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.
564 lines
19 KiB
564 lines
19 KiB
#!/usr/bin/env python3
|
|
import argparse
|
|
import math
|
|
import os
|
|
import signal
|
|
import threading
|
|
import time
|
|
from multiprocessing import Process, Queue
|
|
from typing import Any
|
|
|
|
import carla # pylint: disable=import-error
|
|
import numpy as np
|
|
import pyopencl as cl
|
|
import pyopencl.array as cl_array
|
|
|
|
import cereal.messaging as messaging
|
|
from cereal import log
|
|
from cereal.visionipc import VisionIpcServer, VisionStreamType
|
|
from common.basedir import BASEDIR
|
|
from common.numpy_fast import clip
|
|
from common.params import Params
|
|
from common.realtime import DT_DMON, Ratekeeper
|
|
from selfdrive.car.honda.values import CruiseButtons
|
|
from selfdrive.test.helpers import set_params_enabled
|
|
from tools.sim.lib.can import can_function
|
|
|
|
W, H = 1928, 1208
|
|
REPEAT_COUNTER = 5
|
|
PRINT_DECIMATION = 100
|
|
STEER_RATIO = 15.
|
|
|
|
pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'accelerometer', 'gyroscope', 'can', "gpsLocationExternal"])
|
|
sm = messaging.SubMaster(['carControl', 'controlsState'])
|
|
|
|
def parse_args(add_args=None):
|
|
parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
|
|
parser.add_argument('--joystick', action='store_true')
|
|
parser.add_argument('--high_quality', action='store_true')
|
|
parser.add_argument('--dual_camera', action='store_true')
|
|
parser.add_argument('--town', type=str, default='Town04_Opt')
|
|
parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
|
|
parser.add_argument('--host', dest='host', type=str, default='127.0.0.1')
|
|
parser.add_argument('--port', dest='port', type=int, default=2000)
|
|
|
|
return parser.parse_args(add_args)
|
|
|
|
|
|
class VehicleState:
|
|
def __init__(self):
|
|
self.speed = 0.0
|
|
self.angle = 0.0
|
|
self.bearing_deg = 0.0
|
|
self.vel = carla.Vector3D()
|
|
self.cruise_button = 0
|
|
self.is_engaged = False
|
|
self.ignition = True
|
|
|
|
|
|
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
|
|
|
|
|
|
class Camerad:
|
|
def __init__(self):
|
|
self.frame_road_id = 0
|
|
self.frame_wide_id = 0
|
|
self.vipc_server = VisionIpcServer("camerad")
|
|
|
|
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
|
|
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
|
|
self.vipc_server.start_listener()
|
|
|
|
# set up for pyopencl rgb to yuv conversion
|
|
self.ctx = cl.create_some_context()
|
|
self.queue = cl.CommandQueue(self.ctx)
|
|
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 "
|
|
|
|
kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
|
|
with open(kernel_fn) as f:
|
|
prg = cl.Program(self.ctx, f.read()).build(cl_arg)
|
|
self.krnl = prg.rgb_to_nv12
|
|
self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
|
|
self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
|
|
|
|
def cam_callback_road(self, image):
|
|
self._cam_callback(image, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
|
|
self.frame_road_id += 1
|
|
|
|
def cam_callback_wide_road(self, image):
|
|
self._cam_callback(image, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
|
|
self.frame_wide_id += 1
|
|
|
|
def _cam_callback(self, image, frame_id, pub_type, yuv_type):
|
|
img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
|
|
img = np.reshape(img, (H, W, 4))
|
|
img = img[:, :, [0, 1, 2]].copy()
|
|
|
|
# convert RGB frame to YUV
|
|
rgb = np.reshape(img, (H, W * 3))
|
|
rgb_cl = cl_array.to_device(self.queue, rgb)
|
|
yuv_cl = cl_array.empty_like(rgb_cl)
|
|
self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
|
|
yuv = np.resize(yuv_cl.get(), rgb.size // 2)
|
|
eof = int(frame_id * 0.05 * 1e9)
|
|
|
|
self.vipc_server.send(yuv_type, yuv.data.tobytes(), frame_id, eof, eof)
|
|
|
|
dat = messaging.new_message(pub_type)
|
|
msg = {
|
|
"frameId": frame_id,
|
|
"transform": [1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0]
|
|
}
|
|
setattr(dat, pub_type, msg)
|
|
pm.send(pub_type, dat)
|
|
|
|
def imu_callback(imu, vehicle_state):
