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81 lines
2.7 KiB
81 lines
2.7 KiB
import ctypes
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import functools
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import multiprocessing
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import numpy as np
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import time
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from multiprocessing import Pipe, Array
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from openpilot.tools.sim.bridge.metadrive.metadrive_process import metadrive_process, metadrive_state
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from openpilot.tools.sim.lib.common import SimulatorState, World
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from openpilot.tools.sim.lib.camerad import W, H
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class MetaDriveWorld(World):
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def __init__(self, config, dual_camera = False):
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super().__init__(dual_camera)
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self.camera_array = Array(ctypes.c_uint8, W*H*3)
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self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
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self.wide_camera_array = None
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if dual_camera:
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self.wide_camera_array = Array(ctypes.c_uint8, W*H*3)
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self.wide_road_image = np.frombuffer(self.wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
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self.controls_send, self.controls_recv = Pipe()
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self.state_send, self.state_recv = Pipe()
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self.exit_event = multiprocessing.Event()
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self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
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functools.partial(metadrive_process, dual_camera, config,
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self.camera_array, self.wide_camera_array, self.image_lock,
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self.controls_recv, self.state_send, self.exit_event))
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self.metadrive_process.start()
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print("----------------------------------------------------------")
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print("---- Spawning Metadrive world, this might take awhile ----")
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print("----------------------------------------------------------")
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self.state_recv.recv() # wait for a state message to ensure metadrive is launched
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self.steer_ratio = 15
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self.vc = [0.0,0.0]
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self.reset_time = 0
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self.should_reset = False
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def apply_controls(self, steer_angle, throttle_out, brake_out):
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if (time.monotonic() - self.reset_time) > 2:
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self.vc[0] = steer_angle
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if throttle_out:
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self.vc[1] = throttle_out
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else:
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self.vc[1] = -brake_out
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else:
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self.vc[0] = 0
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self.vc[1] = 0
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self.controls_send.send([*self.vc, self.should_reset])
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self.should_reset = False
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def read_sensors(self, state: SimulatorState):
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while self.state_recv.poll(0):
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md_state: metadrive_state = self.state_recv.recv()
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state.velocity = md_state.velocity
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state.bearing = md_state.bearing
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state.steering_angle = md_state.steering_angle
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state.gps.from_xy(md_state.position)
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state.valid = True
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def read_cameras(self):
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pass
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def tick(self):
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pass
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def reset(self):
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self.should_reset = True
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def close(self):
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self.exit_event.set()
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self.metadrive_process.join()
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