------------------------------------------------
E             .../fastlio2/tools/pcap_to_db.py:114: # ---------------------------------------------------------------------------
E             .../fastlio2/tools/pcap_to_db.py:294: # ---------------------------------------------------------------------------
E             .../fastlio2/tools/pcap_to_db.py:296: # ---------------------------------------------------------------------------

lineno     = 296
path       = '.../fastlio2/tools/pcap_to_db.py'
report_lines = ['Found 4 section marker(s). If a file is too complicated to be understood without sections, then the sections should ....../fastlio2/tools/pcap_to_db.py:296: # ---------------------------------------------------------------------------']
text       = '# ---------------------------------------------------------------------------'
violations = [('.../fastlio2/tools/pcap_to_db.py', 112, '# -----------------------------------------------....../fastlio2/tools/pcap_to_db.py', 296, '# ---------------------------------------------------------------------------')]

dimos/project/test_no_sections.py:145: AssertionError

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