|
|
# send 5x since 'sensor_tick' doesn't seem to work. limited by the world tick?
|
|
for _ in range(5):
|
|
vehicle_state.bearing_deg = math.degrees(imu.compass)
|
|
dat = messaging.new_message('accelerometer')
|
|
dat.accelerometer.sensor = 4
|
|
dat.accelerometer.type = 0x1
|
|
dat.accelerometer.timestamp = dat.logMonoTime # TODO: use the IMU timestamp
|
|
dat.accelerometer.init('acceleration')
|
|
dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
|
|
pm.send('accelerometer', dat)
|
|
|
|
# copied these numbers from locationd
|
|
dat = messaging.new_message('gyroscope')
|
|
dat.gyroscope.sensor = 5
|
|
dat.gyroscope.type = 0x10
|
|
dat.gyroscope.timestamp = dat.logMonoTime # TODO: use the IMU timestamp
|
|
dat.gyroscope.init('gyroUncalibrated')
|
|
dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
|
|
pm.send('gyroscope', dat)
|
|
time.sleep(0.01)
|
|
|
|
|
|
def panda_state_function(vs: VehicleState, exit_event: threading.Event):
|
|
pm = messaging.PubMaster(['pandaStates'])
|
|
while not exit_event.is_set():
|
|
dat = messaging.new_message('pandaStates', 1)
|
|
dat.valid = True
|
|
dat.pandaStates[0] = {
|
|
'ignitionLine': vs.ignition,
|
|
'pandaType': "blackPanda",
|
|
'controlsAllowed': True,
|
|
'safetyModel': 'hondaNidec'
|
|
}
|
|
pm.send('pandaStates', dat)
|
|
time.sleep(0.5)
|
|
|
|
|
|
def peripheral_state_function(exit_event: threading.Event):
|
|
pm = messaging.PubMaster(['peripheralState'])
|
|
while not exit_event.is_set():
|
|
dat = messaging.new_message('peripheralState')
|
|
dat.valid = True
|
|
# fake peripheral state data
|
|
dat.peripheralState = {
|
|
'pandaType': log.PandaState.PandaType.blackPanda,
|
|
'voltage': 12000,
|
|
'current': 5678,
|
|
'fanSpeedRpm': 1000
|
|
}
|
|
pm.send('peripheralState', dat)
|
|
time.sleep(0.5)
|
|
|
|
|
|
def gps_callback(gps, vehicle_state):
|
|
dat = messaging.new_message('gpsLocationExternal')
|
|
|
|
# transform vel from carla to NED
|
|
# north is -Y in CARLA
|
|
velNED = [
|
|
-vehicle_state.vel.y, # north/south component of NED is negative when moving south
|
|
vehicle_state.vel.x, # positive when moving east, which is x in carla
|
|
vehicle_state.vel.z,
|
|
]
|
|
|
|
dat.gpsLocationExternal = {
|
|
"unixTimestampMillis": int(time.time() * 1000),
|
|
"flags": 1, # valid fix
|
|
"accuracy": 1.0,
|
|
"verticalAccuracy": 1.0,
|
|
"speedAccuracy": 0.1,
|
|
"bearingAccuracyDeg": 0.1,
|
|
"vNED": velNED,
|
|
"bearingDeg": vehicle_state.bearing_deg,
|
|
"latitude": gps.latitude,
|
|
"longitude": gps.longitude,
|
|
"altitude": gps.altitude,
|
|
"speed": vehicle_state.speed,
|
|
"source": log.GpsLocationData.SensorSource.ublox,
|
|
}
|
|
|
|
pm.send('gpsLocationExternal', dat)
|
|
|
|
|
|
def fake_driver_monitoring(exit_event: threading.Event):
|
|
pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
|
|
while not exit_event.is_set():
|
|
# dmonitoringmodeld output
|
|
dat = messaging.new_message('driverStateV2')
|
|
dat.driverStateV2.leftDriverData.faceProb = 1.0
|
|
pm.send('driverStateV2', dat)
|
|
|
|
# dmonitoringd output
|
|
