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472 lines
16 KiB
472 lines
16 KiB
#!/usr/bin/env python3
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import argparse
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import math
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import threading
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import time
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import os
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from multiprocessing import Process, Queue
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from typing import Any
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import carla # pylint: disable=import-error
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import numpy as np
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import pyopencl as cl
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import pyopencl.array as cl_array
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from lib.can import can_function
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import cereal.messaging as messaging
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from cereal import log
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from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
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from common.basedir import BASEDIR
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from common.numpy_fast import clip
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from common.params import Params
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from common.realtime import DT_DMON, Ratekeeper
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from selfdrive.car.honda.values import CruiseButtons
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from selfdrive.test.helpers import set_params_enabled
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parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
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parser.add_argument('--joystick', action='store_true')
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parser.add_argument('--low_quality', action='store_true')
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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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args = parser.parse_args()
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W, H = 1928, 1208
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REPEAT_COUNTER = 5
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PRINT_DECIMATION = 100
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STEER_RATIO = 15.
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pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"])
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sm = messaging.SubMaster(['carControl', 'controlsState'])
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class VehicleState:
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def __init__(self):
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self.speed = 0
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self.angle = 0
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self.bearing_deg = 0.0
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self.vel = carla.Vector3D()
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self.cruise_button = 0
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self.is_engaged = False
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self.ignition = True
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def steer_rate_limit(old, new):
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# Rate limiting to 0.5 degrees per step
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limit = 0.5
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if new > old + limit:
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return old + limit
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elif new < old - limit:
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return old - limit
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else:
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return new
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class Camerad:
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def __init__(self):
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self.frame_id = 0
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self.vipc_server = VisionIpcServer("camerad")
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# TODO: remove RGB buffers once the last RGB vipc subscriber is removed
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self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_ROAD, 4, True, W, H)
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self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, W, H)
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self.vipc_server.start_listener()
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# set up for pyopencl rgb to yuv conversion
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self.ctx = cl.create_some_context()
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self.queue = cl.CommandQueue(self.ctx)
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cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W*3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
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# TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed
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kernel_fn = os.path.join(BASEDIR, "selfdrive", "camerad", "transforms", "rgb_to_yuv.cl")
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prg = cl.Program(self.ctx, open(kernel_fn).read()).build(cl_arg)
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self.krnl = prg.rgb_to_yuv
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self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
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self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
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def cam_callback(self, 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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# convert RGB frame to YUV
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rgb = np.reshape(img, (H, W * 3))
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rgb_cl = cl_array.to_device(self.queue, rgb)
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yuv_cl = cl_array.empty_like(rgb_cl)
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self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
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yuv = np.resize(yuv_cl.get(), np.int32(rgb.size / 2))
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eof = int(self.frame_id * 0.05 * 1e9)
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# TODO: remove RGB send once the last RGB vipc subscriber is removed
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self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_ROAD, img.tobytes(), self.frame_id, eof, eof)
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self.vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, yuv.data.tobytes(), self.frame_id, eof, eof)
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dat = messaging.new_message('roadCameraState')
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dat.roadCameraState = {
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"frameId": image.frame,
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"transform": [1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0]
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}
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pm.send('roadCameraState', dat)
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self.frame_id += 1
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def imu_callback(imu, vehicle_state):
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vehicle_state.bearing_deg = math.degrees(imu.compass)
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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 panda_state_function(vs: VehicleState, exit_event: threading.Event):
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pm = messaging.PubMaster(['pandaStates'])
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while not exit_event.is_set():
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dat = messaging.new_message('pandaStates', 1)
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dat.valid = True
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dat.pandaStates[0] = {
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'ignitionLine': vs.ignition,
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'pandaType': "blackPanda",
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'controlsAllowed': True,
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'safetyModel': 'hondaNidec'
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}
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pm.send('pandaStates', dat)
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time.sleep(0.5)
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def peripheral_state_function(exit_event: threading.Event):
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pm = messaging.PubMaster(['peripheralState'])
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while not exit_event.is_set():
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dat = messaging.new_message('peripheralState')
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dat.valid = True
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# fake peripheral state data
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dat.peripheralState = {
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'pandaType': log.PandaState.PandaType.blackPanda,
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'voltage': 12000,
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'current': 5678,
