Fix StopExecAtGoal async restart and combined stage order

CHANGELOG.md

@@ -7,6 +7,35 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Added
+- Common: `CameraParams` (intrinsic `K`, per-frame `world_to_camera`, width, height) and the optional `SensorFrame.camera_params` field — camera geometry a fusion strategy needs to project world-frame `lidar` into the image. Extrinsic targets the OpenCV optical frame (x right, y down, z forward). Additive: `WorldBridge.get_camera_params()` defaults to `None`, so no existing bridge changes; bridges declaring `CAMERA_RGB` / `CAMERA_DEPTH` should override it
+- Execution: `c40_start_pose` (`[x, y, theta]` or null) — profile-defined ego start; factory falls back to the global-plan start point when null
+- Perception: `State.set_start()` — capture current pose as the snapshot restored by `reset()` (via `get_copy` / `copy_from`)
+- Visualizer: **Save Start** on the Execution state row — writes live ego pose into `c40_start_pose` and the active profile YAML
+- Plugin registry: optional `display_name` — human-readable plugin title in the Plugins browser and the docs store; falls back to `name`, which stays the install-folder / import identifier
+- Plugin registry: optional `site_url` — **Open Website** button plus a Website row in the plugin details window, and a **Site** button on the docs plugin cards
+
+### Changed
+- Perception: `State` / `AgentState` reset snapshot is a polymorphic copy of all fields (drops per-field `__init_*` / `AgentState.reset` override)
+- Execution: `BasicSim.reset()` restores ego and NPC start poses (and NPC controllers) instead of clearing agents
+- Execution: drop duplicate `world.reset()` call in `ExecutionStrategy.reset()`
+- Docs / README: Tk visualizer demo uses a looping video (`docs/imgs/tk_visualizer.mp4`) instead of a static screenshot; landing shot fills the content column
+- Docs: call out pause / step / interactive debug early (landing value strip, Overview features, Quick Start)
+- Docs: Community Plugins cards are no longer whole-card GitHub links — explicit **Site** / **Repo** buttons sit above the GitHub stats footer, dependency notes clamp to two lines (full text on hover), and the links carry per-plugin aria-labels
+- Docs: plugin registry field tables list every field with a required column (README, Overview, Plugin Development)
+
+### Fixed
+- Execution: `AsyncThreadedExecuter.step` no longer recreates workers while `stopped` is set — `StopExecAtGoalTask` (and any cooperative stop) stays stopped instead of being cleared by the next poll
+- Visualizer: Execution loop mirrors `executer.stopped` into `exec_running` / Stop UI so task-driven stops end the Tk run (headless already checked the flag)
+- Execution: async combined perception/planning worker localizes and perceives before replan on the shared snapshot — same order as `SyncExecuter`, so planning sees this iteration's ego/obstacles
+- Common: `TrajectoryTracker` / `slice_trajectory_horizon` tolerate a 1-point path (final waypoint) — Frenet conversion no longer indexes `next_wp=1` and crashes `VelocityLocalPlanner.replan` at path end
+- Visualizer: Control **Step** / Steer / Accel apply plant control and sync stack PM via `apply_world_control` (same dual-write as teleport after the world/stack ego split)
+- Visualizer: **Save Start** snapshots velocity 0 so Reset matches a cold profile start (live speed is preserved while driving)
+- Execution: perception, planning, and control share one `SensorFrame` per tick instead of each fetching its own — the stack no longer assumes the world holds still between stages, so bridges whose sensors evolve independently (CARLA async mode) stay coherent. `_localization_step` / `_perception_step` / `_replan_step` / `_control_step` now take the snapshot as an argument; each executer loop resolves its pacing gates first and fetches at most once (skipping the fetch entirely when no stage is due)
+- Visualizer: Control **Align** teleports plant ego and syncs stack PM (stack-only writes were undone by GT localization after the world/stack ego split)
+- Common: `TrajectoryTracker.update_waypoint_by_wp` / `update_to_next_waypoint` clamp `next_wp` at the path end — `%` precedence previously left `next_wp == len(path)` and crashed plot/step at the final waypoint
+- Common: `create_quintic_trajectory_sd` b-vector matches the constraint matrix (end 1st / start 2nd derivatives were swapped)
+
 ## [0.5.3] - 2026-07-24
 