dat = messaging.new_message('driverMonitoringState')
|
|
dat.driverMonitoringState = {
|
|
"faceDetected": True,
|
|
"isDistracted": False,
|
|
"awarenessStatus": 1.,
|
|
}
|
|
pm.send('driverMonitoringState', dat)
|
|
|
|
time.sleep(DT_DMON)
|
|
|
|
|
|
def can_function_runner(vs: VehicleState, exit_event: threading.Event):
|
|
i = 0
|
|
while not exit_event.is_set():
|
|
can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
|
|
time.sleep(0.01)
|
|
i += 1
|
|
|
|
|
|
def connect_carla_client(host: str, port: int):
|
|
client = carla.Client(host, port)
|
|
client.set_timeout(5)
|
|
return client
|
|
|
|
|
|
class CarlaBridge:
|
|
|
|
def __init__(self, arguments):
|
|
set_params_enabled()
|
|
|
|
self.params = Params()
|
|
|
|
msg = messaging.new_message('liveCalibration')
|
|
msg.liveCalibration.validBlocks = 20
|
|
msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
|
|
self.params.put("CalibrationParams", msg.to_bytes())
|
|
self.params.put_bool("WideCameraOnly", not arguments.dual_camera)
|
|
|
|
self._args = arguments
|
|
self._carla_objects = []
|
|
self._camerad = None
|
|
self._exit_event = threading.Event()
|
|
self._threads = []
|
|
self._keep_alive = True
|
|
self.started = False
|
|
signal.signal(signal.SIGTERM, self._on_shutdown)
|
|
self._exit = threading.Event()
|
|
|
|
def _on_shutdown(self, signal, frame):
|
|
self._keep_alive = False
|
|
|
|
def bridge_keep_alive(self, q: Queue, retries: int):
|
|
try:
|
|
while self._keep_alive:
|
|
try:
|
|
self._run(q)
|
|
break
|
|
except RuntimeError as e:
|
|
self.close()
|
|
if retries == 0:
|
|
raise
|
|
|
|
# Reset for another try
|
|
self._carla_objects = []
|
|
self._threads = []
|
|
self._exit_event = threading.Event()
|
|
|
|
retries -= 1
|
|
if retries <= -1:
|
|
print(f"Restarting bridge. Error: {e} ")
|
|
else:
|
|
print(f"Restarting bridge. Retries left {retries}. Error: {e} ")
|
|
finally:
|
|
# Clean up resources in the opposite order they were created.
|
|
self.close()
|
|
|
|
def _run(self, q: Queue):
|
|
client = connect_carla_client(self._args.host, self._args.port)
|
|
world = client.load_world(self._args.town)
|
|
|
|
settings = world.get_settings()
|
|
settings.synchronous_mode = True # Enables synchronous mode
|
|
settings.fixed_delta_seconds = 0.05
|
|
world.apply_settings(settings)
|
|
|
|
world.set_weather(carla.WeatherParameters.ClearSunset)
|
|
|
|
if not self._args.high_quality:
|
|
world.unload_map_layer(carla.MapLayer.Foliage)
|
|
world.unload_map_layer(carla.MapLayer.Buildings)
|
|
world.unload_map_layer(carla.MapLayer.ParkedVehicles)
|
|
world.unload_map_layer(carla.MapLayer.Props)
|
|
world.unload_map_layer(carla.MapLayer.StreetLights)
|
|
world.unload_map_layer(carla.MapLayer.Particles)
|
|
|
|
blueprint_library = world.get_blueprint_library()
|
|
|
|
world_map = world.get_map()
|
|
|
|
vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
|
|
vehicle_bp.set_attribute('role_name', 'hero')
|
|
spawn_points = world_map.get_spawn_points()
|
|
assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and
|
|
{len(spawn_points)} for this town.'''