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'fanSpeedRpm': 1000
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}
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pm.send('peripheralState', dat)
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time.sleep(0.5)
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def gps_callback(gps, vehicle_state):
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dat = messaging.new_message('gpsLocationExternal')
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# transform vel from carla to NED
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# north is -Y in CARLA
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velNED = [
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-vehicle_state.vel.y, # north/south component of NED is negative when moving south
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vehicle_state.vel.x, # positive when moving east, which is x in carla
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vehicle_state.vel.z,
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]
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dat.gpsLocationExternal = {
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"timestamp": int(time.time() * 1000),
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"flags": 1, # valid fix
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"accuracy": 1.0,
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"verticalAccuracy": 1.0,
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"speedAccuracy": 0.1,
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"bearingAccuracyDeg": 0.1,
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"vNED": velNED,
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"bearingDeg": vehicle_state.bearing_deg,
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"latitude": gps.latitude,
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"longitude": gps.longitude,
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"altitude": gps.altitude,
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"speed": vehicle_state.speed,
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"source": log.GpsLocationData.SensorSource.ublox,
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}
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pm.send('gpsLocationExternal', dat)
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def fake_driver_monitoring(exit_event: threading.Event):
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pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
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while not exit_event.is_set():
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# dmonitoringmodeld output
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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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# dmonitoringd output
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dat = messaging.new_message('driverMonitoringState')
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dat.driverMonitoringState = {
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"faceDetected": True,
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"isDistracted": False,
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"awarenessStatus": 1.,
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}
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pm.send('driverMonitoringState', dat)
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time.sleep(DT_DMON)
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def can_function_runner(vs: VehicleState, exit_event: threading.Event):
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i = 0
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while not exit_event.is_set():
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can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
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time.sleep(0.01)
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i += 1
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def bridge(q):
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# setup CARLA
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client = carla.Client("127.0.0.1", 2000)
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client.set_timeout(10.0)
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world = client.load_world(args.town)
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settings = world.get_settings()
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settings.synchronous_mode = True # Enables synchronous mode
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settings.fixed_delta_seconds = 0.05
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world.apply_settings(settings)
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world.set_weather(carla.WeatherParameters.ClearSunset)
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if args.low_quality:
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world.unload_map_layer(carla.MapLayer.Foliage)
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world.unload_map_layer(carla.MapLayer.Buildings)
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world.unload_map_layer(carla.MapLayer.ParkedVehicles)
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world.unload_map_layer(carla.MapLayer.Props)
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world.unload_map_layer(carla.MapLayer.StreetLights)
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world.unload_map_layer(carla.MapLayer.Particles)
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blueprint_library = world.get_blueprint_library()
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world_map = world.get_map()
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vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
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spawn_points = world_map.get_spawn_points()
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assert len(spawn_points) > args.num_selected_spawn_point, \
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f'''No spawn point {args.num_selected_spawn_point}, try a value between 0 and
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{len(spawn_points)} for this town.'''
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spawn_point = spawn_points[args.num_selected_spawn_point]
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vehicle = world.spawn_actor(vehicle_bp, spawn_point)
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max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
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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 = 2326
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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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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', '40')
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blueprint.set_attribute('sensor_tick', '0.05')
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transform = carla.Transform(carla.Location(x=0.8, z=1.13))
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camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
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camerad = Camerad()
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camera.listen(camerad.cam_callback)
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vehicle_state = VehicleState()
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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(lambda imu: imu_callback(imu, vehicle_state))
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gps_bp = blueprint_library.find('sensor.other.gnss')
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gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
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gps.listen(lambda gps: gps_callback(gps, vehicle_state))
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# launch fake car threads
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threads = []
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exit_event = threading.Event()
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threads.append(threading.Thread(target=panda_state_function, args=(vehicle_state, exit_event,)))
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threads.append(threading.Thread(target=peripheral_state_function, args=(exit_event,)))
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threads.append(threading.Thread(target=fake_driver_monitoring, args=(exit_event,)))
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threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, exit_event,)))
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for t in threads:
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t.start()
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# can loop
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rk = Ratekeeper(100, print_delay_threshold=0.05)
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# init
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throttle_ease_out_counter = REPEAT_COUNTER
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brake_ease_out_counter = REPEAT_COUNTER
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steer_ease_out_counter = REPEAT_COUNTER
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vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
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is_openpilot_engaged = False
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throttle_out = steer_out = brake_out = 0
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throttle_op = steer_op = brake_op = 0
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throttle_manual = steer_manual = brake_manual = 0
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old_steer = old_brake = old_throttle = 0
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throttle_manual_multiplier = 0.7 # keyboard signal is always 1
