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.
155 lines
4.3 KiB
155 lines
4.3 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import time
|
|
import math
|
|
import atexit
|
|
import numpy as np
|
|
import threading
|
|
import carla
|
|
import random
|
|
import cereal.messaging as messaging
|
|
from common.params import Params
|
|
from common.realtime import Ratekeeper
|
|
from can import can_function, sendcan_function
|
|
import queue
|
|
|
|
pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])
|
|
|
|
W,H = 1164, 874
|
|
|
|
def cam_callback(image):
|
|
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()
|
|
dat.init('frame')
|
|
dat.frame = {
|
|
"frameId": image.frame,
|
|
"image": img.tostring(),
|
|
}
|
|
pm.send('frame', dat)
|
|
|
|
def imu_callback(imu):
|
|
#print(imu, imu.accelerometer)
|
|
|
|
dat = messaging.new_message()
|
|
dat.init('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'])
|
|
rk = Ratekeeper(1.0)
|
|
while 1:
|
|
dat = messaging.new_message()
|
|
dat.init('health')
|
|
dat.valid = True
|
|
dat.health = {
|
|
'ignitionLine': True,
|
|
'hwType': "whitePanda",
|
|
'controlsAllowed': True
|
|
}
|
|
pm.send('health', dat)
|
|
rk.keep_time()
|
|
|
|
def fake_driver_monitoring():
|
|
pm = messaging.PubMaster(['driverMonitoring'])
|
|
while 1:
|
|
dat = messaging.new_message()
|
|
dat.init('driverMonitoring')
|
|
dat.driverMonitoring.faceProb = 1.0
|
|
pm.send('driverMonitoring', dat)
|
|
time.sleep(0.1)
|
|
|
|
def go():
|
|
client = carla.Client("127.0.0.1", 2000)
|
|
client.set_timeout(5.0)
|
|
world = client.load_world('Town03')
|
|
|
|
settings = world.get_settings()
|
|
settings.fixed_delta_seconds = 0.05
|
|
world.apply_settings(settings)
|
|
|
|
weather = carla.WeatherParameters(
|
|
cloudyness=0.0,
|
|
precipitation=0.0,
|
|
precipitation_deposits=0.0,
|
|
wind_intensity=0.0,
|
|
sun_azimuth_angle=0.0,
|
|
sun_altitude_angle=0.0)
|
|
world.set_weather(weather)
|
|
|
|
blueprint_library = world.get_blueprint_library()
|
|
"""
|
|
for blueprint in blueprint_library.filter('sensor.*'):
|
|
print(blueprint.id)
|
|
exit(0)
|
|
"""
|
|
|
|
world_map = world.get_map()
|
|
|
|
vehicle_bp = random.choice(blueprint_library.filter('vehicle.bmw.*'))
|
|
vehicle = world.spawn_actor(vehicle_bp, random.choice(world_map.get_spawn_points()))
|
|
#vehicle.set_autopilot(True)
|
|
|
|
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)
|
|
|
|
# TODO: wait for carla 0.9.7
|
|
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)
|
|
|
|
threading.Thread(target=health_function).start()
|
|
threading.Thread(target=fake_driver_monitoring).start()
|
|
|
|
# can loop
|
|
sendcan = messaging.sub_sock('sendcan')
|
|
rk = Ratekeeper(100)
|
|
steer_angle = 0
|
|
while 1:
|
|
vel = vehicle.get_velocity()
|
|
speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2)
|
|
|
|
can_function(pm, speed, steer_angle, rk.frame, rk.frame%500 == 499)
|
|
if rk.frame%5 == 0:
|
|
throttle, brake, steer = sendcan_function(sendcan)
|
|
steer_angle += steer/10000.0 # torque
|
|
vc = carla.VehicleControl(throttle=throttle, steer=steer_angle, brake=brake)
|
|
vehicle.apply_control(vc)
|
|
print(speed, steer_angle, vc)
|
|
|
|
rk.keep_time()
|
|
|
|
if __name__ == "__main__":
|
|
params = Params()
|
|
params.delete("Offroad_ConnectivityNeeded")
|
|
from selfdrive.version import terms_version, training_version
|
|
params.put("HasAcceptedTerms", terms_version)
|
|
params.put("CompletedTrainingVersion", training_version)
|
|
|
|
go()
|
|
|
|
|