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