 ### Added

README.md

@@ -13,7 +13,7 @@
   <a href="https://pypi.org/project/avlite/"><img alt="PyPI" src="https://img.shields.io/pypi/v/avlite?color=blue&logo=pypi&logoColor=white"></a>
   <a href="https://pypi.org/project/avlite/"><img alt="Downloads" src="https://img.shields.io/pypi/dm/avlite?color=blue&logo=pypi&logoColor=white"></a>
   <a href="https://github.com/AV-Lab/avlite/blob/main/pyproject.toml"><img alt="Python" src="https://img.shields.io/badge/python-3.10%2B-blue?logo=python&logoColor=white"></a>
-  <a href="https://avlab.io/avlite/"><img alt="Documentation" src="https://img.shields.io/badge/docs-avlab.io-orange?logo=materialformkdocs&logoColor=white"></a>
+  <a href="https://avlite.org/"><img alt="Documentation" src="https://img.shields.io/badge/docs-avlite.org-orange?logo=materialformkdocs&logoColor=white"></a>
   <a href="https://github.com/AV-Lab/avlite/blob/main/LICENSE"><img alt="License" src="https://img.shields.io/github/license/AV-Lab/avlite?color=green"></a>
 </p>
 
@@ -39,7 +39,7 @@
   <a href="#installation">Install</a> ·
   <a href="#quick-start">Quick Start</a> ·
   <a href="#architecture-overview">Architecture</a> ·
-  <a href="https://avlab.io/avlite/">Documentation</a> ·
+  <a href="https://avlite.org/">Documentation</a> ·
   <a href="docs/plugin-development.md">Plugins</a> ·
   <a href="#community-plugins">Community</a>
 </p>
@@ -51,7 +51,10 @@
 > **ROS2 & Autoware Ready** — Optional ROS2 executer plugin with native Autoware message support (`Trajectory`, `ControlCommand`, etc.).
 
 <p align="center">
-  <img src="https://raw.githubusercontent.com/AV-Lab/avlite/main/docs/imgs/tk_visualizer.png" alt="AVLite Tk Visualizer" width="100%">
+  <video src="https://raw.githubusercontent.com/AV-Lab/avlite/main/docs/imgs/tk_visualizer.mp4"
+         poster="https://raw.githubusercontent.com/AV-Lab/avlite/main/docs/imgs/tk_visualizer.png"
+         controls muted autoplay loop playsinline width="100%">
+  </video>
 </p>
 
 ## Architecture Overview
@@ -256,12 +259,14 @@ See the [Plugin Development Guide — Publish via pull request](docs/plugin-deve
    ```yaml
    plugins:
      - name: my_perception_plugin
+       display_name: My Perception Plugin   # optional, defaults to name
        description: One-line summary of what the plugin does
        repository: https://github.com/your-org/your-plugin-repo
        version: latest        # or a tag/commit SHA
        author: your-org
        category:
          - PerceptionStrategy
+       site_url: ""           # optional project website
    ```
 
 4. Open a pull request. Once merged it shows up in every user's
@@ -367,7 +372,7 @@ Distributed under the MIT License. See [`LICENSE`](LICENSE) for details.
 
 <p align="center">
   Built with care by <a href="https://github.com/AV-Lab">AV-Lab</a> ·
-  <a href="https://avlab.io/avlite/">Documentation</a> ·
+  <a href="https://avlite.org/">Documentation</a> ·
   <a href="https://github.com/AV-Lab/avlite/issues">Report a bug</a> ·
   <a href="https://github.com/AV-Lab/avlite/issues">Request a feature</a>
 </p>

avlite/c10_perception/c11_perception_model.py

@@ -134,11 +134,11 @@ class State:
     length: float = 4.5
 
     def __post_init__(self):
-        # initial x,y position, useful for reset
-        self.__init_x = self.x
-        self.__init_y = self.y
-        self.__init_theta = self.theta
+        self.__start = self.get_copy()
 
