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374 lines
12 KiB
374 lines
12 KiB
#!/usr/bin/env python3
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# type: ignore
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import carla # pylint: disable=import-error
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import time
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import math
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import atexit
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import numpy as np
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import threading
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import cereal.messaging as messaging
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import argparse
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from common.params import Params
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from common.realtime import Ratekeeper, DT_DMON
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from lib.can import can_function
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from selfdrive.car.honda.values import CruiseButtons
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from selfdrive.test.helpers import set_params_enabled
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parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
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parser.add_argument('--joystick', action='store_true')
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parser.add_argument('--town', type=str, default='Town04')
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parser.add_argument('--spawn_point', dest='num_selected_spawn_point',
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type=int, default=16)
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parser.add_argument('--cloudyness', default=0.1, type=float)
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parser.add_argument('--precipitation', default=0.0, type=float)
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parser.add_argument('--precipitation_deposits', default=0.0, type=float)
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parser.add_argument('--wind_intensity', default=0.0, type=float)
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parser.add_argument('--sun_azimuth_angle', default=15.0, type=float)
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parser.add_argument('--sun_altitude_angle', default=75.0, type=float)
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args = parser.parse_args()
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W, H = 1164, 874
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REPEAT_COUNTER = 5
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PRINT_DECIMATION = 100
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STEER_RATIO = 15.
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pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])
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sm = messaging.SubMaster(['carControl','controlsState'])
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class VehicleState:
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def __init__(self):
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self.speed = 0
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self.angle = 0
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self.cruise_button= 0
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self.is_engaged=False
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def steer_rate_limit(old, new):
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# Rate limiting to 0.5 degrees per step
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limit = 0.5
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if new > old + limit:
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return old + limit
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elif new < old - limit:
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return old - limit
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else:
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return new
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frame_id = 0
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def cam_callback(image):
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global frame_id
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img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
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img = np.reshape(img, (H, W, 4))
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img = img[:, :, [0, 1, 2]].copy()
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dat = messaging.new_message('frame')
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dat.frame = {
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"frameId": image.frame,
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"image": img.tostring(),
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"transform": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
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}
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pm.send('frame', dat)
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frame_id += 1
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def imu_callback(imu):
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dat = messaging.new_message('sensorEvents', 2)
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dat.sensorEvents[0].sensor = 4
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dat.sensorEvents[0].type = 0x10
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dat.sensorEvents[0].init('acceleration')
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dat.sensorEvents[0].acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
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# copied these numbers from locationd
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dat.sensorEvents[1].sensor = 5
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dat.sensorEvents[1].type = 0x10
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dat.sensorEvents[1].init('gyroUncalibrated')
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dat.sensorEvents[1].gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
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pm.send('sensorEvents', dat)
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def health_function():
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pm = messaging.PubMaster(['health'])
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while 1:
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dat = messaging.new_message('health')
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dat.valid = True
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dat.health = {
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'ignitionLine': True,
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'hwType': "blackPanda",
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'controlsAllowed': True,
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'safetyModel': 'hondaNidec'
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}
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pm.send('health', dat)
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time.sleep(0.5)
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def fake_gps():
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# TODO: read GPS from CARLA
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pm = messaging.PubMaster(['gpsLocationExternal'])
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while 1:
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dat = messaging.new_message('gpsLocationExternal')
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pm.send('gpsLocationExternal', dat)
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time.sleep(0.01)
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def fake_driver_monitoring():
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pm = messaging.PubMaster(['driverState','dMonitoringState'])
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while 1:
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# dmonitoringmodeld output
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dat = messaging.new_message('driverState')
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dat.driverState.faceProb = 1.0
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pm.send('driverState', dat)
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# dmonitoringd output
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dat = messaging.new_message('dMonitoringState')
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dat.dMonitoringState = {
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"faceDetected": True,
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"isDistracted": False,
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"awarenessStatus": 1.,
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"isRHD": False,
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}
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pm.send('dMonitoringState', dat)
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time.sleep(DT_DMON)
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def can_function_runner(vs):
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i = 0
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while 1:
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can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
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time.sleep(0.01)
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i+=1
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def go(q):
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# setup CARLA
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client = carla.Client("127.0.0.1", 2000)
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client.set_timeout(10.0)
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world = client.load_world(args.town)
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blueprint_library = world.get_blueprint_library()
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world_map = world.get_map()
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vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[0]
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spawn_points = world_map.get_spawn_points()
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assert len(spawn_points) > args.num_selected_spawn_point, \
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f'''No spawn point {args.num_selected_spawn_point}, try a value between 0 and
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{len(spawn_points)} for this town.'''
