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54 lines
1.8 KiB
54 lines
1.8 KiB
#!/usr/bin/env python
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import argparse
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import os
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from typing import Any
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from multiprocessing import Queue
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from openpilot.tools.sim.bridge.common import SimulatorBridge
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from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
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from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
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def parse_args(add_args=None):
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parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
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parser.add_argument('--joystick', action='store_true')
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parser.add_argument('--high_quality', action='store_true')
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parser.add_argument('--dual_camera', action='store_true')
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parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive')
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# Carla specific
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parser.add_argument('--town', type=str, default='Town04_Opt')
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parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
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parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1'))
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parser.add_argument('--port', dest='port', type=int, default=2000)
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return parser.parse_args(add_args)
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if __name__ == "__main__":
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q: Any = Queue()
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args = parse_args()
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simulator_bridge: SimulatorBridge
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if args.simulator == "carla":
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simulator_bridge = CarlaBridge(args)
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elif args.simulator == "metadrive":
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simulator_bridge = MetaDriveBridge(args)
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else:
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raise AssertionError("simulator type not supported")
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p = simulator_bridge.run(q)
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if args.joystick:
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# start input poll for joystick
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from openpilot.tools.sim.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 openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
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keyboard_poll_thread(q)
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simulator_bridge.shutdown()
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p.join()
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