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188 lines
6.3 KiB
188 lines
6.3 KiB
import signal
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import threading
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import functools
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from multiprocessing import Process, Queue, Value
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from abc import ABC, abstractmethod
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from openpilot.common.params import Params
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from openpilot.common.numpy_fast import clip
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from openpilot.common.realtime import Ratekeeper
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from openpilot.selfdrive.test.helpers import set_params_enabled
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from openpilot.selfdrive.car.honda.values import CruiseButtons
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from openpilot.tools.sim.lib.common import SimulatorState, World
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from openpilot.tools.sim.lib.simulated_car import SimulatedCar
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from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors
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def rk_loop(function, hz, exit_event: threading.Event):
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rk = Ratekeeper(hz, None)
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while not exit_event.is_set():
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function()
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rk.keep_time()
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class SimulatorBridge(ABC):
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TICKS_PER_FRAME = 5
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def __init__(self, dual_camera, high_quality):
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set_params_enabled()
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self.params = Params()
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self.params.put_bool("ExperimentalLongitudinalEnabled", True)
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self.rk = Ratekeeper(100, None)
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self.dual_camera = dual_camera
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self.high_quality = high_quality
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self._exit_event = threading.Event()
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self._threads = []
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self._keep_alive = True
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self.started = Value('i', False)
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signal.signal(signal.SIGTERM, self._on_shutdown)
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self._exit = threading.Event()
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self.simulator_state = SimulatorState()
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self.world: World | None = None
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self.past_startup_engaged = False
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self.startup_button_prev = True
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def _on_shutdown(self, signal, frame):
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self.shutdown()
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def shutdown(self):
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self._keep_alive = False
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def bridge_keep_alive(self, q: Queue, retries: int):
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try:
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self._run(q)
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finally:
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self.close("bridge terminated")
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def close(self, reason):
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self.started.value = False
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self._exit_event.set()
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if self.world is not None:
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self.world.close(reason)
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def run(self, queue, retries=-1):
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bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
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bridge_p.start()
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return bridge_p
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def print_status(self):
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print(
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f"""
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State:
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Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_engaged}
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""")
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@abstractmethod
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def spawn_world(self) -> World:
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pass
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def _run(self, q: Queue):
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self.world = self.spawn_world()
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self.simulated_car = SimulatedCar()
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self.simulated_sensors = SimulatedSensors(self.dual_camera)
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self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
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100, self._exit_event))
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self.simulated_car_thread.start()
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self.simulated_camera_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_sensors.send_camera_images, self.world),
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20, self._exit_event))
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self.simulated_camera_thread.start()
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# Simulation tends to be slow in the initial steps. This prevents lagging later
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for _ in range(20):
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self.world.tick()
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while self._keep_alive:
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throttle_out = steer_out = brake_out = 0.0
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throttle_op = steer_op = brake_op = 0.0
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self.simulator_state.cruise_button = 0
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self.simulator_state.left_blinker = False
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self.simulator_state.right_blinker = False
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throttle_manual = steer_manual = brake_manual = 0.
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# Read manual controls
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if not q.empty():
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message = q.get()
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m = message.split('_')
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if m[0] == "steer":
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steer_manual = float(m[1])
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elif m[0] == "throttle":
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throttle_manual = float(m[1])
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elif m[0] == "brake":
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brake_manual = float(m[1])
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elif m[0] == "cruise":
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if m[1] == "down":
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self.simulator_state.cruise_button = CruiseButtons.DECEL_SET
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elif m[1] == "up":
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self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL
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elif m[1] == "cancel":
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self.simulator_state.cruise_button = CruiseButtons.CANCEL
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elif m[1] == "main":
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self.simulator_state.cruise_button = CruiseButtons.MAIN
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elif m[0] == "blinker":
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if m[1] == "left":
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self.simulator_state.left_blinker = True
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elif m[1] == "right":
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self.simulator_state.right_blinker = True
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elif m[0] == "ignition":
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self.simulator_state.ignition = not self.simulator_state.ignition
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elif m[0] == "reset":
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self.world.reset()
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elif m[0] == "quit":
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break
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self.simulator_state.user_brake = brake_manual
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self.simulator_state.user_gas = throttle_manual
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self.simulator_state.user_torque = steer_manual * -10000
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steer_manual = steer_manual * -40
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# Update openpilot on current sensor state
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self.simulated_sensors.update(self.simulator_state, self.world)
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self.simulated_car.sm.update(0)
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controlsState = self.simulated_car.sm['controlsState']
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self.simulator_state.is_engaged = controlsState.active
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if self.simulator_state.is_engaged:
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throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
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brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
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steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
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self.past_startup_engaged = True
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elif not self.past_startup_engaged and controlsState.engageable:
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self.simulator_state.cruise_button = CruiseButtons.DECEL_SET if self.startup_button_prev else CruiseButtons.MAIN # force engagement on startup
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self.startup_button_prev = not self.startup_button_prev
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throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
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brake_out = brake_op if self.simulator_state.is_engaged else brake_manual
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steer_out = steer_op if self.simulator_state.is_engaged else steer_manual
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self.world.apply_controls(steer_out, throttle_out, brake_out)
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self.world.read_state()
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self.world.read_sensors(self.simulator_state)
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if self.world.exit_event.is_set():
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self.shutdown()
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if self.rk.frame % self.TICKS_PER_FRAME == 0:
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self.world.tick()
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self.world.read_cameras()
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if self.rk.frame % 25 == 0:
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self.print_status()
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self.started.value = True
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self.rk.keep_time()
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