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MetaCar Hybrid - 虚实结合平台 Python API

MetaCar Hybrid 是面向智能网联汽车虚实结合场景的 Python API。本项目基于 YDL-Simulation/autodrive_api_python 开发，在保留原有场景通信、车辆状态和视频流能力的基础上，增加了 HybridControl 消息和 Delta 位移控制。

当前为 Alpha 版本，接口可能随虚实平台协议继续调整。

与原版 MetaCar 的关系

  • PyPI 发行包名为 metacar-hybrid。
  • Python 导入包名为 metacar_hybrid，与原版 metacar 明确区分。
  • metacar-hybrid 与原版 metacar 可以安装在同一个 Python 环境中。
  • 本产品使用独立版本号，并在 UPSTREAM.md 中记录对应的上游基线。

功能特性

  • 与虚实结合平台进行 TCP 通信
  • 解析 HybridControl 和 deltaTime
  • 通过 SceneAPI.set_hybrid_delta() 发送 dx / dy 控制量
  • 获取场景静态数据、车辆状态和传感器数据
  • 摄像头视频流处理
  • 保留原版油门、刹车、转向控制接口
  • 提供不包含产品策略的基础键盘 Delta 控制示例

安装

建议在独立虚拟环境中安装：

python -m venv .venv

Windows PowerShell：

.venv\Scripts\Activate.ps1
python -m pip install --pre metacar-hybrid

安装运行示例所需的键盘和 GUI 依赖：

python -m pip install --pre "metacar-hybrid[examples]"

虚实结合控制

from metacar_hybrid import SceneAPI

api = SceneAPI()
api.connect()

for sim_car_msg, frames in api.main_loop():
    hybrid_control = sim_car_msg.hybrid_control or {}
    dt = hybrid_control.get("deltaTime")

    # dx / dy 由上层轨迹跟踪或键盘算法计算
    api.set_hybrid_delta(dx=0.1, dy=0.0, dt=dt)

示例

仓库中包含：

  • examples/main_hybrid_basic.py - 可直接连接虚实场景并运行的基础键盘 Delta 控制程序
  • examples/main.py - 原有仿真控制示例
  • examples/gui.py - 车辆状态与场景信息 GUI

安装示例依赖后，可以直接运行基础示例：

python -m pip install --pre "metacar-hybrid[examples]"
metacar-hybrid-basic

从源码开发时也可以运行：

python examples/main_hybrid_basic.py

源码示例会优先加载当前仓库中的 metacar_hybrid，不受环境里已安装旧版本影响。

基础程序支持以下按键：

  • WASD 或方向键：世界坐标系 Delta 移动
  • 按住 X：发送零位移停车指令
  • Space：重开当前关卡
  • N：跳过当前关卡
  • Esc：发送停车指令并安全退出

程序不依赖 GUI。它与原版 main.py 一样是 TCP 监听端：应先启动本程序， 再在平台中启动虚实结合场景，由场景主动连接本机的 127.0.0.1:5061 控制端口和 127.0.0.1:5063 视频端口。终端会分别显示控制端口连接、 视频端口连接和场景初始化三个阶段，并在握手完成后持续输出位置和控制状态。

完整轨迹控制和测试策略属于内部开发代码，不包含在 PyPI 的 wheel 和源码发布包中。

维护

本项目采用内部开发仓库与公开产品仓库分离的方式维护。上游同步、公开边界和发版步骤请参阅 MAINTENANCE.md。

创建 GitHub Release 和发布 PyPI 前，请按照 RELEASING.md 完成版本、标签、Trusted Publisher 和安装验证。

本地开发与验证

python -m pip install -e ".[test,examples]" build twine
python -m pytest
python -m build
python -m twine check --strict dist/*
python scripts/check_release_artifacts.py dist/*

文档

本地构建 Sphinx 文档：

python -m pip install -r docs/requirements.txt
sphinx-build -W -b html docs docs/_build/html

版本策略

MetaCar Hybrid 独立发版：

  • 0.1.0a1 - 首个 Alpha 测试版，使用旧导入名 metacar
  • 0.1.0a2 - 使用独立导入名 metacar_hybrid，支持与原版共存
  • 0.1.0a3 - 提供可直接运行的基础虚实结合键盘控制程序
  • 0.1.0a4 - 对齐原版连接顺序并增加分阶段连接诊断
  • 0.1.0rc1 - 首个发布候选版
  • 0.1.0 - 首个稳定版

每次同步上游后，应在 UPSTREAM.md 和发布说明中记录上游标签及提交哈希。

许可证

本项目基于 MIT 许可证的上游项目开发，继续使用 MIT 许可证。详见 LICENSE。

Project links

Data verified by PyPI on Jul 20, 2026
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  • Released:
Newer release available (0.1.0)

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Avatar for MengHan_Wang from gravatar.com MengHan_Wang

Credits

Author: YDL-Simulation

Maintainer: theansweri

GitHub Statistics

Data verified by PyPI on Jul 20, 2026
The GitHub source repository was provided by the project maintainers and verified by PyPI at the time of upload. Stars, forks, and open issues/PRs are derived from that repository and have not been independently verified.

License expression

MIT
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Requires

Python >=3.10

Provides Extra

examples test

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