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spawn_point = spawn_points[args.num_selected_spawn_point]
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vehicle = world.spawn_actor(vehicle_bp, spawn_point)
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max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
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# make tires less slippery
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# wheel_control = carla.WheelPhysicsControl(tire_friction=5)
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physics_control = vehicle.get_physics_control()
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physics_control.mass = 2326
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# physics_control.wheels = [wheel_control]*4
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physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
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physics_control.gear_switch_time = 0.0
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vehicle.apply_physics_control(physics_control)
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blueprint = blueprint_library.find('sensor.camera.rgb')
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blueprint.set_attribute('image_size_x', str(W))
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blueprint.set_attribute('image_size_y', str(H))
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blueprint.set_attribute('fov', '70')
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blueprint.set_attribute('sensor_tick', '0.05')
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transform = carla.Transform(carla.Location(x=0.8, z=1.45))
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camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
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camera.listen(cam_callback)
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world.set_weather(carla.WeatherParameters(
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cloudyness=args.cloudyness,
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precipitation=args.precipitation,
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precipitation_deposits=args.precipitation_deposits,
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wind_intensity=args.wind_intensity,
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sun_azimuth_angle=args.sun_azimuth_angle,
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sun_altitude_angle=args.sun_altitude_angle
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))
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# reenable IMU
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imu_bp = blueprint_library.find('sensor.other.imu')
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imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
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imu.listen(imu_callback)
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def destroy():
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print("clean exit")
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imu.destroy()
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camera.destroy()
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vehicle.destroy()
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print("done")
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atexit.register(destroy)
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vehicle_state = VehicleState()
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# launch fake car threads
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threading.Thread(target=health_function).start()
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threading.Thread(target=fake_driver_monitoring).start()
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threading.Thread(target=fake_gps).start()
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threading.Thread(target=can_function_runner, args=(vehicle_state,)).start()
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# can loop
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rk = Ratekeeper(100, print_delay_threshold=0.05)
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# init
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throttle_ease_out_counter = REPEAT_COUNTER
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brake_ease_out_counter = REPEAT_COUNTER
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steer_ease_out_counter = REPEAT_COUNTER
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vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
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is_openpilot_engaged = False
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throttle_out = steer_out = brake_out = 0
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throttle_op = steer_op = brake_op = 0
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throttle_manual = steer_manual = brake_manual = 0
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old_steer = old_brake = old_throttle = 0
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throttle_manual_multiplier = 0.7 #keyboard signal is always 1
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brake_manual_multiplier = 0.7 #keyboard signal is always 1
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steer_manual_multiplier = 45 * STEER_RATIO #keyboard signal is always 1
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while 1:
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# 1. Read the throttle, steer and brake from op or manual controls
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# 2. Set instructions in Carla
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# 3. Send current carstate to op via can
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cruise_button = 0
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throttle_out = steer_out = brake_out = 0
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throttle_op = steer_op = brake_op = 0
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throttle_manual = steer_manual = brake_manual = 0
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# --------------Step 1-------------------------------
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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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is_openpilot_engaged = False
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if m[0] == "throttle":
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throttle_manual = float(m[1])
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is_openpilot_engaged = False
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if m[0] == "brake":
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brake_manual = float(m[1])
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is_openpilot_engaged = False
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if m[0] == "reverse":
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#in_reverse = not in_reverse
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cruise_button = CruiseButtons.CANCEL
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is_openpilot_engaged = False
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if m[0] == "cruise":
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if m[1] == "down":
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cruise_button = CruiseButtons.DECEL_SET
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is_openpilot_engaged = True
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if m[1] == "up":
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cruise_button = CruiseButtons.RES_ACCEL
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is_openpilot_engaged = True
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if m[1] == "cancel":