+    def set_start(self):
+        """Capture the current state as the snapshot restored by :meth:`reset`."""
+        self.__start.copy_from(self)
 
     def get_bb_corners(self) -> np.ndarray:
         """Get the bounding box corners of the vehicle in world coordinates."""
@@ -173,9 +173,7 @@ def get_bb_corners(self) -> np.ndarray:
         return np.c_[rotated_corners_x, rotated_corners_y]
 
     def reset(self):
-        self.x = self.__init_x
-        self.y = self.__init_y
-        self.theta = self.__init_theta
+        self.copy_from(self.__start)
 
     def copy_from(self, other: State) -> None:
         """Copy dataclass fields from *other* in place (preserves object identity)."""
@@ -205,15 +203,6 @@ class AgentState(State):
     agent_id: int = -1
     agent_type: AgentType = AgentType.ACKERMANN
 
-    def __post_init__(self):
-        super().__post_init__()
-        self.__init_speed = self.velocity
-
-    def reset(self):
-        super().reset()
-        self.velocity = self.__init_speed
-
-
 
 @dataclass
 class EgoState(AgentState):

avlite/c40_execution/c41_world_bridge.py

@@ -11,6 +11,7 @@
 from avlite.c50_common.c53_stack_datatypes import control_type_for_agent
 from avlite.c50_common.c52_world_sensor_datatypes import (
     WORLD_CAPABILITY_SENSOR_FIELDS,
+    CameraParams,
     GnssReading,
     ImuReading,
     SensorFrame,
@@ -20,6 +21,10 @@
     RgbImage,
 )
 
+import logging
+
+log = logging.getLogger(__name__)
+
 
 @dataclass
 class WorldBridge(ABC):
@@ -118,6 +123,15 @@ def get_depth_image(self, agent_id: int = EGO_AGENT_ID) -> DepthImage | None:
         self._require_ego_agent(agent_id, "depth")
         return None
 
+    def get_camera_params(self, agent_id: int = EGO_AGENT_ID) -> CameraParams | None:
+        """Returns geometry for the rgb/depth camera. Layout: ``CameraParams``.
+
+        Bridges exposing CAMERA_RGB or CAMERA_DEPTH must override this; without
+        it, world-frame LiDAR cannot be projected into the image.
+        """
+        self._require_ego_agent(agent_id, "camera params")
+        return None
+
     def get_lidar_data(self, agent_id: int = EGO_AGENT_ID) -> LidarCloud | None:
         """Returns the lidar point cloud. Layout: ``LidarCloud`` in c52_world_sensor_datatypes."""
         self._require_ego_agent(agent_id, "lidar")
@@ -145,6 +159,7 @@ def get_sensor_frame(self, agent_id: int = EGO_AGENT_ID) -> SensorFrame:
             frame = SensorFrame(
                 rgb=self.get_rgb_image(),
                 depth=self.get_depth_image(),
+                camera_params=self.get_camera_params(),
                 lidar=self.get_lidar_data(),
                 imu=self.get_imu(),
                 gnss=self.get_gnss(),
@@ -154,13 +169,19 @@ def get_sensor_frame(self, agent_id: int = EGO_AGENT_ID) -> SensorFrame:
             frame = SensorFrame(
                 rgb=self.get_rgb_image(agent_id=agent_id),
                 depth=self.get_depth_image(agent_id=agent_id),
+                camera_params=self.get_camera_params(agent_id=agent_id),
                 lidar=self.get_lidar_data(agent_id=agent_id),
                 imu=self.get_imu(agent_id=agent_id),
                 gnss=self.get_gnss(agent_id=agent_id),
                 wheel_odometry=self.get_wheel_odometry(agent_id=agent_id),
             )
+
+        log.debug("Sensor frame before world capability filter: %s", frame)
         return self._apply_world_capability_filter(frame)
 
+    def reset(self):
+        pass
+
     @staticmethod
     def _apply_world_capability_filter(frame: SensorFrame) -> SensorFrame:
         """Null sensor fields whose world capabilities are disabled in Bridge Setting."""
@@ -177,6 +198,12 @@ def _apply_world_capability_filter(frame: SensorFrame) -> SensorFrame:
                     continue
                 setattr(frame, field, None)
                 cleared.add(field)
+        # Camera geometry describes rgb/depth: drop it when neither is provided.
+        if not any(
+            is_world_capability_enabled(c)
+            for c in (WorldCapability.CAMERA_RGB, WorldCapability.CAMERA_DEPTH)
+        ):
+            frame.camera_params = None
         return frame
 
     def _require_ego_agent(self, agent_id: int, method: str) -> None:
@@ -185,8 +212,6 @@ def _require_ego_agent(self, agent_id: int, method: str) -> None:
                 f"{type(self).__name__} does not support {method} for agent {agent_id}"
             )
 
