diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 08d3abaca9..aaa6be829a 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -9,3 +9,5 @@ RUN pip install ipython jupyter jupyterlab RUN cd $HOME && \ curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \ curl -O https://github.com/commaai/agnos-builder/blob/master/userspace/home/.vimrc + +ENV CARLA_HOST="host.docker.internal" \ No newline at end of file diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 7224f251a7..ef6534c1ae 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -18,7 +18,8 @@ "--volume=${localEnv:HOME}/.comma:/root/.comma", "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", - "--shm-size=1G" + "--shm-size=1G", + "--add-host=host.docker.internal:host-gateway" // required to use host.docker.internal on linux ], "customizations": { "vscode": { diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 854faf4545..92b84f0af9 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -70,7 +70,10 @@ jobs: build: strategy: matrix: - arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} + arch: ${{ fromJson( + ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v3 @@ -277,7 +280,9 @@ jobs: process_replay: name: process replay - runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v3 with: diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e612dfa74a..46ecbeb8ce 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -10,6 +10,7 @@ repos: - id: check-ast exclude: '^(third_party)/' - id: check-json + exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments - id: check-toml - id: check-xml - id: check-yaml diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index eb07432c40..a6190b20b5 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -69,3 +69,7 @@ def with_processes(processes, init_time=0, ignore_stopped=None): return wrap return wrapper + + +def noop(*args, **kwargs): + pass \ No newline at end of file diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index c3a890f068..f8d43737cd 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -3,6 +3,7 @@ import unittest from unittest.mock import patch from openpilot.common.params import Params +from openpilot.selfdrive.test.helpers import noop from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S @@ -25,6 +26,7 @@ def pm_patch(name, value, constant=False): @patch("time.monotonic", new=mock_time_monotonic) +@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=noop) # TODO: Remove this once nonblocking params are safer class TestPowerMonitoring(unittest.TestCase): def setUp(self): self.params = Params() diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 57d9f91fec..0ffef3bb7b 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -171,15 +171,15 @@ Reset Calibration - 重置校準 + 重設校準 RESET - 重置 + 重設 Are you sure you want to reset calibration? - 您確定要重置校準嗎？ + 您確定要重設校準嗎？ Review Training Guide @@ -227,7 +227,7 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 + openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 8° 以內。鏡頭在後台會持續自動校準，很少有需要重設的情況。 Your device is pointed %1° %2 and %3° %4. @@ -290,7 +290,7 @@ PAST WEEK - 上周 + 上週 KM @@ -369,7 +369,7 @@ MapWindow Map Loading - 地圖加載中 + 地圖載入中 Waiting for GPS @@ -452,11 +452,11 @@ openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的固件版本。需要幫助嗎？請加入 discord.comma.ai 。 + openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。 openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 接口。需要幫助嗎？請加入 discord.comma.ai 。 + openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 介面。需要幫助嗎？請加入 discord.comma.ai 。 openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. @@ -498,7 +498,7 @@ Bookmark connect.comma.ai to your home screen to use it like an app - 將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它 + 將 connect.comma.ai 加入您的主螢幕，以便像手機 App 一樣使用它 @@ -528,7 +528,7 @@ Remote access - 遠程訪問 + 遠端存取 24/7 LTE connectivity @@ -611,15 +611,15 @@ Reset Reset failed. Reboot to try again. - 重置失敗。請重新啟動後再試。 + 重設失敗。請重新啟動後再試。 Are you sure you want to reset your device? - 您確定要重置你的設備嗎？ + 您確定要重設你的設備嗎？ System Reset - 系統重置 + 系統重設 Cancel @@ -644,7 +644,7 @@ Resetting device... This may take up to a minute. - 設備重置中… + 設備重設中… 這可能需要一分鐘的時間。 @@ -699,7 +699,7 @@ This may take up to a minute. Connect to Wi-Fi - 連接到無線網絡 + 連接到無線網路 Back @@ -719,7 +719,7 @@ This may take up to a minute. for Custom Software - 定制的軟體 + 訂製的軟體 Downloading... @@ -829,27 +829,27 @@ This may take up to a minute. Wi-Fi - + Wi-Fi ETH - + ETH 2G - + 2G 3G - + 3G LTE - + LTE 5G - + 5G @@ -931,11 +931,11 @@ This may take up to a minute. SshControl SSH Keys - SSH 密鑰 + SSH 金鑰 Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。 + 警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 使用者名稱。comma 員工「永遠不會」要求您添加他們的 GitHub 使用者名稱。 ADD @@ -943,7 +943,7 @@ This may take up to a minute. Enter your GitHub username - 請輸入您 GitHub 的用戶名 + 請輸入您 GitHub 的使用者名稱 LOADING @@ -955,7 +955,7 @@ This may take up to a minute. Username '%1' has no keys on GitHub - GitHub 用戶 '%1' 沒有設定任何密鑰 + GitHub 用戶 '%1' 沒有設定任何金鑰 Request timed out @@ -1024,7 +1024,7 @@ This may take up to a minute. Upload data from the driver facing camera and help improve the driver monitoring algorithm. - 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 + 上傳駕駛監控的錄影來協助我們提升駕駛監控的準確率。 Disengage on Accelerator Pedal @@ -1080,7 +1080,7 @@ This may take up to a minute. WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。 + 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. @@ -1124,11 +1124,11 @@ This may take up to a minute. When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - 当导航有目的地时，openpilot 将把地图信息输入模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向分隔带区域等。 + 當導航有目的地時，openpilot 將把地圖資訊輸入模型中。這為模型提供了有用的背景資訊，使 openpilot 能夠在叉路/出口時適當地保持左側或右側行駛。車道變換行為保持不變，仍由駕駛員啟用。這是一個 Alpha 版的功能；可能會出現錯誤，特別是在出口和分叉處。這些錯誤可能包括意外的車道越界、晚出口、朝著分隔欄駛向分隔帶區域等。 The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. - 行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖標也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。 + 行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖示也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。 @@ -1143,7 +1143,7 @@ This may take up to a minute. Connect to Wi-Fi - 連接到無線網絡 + 連接到無線網路 Install diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 464ea08823..360fdc0e68 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -19,7 +19,7 @@ from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors def rk_loop(function, hz, exit_event: threading.Event): - rk = Ratekeeper(hz) + rk = Ratekeeper(hz, None) while not exit_event.is_set(): function() rk.keep_time() diff --git a/tools/sim/bridge/metadrive.py b/tools/sim/bridge/metadrive.py new file mode 100644 index 0000000000..f7b937359e --- /dev/null +++ b/tools/sim/bridge/metadrive.py @@ -0,0 +1,156 @@ +import math +import numpy as np +import time + +from openpilot.tools.sim.bridge.common import World, SimulatorBridge +from openpilot.tools.sim.lib.common import vec3, SimulatorState +from openpilot.tools.sim.lib.camerad import W, H + + +def apply_metadrive_patches(): + from metadrive.engine.core.engine_core import EngineCore + from metadrive.engine.core.image_buffer import ImageBuffer + from metadrive.obs.image_obs import ImageObservation + + # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in + def add_image_sensor_patched(self, name: str, cls, args): + if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]: + sensor = cls(*args, self, cuda=True) + else: + sensor = cls(*args, self, cuda=False) + assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor" + self.sensors[name] = sensor + + EngineCore.add_image_sensor = add_image_sensor_patched + + # we aren't going to use the built-in observation stack, so disable it to save time + def observe_patched(self, vehicle): + return self.state + + ImageObservation.observe = observe_patched + + +class MetaDriveWorld(World): + def __init__(self, env, ticks_per_frame: float, dual_camera = False): + super().