|
|
spawn_point = spawn_points[self._args.num_selected_spawn_point]
|
|
vehicle = world.spawn_actor(vehicle_bp, spawn_point)
|
|
self._carla_objects.append(vehicle)
|
|
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)
|
|
|
|
transform = carla.Transform(carla.Location(x=0.8, z=1.13))
|
|
|
|
def create_camera(fov, callback):
|
|
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', str(fov))
|
|
if not self._args.high_quality:
|
|
blueprint.set_attribute('enable_postprocess_effects', 'False')
|
|
camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
|
|
camera.listen(callback)
|
|
return camera
|
|
|
|
self._camerad = Camerad()
|
|
|
|
if self._args.dual_camera:
|
|
road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
|
|
self._carla_objects.append(road_camera)
|
|
|
|
road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts
|
|
self._carla_objects.append(road_wide_camera)
|
|
|
|
vehicle_state = VehicleState()
|
|
|
|
# re-enable IMU
|
|
imu_bp = blueprint_library.find('sensor.other.imu')
|
|
imu_bp.set_attribute('sensor_tick', '0.01')
|
|
imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
|
|
imu.listen(lambda imu: imu_callback(imu, vehicle_state))
|
|
|
|
gps_bp = blueprint_library.find('sensor.other.gnss')
|
|
gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
|
|
gps.listen(lambda gps: gps_callback(gps, vehicle_state))
|
|
self.params.put_bool("UbloxAvailable", True)
|
|
|
|
self._carla_objects.extend([imu, gps])
|
|
# launch fake car threads
|
|
self._threads.append(threading.Thread(target=panda_state_function, args=(vehicle_state, self._exit_event,)))
|
|
self._threads.append(threading.Thread(target=peripheral_state_function, args=(self._exit_event,)))
|
|
self._threads.append(threading.Thread(target=fake_driver_monitoring, args=(self._exit_event,)))
|
|
self._threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, self._exit_event,)))
|
|
for t in self._threads:
|
|
t.start()
|
|
|
|
# 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
|
|
|
|
# Simulation tends to be slow in the initial steps. This prevents lagging later
|
|
for _ in range(20):
|
|
world.tick()
|
|
|
|
# loop
|
|
rk = Ratekeeper(100, print_delay_threshold=0.05)
|
|
|
|
while self._keep_alive:
|
|
# 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 = 0.0
|
|
throttle_op = steer_op = brake_op = 0.0
|
|
throttle_manual = steer_manual = brake_manual = 0.0
|
|
|
|
# --------------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
|
|
elif m[0] == "throttle":
|
|
throttle_manual = float(m[1])
|
|
is_openpilot_engaged = False
|
|
elif m[0] == "brake":
|
|
brake_manual = float(m[1])
|
|
is_openpilot_engaged = False
|
|
elif m[0] == "reverse":
|
|
cruise_button = CruiseButtons.CANCEL
|
|
is_openpilot_engaged = False
|
|
elif m[0] == "cruise":
|
|
if m[1] == "down":
|
|
cruise_button = CruiseButtons.DECEL_SET
|
|
is_openpilot_engaged = True
|
|
elif m[1] == "up":
|
|
cruise_button = CruiseButtons.RES_ACCEL
|
|
is_openpilot_engaged = True
|
|
elif m[1] == "cancel":
|
|
cruise_button = CruiseButtons.CANCEL
|
|
is_openpilot_engaged = False
|
|
elif m[0] == "ignition":
|
|
vehicle_state.ignition = not vehicle_state.ignition
|
|
elif m[0] == "quit":
|
|
break
|
|
|
|
throttle_out = throttle_manual * throttle_manual_multiplier
|
|
steer_out = steer_manual * steer_manual_multiplier
|
|
brake_out = brake_manual * brake_manual_multiplier
|
|
|
|
old_steer = steer_out
|
|
old_throttle = throttle_out
|
|
old_brake = brake_out
|
|
|
|
if is_openpilot_engaged:
|
|
sm.update(0)
|
|
|
|
# TODO gas and brake is deprecated
|
|
throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
|
|
brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
|
|
steer_op = sm['carControl'].actuators.steeringAngleDeg
|
|
|
|
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
|
|
|
|
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.vel = vel
|
|
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))
|
|
|
|
if rk.frame % 5 == 0:
|
|
world.tick()
|
|
rk.keep_time()
|
|
self.started = True
|
|
|
|
def close(self):
|
|
self.started = False
|
|
self._exit_event.set()
|
|
|
|
for s in self._carla_objects:
|
|
try:
|
|
s.destroy()
|
|
except Exception as e:
|
|
print("Failed to destroy carla object", e)
|
|
for t in reversed(self._threads):
|
|
t.join()
|
|
|
|
def run(self, queue, retries=-1):
|
|
bridge_p = Process(target=self.bridge_keep_alive, args=(queue, retries), daemon=True)
|
|
bridge_p.start()
|
|
return bridge_p
|
|
|
|
|
|
if __name__ == "__main__":
|
|
q: Any = Queue()
|
|
args = parse_args()
|
|
|
|
try:
|
|
carla_bridge = CarlaBridge(args)
|
|
p = carla_bridge.run(q)
|
|
|
|
if args.joystick:
|
|
# start input poll for joystick
|
|
from tools.sim.lib.manual_ctrl import wheel_poll_thread
|
|
|
|
wheel_poll_thread(q)
|
|
else:
|
|
# start input poll for keyboard
|
|
from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
|
|
|
|
keyboard_poll_thread(q)
|
|
p.join()
|
|
|
|
finally:
|
|
# Try cleaning up the wide camera param
|
|
# in case users want to use replay after
|
|
Params().remove("WideCameraOnly")
|
|
|