From 370ba02e6c95fb8fb5cdedbbf6cb8342852b1b8a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tom=20D=C3=B6rr?= <tom.doerr@tum.de>
Date: Tue, 29 Sep 2020 23:00:03 +0200
Subject: [PATCH] Add Flags to Control Simulator (#2246)

* Add flags

* Update readme
old-commit-hash: c13c6ef76b1b3bc9249ba08818f6afef0ee37076
---
 tools/sim/README.md                 |  2 ++
 tools/sim/bridge.py                 | 36 ++++++++++++++++++++---------
 tools/sim/start_openpilot_docker.sh |  2 +-
 tools/sim/tmux_script.sh            |  4 ++--
 4 files changed, 30 insertions(+), 14 deletions(-)

diff --git a/tools/sim/README.md b/tools/sim/README.md
index b46150b1bb..9f0077570a 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -25,3 +25,5 @@ You can control openpilot driving in the simulation with the following keys
 |   3   |   Cruise cancel   |
 |   q   |     Exit all      |
 
+To see the options for changing the environment, such as the town, spawn point or precipitation, you can run `./start_openpilot_docker.sh --help`.
+This will print the help output inside the docker container. You need to exit the docker container before running `./start_openpilot_docker.sh` again.
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index a118df0026..9149ba3b07 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -16,6 +16,15 @@ from selfdrive.test.helpers import set_params_enabled
 
 parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
 parser.add_argument('--joystick', action='store_true')
+parser.add_argument('--town', type=str, default='Town04')
+parser.add_argument('--spawn_point', dest='num_selected_spawn_point', 
+        type=int, default=16)
+parser.add_argument('--cloudyness', default=0.1, type=float)
+parser.add_argument('--precipitation', default=0.0, type=float)
+parser.add_argument('--precipitation_deposits', default=0.0, type=float)
+parser.add_argument('--wind_intensity', default=0.0, type=float)
+parser.add_argument('--sun_azimuth_angle', default=15.0, type=float)
+parser.add_argument('--sun_altitude_angle', default=75.0, type=float)
 args = parser.parse_args()
 
 W, H = 1164, 874
@@ -127,23 +136,19 @@ def go(q):
   # setup CARLA
   client = carla.Client("127.0.0.1", 2000)
   client.set_timeout(10.0)
-  world = client.load_world('Town04')
-  world.set_weather(carla.WeatherParameters(
-    cloudyness=0.1,
-    precipitation=0.0,
-    precipitation_deposits=0.0,
-    wind_intensity=0.0,
-    sun_azimuth_angle=15.0,
-    sun_altitude_angle=75.0
-  ))
+  world = client.load_world(args.town)
 
   blueprint_library = world.get_blueprint_library()
 
   world_map = world.get_map()
 
   vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[0]
-  # vehicle = world.spawn_actor(vehicle_bp, world_map.get_spawn_points()[16])
-  vehicle = world.spawn_actor(vehicle_bp, world_map.get_spawn_points()[16])
+  spawn_points = world_map.get_spawn_points()
+  assert len(spawn_points) > args.num_selected_spawn_point, \
+    f'''No spawn point {args.num_selected_spawn_point}, try a value between 0 and 
+    {len(spawn_points)} for this town.'''
+  spawn_point = spawn_points[args.num_selected_spawn_point]
+  vehicle = world.spawn_actor(vehicle_bp, spawn_point)
 
   max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
 
@@ -165,6 +170,15 @@ def go(q):
   camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
   camera.listen(cam_callback)
 
+  world.set_weather(carla.WeatherParameters(
+    cloudyness=args.cloudyness,
+    precipitation=args.precipitation,
+    precipitation_deposits=args.precipitation_deposits,
+    wind_intensity=args.wind_intensity,
+    sun_azimuth_angle=args.sun_azimuth_angle,
+    sun_altitude_angle=args.sun_altitude_angle
+  ))
+
   # reenable IMU
   imu_bp = blueprint_library.find('sensor.other.imu')
   imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index 7db5b5c52a..52bc2ec551 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -14,4 +14,4 @@ docker run --net=host\
   --shm-size 1G \
   -e DISPLAY=$DISPLAY \
   commaai/openpilot-sim:latest \
-  /bin/bash -c "cd tools && cd sim && sh tmux_script.sh"
+  /bin/bash -c "cd tools && cd sim && sh tmux_script.sh $*"
diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh
index cd293d41ee..bb7a4088dc 100755
--- a/tools/sim/tmux_script.sh
+++ b/tools/sim/tmux_script.sh
@@ -2,5 +2,5 @@
 tmux new -d -s htop
 tmux send-keys "./launch_openpilot.sh" ENTER
 tmux neww
-tmux send-keys "./bridge.py" ENTER
-tmux a
\ No newline at end of file
+tmux send-keys "./bridge.py $*" ENTER
+tmux a