__init__(dual_camera) + self.env = env + self.ticks_per_frame = ticks_per_frame + self.dual_camera = dual_camera + + self.steer_ratio = 15 + + self.vc = [0.0,0.0] + + self.reset_time = 0 + + def get_cam_as_rgb(self, cam): + cam = self.env.engine.sensors[cam] + img = cam.perceive(self.env.vehicle, clip=False) + if type(img) != np.ndarray: + img = img.get() # convert cupy array to numpy + return img + + def apply_controls(self, steer_angle, throttle_out, brake_out): + steer_metadrive = steer_angle * 1 / (self.env.vehicle.MAX_STEERING * self.steer_ratio) + steer_metadrive = np.clip(steer_metadrive, -1, 1) + + if (time.monotonic() - self.reset_time) > 5: + self.vc[0] = steer_metadrive + + if throttle_out: + self.vc[1] = throttle_out/10 + else: + self.vc[1] = -brake_out + else: + self.vc[0] = 0 + self.vc[1] = 0 + + def read_sensors(self, state: SimulatorState): + state.velocity = vec3(x=float(self.env.vehicle.velocity[0]), y=float(self.env.vehicle.velocity[1]), z=0) + state.gps.from_xy(self.env.vehicle.position) + state.bearing = float(math.degrees(self.env.vehicle.heading_theta)) + state.steering_angle = self.env.vehicle.steering * self.env.vehicle.MAX_STEERING + state.valid = True + + def read_cameras(self): + if self.dual_camera: + self.wide_road_image = self.get_cam_as_rgb("rgb_wide") + self.road_image = self.get_cam_as_rgb("rgb_road") + + def tick(self): + obs, _, terminated, _, info = self.env.step(self.vc) + + if terminated: + self.env.reset() + self.reset_time = time.monotonic() + + def close(self): + pass + + +class MetaDriveBridge(SimulatorBridge): + TICKS_PER_FRAME = 2 + + def __init__(self, args): + self.should_render = False + + super(MetaDriveBridge, self).__init__(args) + + def spawn_world(self): + print("----------------------------------------------------------") + print("---- Spawning Metadrive world, this might take awhile ----") + print("----------------------------------------------------------") + from metadrive.component.sensors.rgb_camera import RGBCamera + from metadrive.component.sensors.base_camera import _cuda_enable + from metadrive.envs.metadrive_env import MetaDriveEnv + from panda3d.core import Vec3 + + apply_metadrive_patches() + + C3_POSITION = Vec3(0, 0, 1) + + class RGBCameraWide(RGBCamera): + def __init__(self, *args, **kwargs): + super(RGBCameraWide, self).__init__(*args, **kwargs) + cam = self.get_cam() + cam.setPos(C3_POSITION) + lens = self.get_lens() + lens.setFov(160) + + class RGBCameraRoad(RGBCamera): + def __init__(self, *args, **kwargs): + super(RGBCameraRoad, self).__init__(*args, **kwargs) + cam = self.get_cam() + cam.setPos(C3_POSITION) + lens = self.get_lens() + lens.setFov(40) + + sensors = { + "rgb_road": (RGBCameraRoad, W, H, ) + } + + if self.dual_camera: + sensors["rgb_wide"] = (RGBCameraWide, W, H) + + env = MetaDriveEnv( + dict( + use_render=self.should_render, + vehicle_config=dict( + enable_reverse=False, + image_source="rgb_road", + spawn_longitude=15 + ), + sensors=sensors, + image_on_cuda=_cuda_enable, + image_observation=True, + interface_panel=[], + out_of_route_done=False, + on_continuous_line_done=False, + crash_vehicle_done=False, + crash_object_done=False, + ) + ) + + env.reset() + + return MetaDriveWorld(env, self.TICKS_PER_FRAME) \ No newline at end of file diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 7cd01e1610..41b58063b9 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -107,6 +107,8 @@ class SimulatedCar: def update(self, simulator_state: SimulatorState): self.send_can_messages(simulator_state) - self.send_panda_state(simulator_state) + + if self.idx % 50 == 0: # only send panda states at 2hz + self.send_panda_state(simulator_state) self.idx += 1 \ No newline at end of file diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py index 8e6dc8f2ef..e58cf5f0af 100755 --- a/tools/sim/run_bridge.py +++ b/tools/sim/run_bridge.py @@ -1,11 +1,13 @@ #!/usr/bin/env python import argparse +import os from typing import Any from multiprocessing import Queue from openpilot.tools.sim.bridge.common import SimulatorBridge from openpilot.tools.sim.bridge.carla import CarlaBridge +from openpilot.tools.sim.bridge.metadrive import MetaDriveBridge def parse_args(add_args=None): @@ -18,7 +20,7 @@ def parse_args(add_args=None): # Carla specific 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('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1')) parser.add_argument('--port', dest='port', type=int, default=2000) return parser.parse_args(add_args) @@ -30,6 +32,8 @@ if __name__ == "__main__": simulator_bridge: SimulatorBridge if args.simulator == "carla": simulator_bridge = CarlaBridge(args) + elif args.simulator == "metadrive": + simulator_bridge = MetaDriveBridge(args) else: raise AssertionError("simulator type not supported") p = simulator_bridge.run(q) diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py new file mode 100755 index 0000000000..a2b38d11fe --- /dev/null +++ b/tools/sim/tests/test_carla_bridge.