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cruise_button = CruiseButtons.CANCEL
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is_openpilot_engaged = False
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throttle_out = throttle_manual * throttle_manual_multiplier
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steer_out = steer_manual * steer_manual_multiplier
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brake_out = brake_manual * brake_manual_multiplier
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#steer_out = steer_out
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# steer_out = steer_rate_limit(old_steer, steer_out)
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old_steer = steer_out
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old_throttle = throttle_out
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old_brake = brake_out
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# print('message',old_throttle, old_steer, old_brake)
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if is_openpilot_engaged:
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sm.update(0)
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throttle_op = sm['carControl'].actuators.gas #[0,1]
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brake_op = sm['carControl'].actuators.brake #[0,1]
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steer_op = sm['controlsState'].angleSteersDes # degrees [-180,180]
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throttle_out = throttle_op
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steer_out = steer_op
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brake_out = brake_op
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steer_out = steer_rate_limit(old_steer, steer_out)
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old_steer = steer_out
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# OP Exit conditions
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# if throttle_out > 0.3:
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# cruise_button = CruiseButtons.CANCEL
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# is_openpilot_engaged = False
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# if brake_out > 0.3:
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# cruise_button = CruiseButtons.CANCEL
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# is_openpilot_engaged = False
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# if steer_out > 0.3:
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# cruise_button = CruiseButtons.CANCEL
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# is_openpilot_engaged = False
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else:
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if throttle_out==0 and old_throttle>0:
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if throttle_ease_out_counter>0:
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throttle_out = old_throttle
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throttle_ease_out_counter += -1
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else:
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throttle_ease_out_counter = REPEAT_COUNTER
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old_throttle = 0
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if brake_out==0 and old_brake>0:
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if brake_ease_out_counter>0:
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brake_out = old_brake
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brake_ease_out_counter += -1
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else:
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brake_ease_out_counter = REPEAT_COUNTER
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old_brake = 0
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if steer_out==0 and old_steer!=0:
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if steer_ease_out_counter>0:
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steer_out = old_steer
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steer_ease_out_counter += -1
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else:
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steer_ease_out_counter = REPEAT_COUNTER
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old_steer = 0
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# --------------Step 2-------------------------------
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steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
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steer_carla = np.clip(steer_carla, -1,1)
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steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
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old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)
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vc.throttle = throttle_out/0.6
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vc.steer = steer_carla
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vc.brake = brake_out
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vehicle.apply_control(vc)
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# --------------Step 3-------------------------------
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vel = vehicle.get_velocity()
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speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) # in m/s
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vehicle_state.speed = speed
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vehicle_state.angle = steer_out
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vehicle_state.cruise_button = cruise_button
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vehicle_state.is_engaged = is_openpilot_engaged
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if rk.frame%PRINT_DECIMATION == 0:
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print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ", round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))
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rk.keep_time()
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if __name__ == "__main__":
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# make sure params are in a good state
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params = Params()
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params.clear_all()
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set_params_enabled()
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params.delete("Offroad_ConnectivityNeeded")
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params.put("CalibrationParams", '{"calib_radians": [0,0,0], "valid_blocks": 20}')
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from multiprocessing import Process, Queue
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q = Queue()
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p = Process(target=go, args=(q,))
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p.daemon = True
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p.start()
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if args.joystick:
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# start input poll for joystick
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from lib.manual_ctrl import wheel_poll_thread
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wheel_poll_thread(q)
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else:
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# start input poll for keyboard
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from lib.keyboard_ctrl import keyboard_poll_thread
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keyboard_poll_thread(q)
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