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249 lines
7.6 KiB
249 lines
7.6 KiB
#!/usr/bin/env python3
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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 random
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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
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from lib.can import can_function, sendcan_function
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from lib.helpers import FakeSteeringWheel
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from selfdrive.car.honda.values import CruiseButtons
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parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
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parser.add_argument('--autopilot', action='store_true')
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parser.add_argument('--joystick', action='store_true')
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parser.add_argument('--realmonitoring', action='store_true')
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args = parser.parse_args()
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pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])
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W,H = 1164, 874
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def cam_callback(image):
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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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def imu_callback(imu):
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#print(imu, imu.accelerometer)
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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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rk = Ratekeeper(1.0)
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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': "whitePanda",
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'controlsAllowed': True
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}
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pm.send('health', dat)
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rk.keep_time()
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def fake_driver_monitoring():
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if args.realmonitoring:
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return
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pm = messaging.PubMaster(['driverState'])
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while 1:
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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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time.sleep(0.1)
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def go(q):
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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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import carla
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client = carla.Client("127.0.0.1", 2000)
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client.set_timeout(5.0)
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world = client.load_world('Town04')
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settings = world.get_settings()
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settings.fixed_delta_seconds = 0.05
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world.apply_settings(settings)
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weather = carla.WeatherParameters(
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cloudyness=0.1,
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precipitation=0.0,
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precipitation_deposits=0.0,
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wind_intensity=0.0,
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sun_azimuth_angle=15.0,
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sun_altitude_angle=75.0)
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world.set_weather(weather)
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blueprint_library = world.get_blueprint_library()
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"""
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for blueprint in blueprint_library.filter('sensor.*'):
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print(blueprint.id)
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exit(0)
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"""
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world_map = world.get_map()
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vehicle_bp = random.choice(blueprint_library.filter('vehicle.tesla.*'))
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vehicle = world.spawn_actor(vehicle_bp, world_map.get_spawn_points()[16])
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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 = 1326
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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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if args.autopilot:
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vehicle.set_autopilot(True)
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# print(vehicle.get_speed_limit())
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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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# 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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# can loop
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sendcan = messaging.sub_sock('sendcan')
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rk = Ratekeeper(100, print_delay_threshold=0.05)
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# init
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A_throttle = 2.
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A_brake = 2.
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A_steer_torque = 1.
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fake_wheel = FakeSteeringWheel()
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is_openpilot_engaged = False
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in_reverse = False
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throttle_out = 0
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brake_out = 0
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steer_angle_out = 0
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while 1:
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cruise_button = 0
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# check for a input message, this will not block
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if not q.empty():
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print("here")
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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_angle_out = float(m[1])
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fake_wheel.set_angle(steer_angle_out) # touching the wheel overrides fake wheel angle
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# print(" === steering overriden === ")
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if m[0] == "throttle":
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throttle_out = float(m[1]) / 100.
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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 m[0] == "brake":
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brake_out = float(m[1]) / 100.
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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 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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vel = vehicle.get_velocity()
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speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) * 3.6
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can_function(pm, speed, fake_wheel.angle, rk.frame, cruise_button=cruise_button, is_engaged=is_openpilot_engaged)
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if rk.frame%1 == 0: # 20Hz?
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throttle_op, brake_op, steer_torque_op = sendcan_function(sendcan)
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# print(" === torq, ",steer_torque_op, " ===")
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if is_openpilot_engaged:
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fake_wheel.response(steer_torque_op * A_steer_torque, speed)
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throttle_out = throttle_op * A_throttle
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brake_out = brake_op * A_brake
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steer_angle_out = fake_wheel.angle
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# print(steer_torque_op)
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# print(steer_angle_out)
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vc = carla.VehicleControl(throttle=throttle_out, steer=steer_angle_out / 3.14, brake=brake_out, reverse=in_reverse)
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vehicle.apply_control(vc)
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rk.keep_time()
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if __name__ == "__main__":
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params = Params()
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params.delete("Offroad_ConnectivityNeeded")
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from selfdrive.version import terms_version, training_version
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params.put("HasAcceptedTerms", terms_version)
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params.put("CompletedTrainingVersion", training_version)
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params.put("CommunityFeaturesToggle", "1")
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params.put("CalibrationParams", '{"vanishing_point": [582.06, 442.78], "valid_blocks": 20}')
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# no carla, still run
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try:
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import carla
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except ImportError:
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print("WARNING: NO CARLA")
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while 1:
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time.sleep(1)
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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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