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 +import subprocess +import time +import unittest + +from openpilot.selfdrive.manager.helpers import unblock_stdout +from openpilot.tools.sim.run_bridge import parse_args +from openpilot.tools.sim.bridge.carla import CarlaBridge +from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase + + +class TestCarlaBridge(TestSimBridgeBase): + """ + Tests need Carla simulator to run + """ + carla_process = None + + def setUp(self): + super().setUp() + + # We want to make sure that carla_sim docker isn't still running. + subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) + self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR) + + # Too many lagging messages in bridge.py can cause a crash. This prevents it. + unblock_stdout() + # Wait 10 seconds to startup carla + time.sleep(10) + + def create_bridge(self): + return CarlaBridge(parse_args([])) + + def tearDown(self): + super().tearDown() + + # Stop carla simulator by removing docker container + subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) + if self.carla_process is not None: + self.carla_process.wait() + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py new file mode 100755 index 0000000000..175d3758ff --- /dev/null +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python3 +import unittest + +from openpilot.tools.sim.run_bridge import parse_args +from openpilot.tools.sim.bridge.metadrive import MetaDriveBridge +from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase + + +class TestMetaDriveBridge(TestSimBridgeBase): + def create_bridge(self): + return MetaDriveBridge(parse_args([])) + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_sim_bridge.py old mode 100755 new mode 100644 similarity index 71% rename from tools/sim/tests/test_carla_integration.py rename to tools/sim/tests/test_sim_bridge.py index b5a60ee0e3..b00527b322 --- a/tools/sim/tests/test_carla_integration.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -1,40 +1,24 @@ -#!/usr/bin/env python3 +import os import subprocess import time import unittest -import os + from multiprocessing import Queue from cereal import messaging from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.manager.helpers import unblock_stdout -from openpilot.tools.sim.run_bridge import parse_args -from openpilot.tools.sim.bridge.carla import CarlaBridge - -CI = "CI" in os.environ SIM_DIR = os.path.join(BASEDIR, "tools/sim") -class TestCarlaIntegration(unittest.TestCase): - """ - Tests need Carla simulator to run - """ - processes = None - carla_process = None +class TestSimBridgeBase(unittest.TestCase): + @classmethod + def setUpClass(cls): + if cls is TestSimBridgeBase: + raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead") def setUp(self): self.processes = [] - if not CI: - # We want to make sure that carla_sim docker isn't still running. - subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) - self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR) - - # Too many lagging messages in bridge.py can cause a crash. This prevents it. - unblock_stdout() - # Wait 10 seconds to startup carla - time.sleep(10) - def test_engage(self): # Startup manager and bridge.py. Check processes are running, then engage and verify. p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR) @@ -42,7 +26,7 @@ class TestCarlaIntegration(unittest.TestCase): sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState']) q = Queue() - carla_bridge = CarlaBridge(parse_args([])) + carla_bridge = self.create_bridge() p_bridge = carla_bridge.run(q, retries=10) self.processes.append(p_bridge) @@ -99,11 +83,6 @@ class TestCarlaIntegration(unittest.TestCase): else: p.join(15) - # Stop carla simulator by removing docker container - subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) - if self.carla_process is not None: - self.carla_process.wait() - if __name__ == "__main__": unittest.main()