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brake_manual_multiplier = 0.7 # keyboard signal is always 1
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steer_manual_multiplier = 45 * STEER_RATIO # keyboard signal is always 1
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while True:
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# 1. Read the throttle, steer and brake from op or manual controls
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# 2. Set instructions in Carla
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# 3. Send current carstate to op via can
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cruise_button = 0
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throttle_out = steer_out = brake_out = 0.0
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throttle_op = steer_op = brake_op = 0
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throttle_manual = steer_manual = brake_manual = 0.0
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# --------------Step 1-------------------------------
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if not q.empty():
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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_manual = float(m[1])
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is_openpilot_engaged = False
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elif m[0] == "throttle":
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throttle_manual = float(m[1])
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is_openpilot_engaged = False
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elif m[0] == "brake":
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brake_manual = float(m[1])
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is_openpilot_engaged = False
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elif m[0] == "reverse":
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cruise_button = CruiseButtons.CANCEL
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is_openpilot_engaged = False
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elif 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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elif m[1] == "up":
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cruise_button = CruiseButtons.RES_ACCEL
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is_openpilot_engaged = True
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elif m[1] == "cancel":
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cruise_button = CruiseButtons.CANCEL
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is_openpilot_engaged = False
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elif m[0] == "ignition":
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vehicle_state.ignition = not vehicle_state.ignition
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elif m[0] == "quit":
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break
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throttle_out = throttle_manual * throttle_manual_multiplier
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steer_out = steer_manual * steer_manual_multiplier
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brake_out = brake_manual * brake_manual_multiplier
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old_steer = steer_out
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old_throttle = throttle_out
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old_brake = brake_out
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if is_openpilot_engaged:
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sm.update(0)
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# TODO gas and brake is deprecated
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throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
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brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
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steer_op = sm['carControl'].actuators.steeringAngleDeg
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throttle_out = throttle_op
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steer_out = steer_op
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brake_out = brake_op
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steer_out = steer_rate_limit(old_steer, steer_out)
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old_steer = steer_out
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else:
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if throttle_out == 0 and old_throttle > 0:
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if throttle_ease_out_counter > 0:
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throttle_out = old_throttle
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throttle_ease_out_counter += -1
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else:
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throttle_ease_out_counter = REPEAT_COUNTER
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old_throttle = 0
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if brake_out == 0 and old_brake > 0:
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if brake_ease_out_counter > 0:
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brake_out = old_brake
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brake_ease_out_counter += -1
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else:
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brake_ease_out_counter = REPEAT_COUNTER
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old_brake = 0
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if steer_out == 0 and old_steer != 0:
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if steer_ease_out_counter > 0:
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steer_out = old_steer
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steer_ease_out_counter += -1
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else:
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steer_ease_out_counter = REPEAT_COUNTER
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old_steer = 0
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# --------------Step 2-------------------------------
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steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
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steer_carla = np.clip(steer_carla, -1, 1)
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steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
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old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)
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vc.throttle = throttle_out / 0.6
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vc.steer = steer_carla
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vc.brake = brake_out
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vehicle.apply_control(vc)
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# --------------Step 3-------------------------------
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vel = vehicle.get_velocity()
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speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) # in m/s
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vehicle_state.speed = speed
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vehicle_state.vel = vel
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vehicle_state.angle = steer_out
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vehicle_state.cruise_button = cruise_button
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vehicle_state.is_engaged = is_openpilot_engaged
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if rk.frame % PRINT_DECIMATION == 0:
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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))
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if rk.frame % 5 == 0:
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world.tick()
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rk.keep_time()
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# Clean up resources in the opposite order they were created.
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exit_event.set()
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for t in reversed(threads):
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t.join()
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gps.destroy()
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imu.destroy()
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camera.destroy()
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vehicle.destroy()
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def bridge_keep_alive(q: Any):
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while 1:
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try:
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bridge(q)
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break
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except RuntimeError:
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print("Restarting bridge...")
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if __name__ == "__main__":
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# make sure params are in a good state
|
|
set_params_enabled()
|
|
|
|
msg = messaging.new_message('liveCalibration')
|
|
msg.liveCalibration.validBlocks = 20
|
|
msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
|
|
Params().put("CalibrationParams", msg.to_bytes())
|
|
|
|
q: Any = Queue()
|
|
p = Process(target=bridge_keep_alive, args=(q,), daemon=True)
|
|
p.start()
|
|
|
|
if args.joystick:
|
|
# start input poll for joystick
|
|
from lib.manual_ctrl import wheel_poll_thread
|
|
wheel_poll_thread(q)
|
|
p.join()
|
|
else:
|
|
# start input poll for keyboard
|
|
from lib.keyboard_ctrl import keyboard_poll_thread
|
|
keyboard_poll_thread(q)
|
|
|