-    def reset(self):
-        pass
 
     def __init_subclass__(cls, abstract=False, **kwargs):
         super().__init_subclass__(**kwargs)

avlite/c40_execution/c42_execution_strategy.py

@@ -22,6 +22,7 @@
     TaskStrategy,
 )
 from avlite.c50_common.c51_capabilities import StackCapability, satisfies_requirements
+from avlite.c50_common.c52_world_sensor_datatypes import SensorFrame
 from avlite.c50_common.c56_fps_tracker import FpsTracker
 
 log = logging.getLogger(__name__)
@@ -156,7 +157,6 @@ def reset(self):
             self.local_planner.reset()
         if self.controller:
             self.controller.reset()
-        self.world.reset()
         self.elapsed_real_time = 0
         self.elapsed_sim_time = 0
         self._last_cmd = None
@@ -252,15 +252,14 @@ def _can_actuate(self) -> bool:
 
     # --- tick helpers ---
 
-    def _localization_step(self) -> None:
-        """Run one localization iteration using the current world capabilities."""
+    def _localization_step(self, sensors: SensorFrame) -> None:
+        """Run one localization iteration on the caller-supplied tick snapshot."""
         if not self.localization:
             return
 
         world_ok = satisfies_requirements(self.localization.world_requirements, self.world.world_capabilities)
         stack_ok = satisfies_requirements(self.localization.stack_requirements, self.available_stack_capabilities())
         if world_ok and stack_ok:
-            sensors = self.world.get_sensor_frame()
             self.localization.localize(perception_model=self.pm, sensors=sensors)
             self.localization_fps = self._localization_fps_tracker.tick()
             # Harvest optional stack_event stamp on PerceptionModel (notify once, then clear).
@@ -276,8 +275,8 @@ def _localization_step(self) -> None:
                 f"Skipping."
             )
 
-    def _perception_step(self) -> None:
-        """Run one perception iteration and update fps tracking."""
+    def _perception_step(self, sensors: SensorFrame) -> None:
+        """Run one perception iteration on the caller-supplied tick snapshot."""
         if not self.perception:
             log.debug("Perception strategy is not set. Skipping perception step.")
             return
@@ -304,7 +303,6 @@ def _perception_step(self) -> None:
         else:
             self.pm.agent_vehicles = []
 
-        sensors = self.world.get_sensor_frame()
         self.perception.perceive(perception_model=self.pm, sensors=sensors)
 
         self.perception_fps = self._perception_fps_tracker.tick()
@@ -314,11 +312,10 @@ def _perception_step(self) -> None:
             self.pm.stack_event = None
             self.task_runner.notify(event)
 
-    def _replan_step(self) -> None:
-        """Run one planning iteration (replan) and update FPS."""
+    def _replan_step(self, sensors: SensorFrame) -> None:
+        """Run one planning iteration (replan) on the caller-supplied tick snapshot."""
         if not self.local_planner:
             return
-        sensors = self.world.get_sensor_frame()
         self.local_planner.replan(perception_model=self.pm, sensors=sensors)
         self.planner_fps = self._planner_fps_tracker.tick()
         # Harvest optional stack_event stamps from plan artifacts (notify once, then clear).
@@ -338,13 +335,15 @@ def _replan_step(self) -> None:
                 gp.stack_event = None
                 self.task_runner.notify(event)
 
-    def _control_step(self, sim_dt: float) -> None:
-        """Recompute control command into ``_last_cmd`` (no world integrate)."""
+    def _control_step(self, sim_dt: float, sensors: SensorFrame) -> None:
+        """Recompute control command into ``_last_cmd`` (no world integrate).
+
+        Uses the caller-supplied tick snapshot.
+        """
         if not self.controller or not self.local_planner:
             return
         if not self._can_actuate():
             return
-        sensors = self.world.get_sensor_frame()
         local_plan = self.local_planner.get_local_plan()
         cmd = self.controller.control(
             self.pm.ego_vehicle, local_plan, control_dt=sim_dt,