You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
51 lines
1.5 KiB
51 lines
1.5 KiB
2 years ago
|
#!/usr/bin/env python
|
||
|
|
import argparse
|
||
|
|
|
||
|
|
from typing import Any
|
||
|
|
from multiprocessing import Queue
|
||
|
|
|
||
|
|
from openpilot.tools.sim.bridge.common import SimulatorBridge
|
||
|
|
from openpilot.tools.sim.bridge.carla import CarlaBridge
|
||
|
|
|
||
|
|
|
||
|
|
def parse_args(add_args=None):
|
||
|
|
parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
|
||
|
|
parser.add_argument('--joystick', action='store_true')
|
||
|
|
parser.add_argument('--high_quality', action='store_true')
|
||
|
|
parser.add_argument('--dual_camera', action='store_true')
|
||
|
|
parser.add_argument('--simulator', dest='simulator', type=str, default='carla')
|
||
|
|
|
||
|
|
# Carla specific
|
||
|
|
parser.add_argument('--town', type=str, default='Town04_Opt')
|
||
|
|
parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
|
||
|
|
parser.add_argument('--host', dest='host', type=str, default='127.0.0.1')
|
||
|
|
parser.add_argument('--port', dest='port', type=int, default=2000)
|
||
|
|
|
||
|
|
return parser.parse_args(add_args)
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
q: Any = Queue()
|
||
|
|
args = parse_args()
|
||
|
|
|
||
|
|
simulator_bridge: SimulatorBridge
|
||
|
|
if args.simulator == "carla":
|
||
|
|
simulator_bridge = CarlaBridge(args)
|
||
|
|
else:
|
||
|
|
raise AssertionError("simulator type not supported")
|
||
|
|
p = simulator_bridge.run(q)
|
||
|
|
|
||
|
|
if args.joystick:
|
||
|
|
# start input poll for joystick
|
||
|
|
from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
|
||
|
|
|
||
|
|
wheel_poll_thread(q)
|
||
|
|
else:
|
||
|
|
# start input poll for keyboard
|
||
|
|
from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
|
||
|
|
|
||
|
|
keyboard_poll_thread(q)
|
||
|
|
|
||
|
|
simulator_bridge.shutdown()
|
||
|
|
|
||
|
|
p.join()
|