grpc

Alpasim core library

This folder contains gRPC definitions for interoperation between alpasim components and certain common utility functions.

Refer to CONTRIBUTING.md for the coordinate frame conventions shared across the runtime and gRPC APIs.

gRPC APIs

The APIs defined in this repository are used by the alpasim components, including in additional repositories:

1. Neural rendering engine
2. Traffic model (coming soon)
3. Physics model
4. Driver

Building and installing

Protobuf definitions compiled into python are not packaged and must be compiled first with running

uv run compile-protos

from this folder. This does not happen automatically when installing the gRPC package! This command also re-compiles them after you changed the definitions.

You can also clean them with

uv run clean-protos

Usage

Primarily this repository contains protobufs specifying the microservice APIs. After installing usage is as follows:

import grpc

from alpasim_grpc.v0.sensorsim_pb2 import RenderRequest, RenderReturn
from alpasim_grpc.v0.sensorsim_pb2_grpc import SensorsimServiceStub

with grpc.insecure_channel('host:port') as channel:
    service = SensorsimServiceStub(channel)
    render_request = RenderRequest(
        scene_id="scene_id",
        # ...
    )
    response: RenderReturn = service.render(render_request)