sim: get GPS data from CARLA (#20717)

* Send simulated carla GPS to OP

* Use ublox enum from cereal

* Add more fields to carla gnss packet

* use math.degrees

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: fc4f27d20a

tools/sim/bridge.py

@@ -6,6 +6,7 @@ import math
 import numpy as np
 import time
 import threading
+from cereal import log
 from typing import Any
 
 import cereal.messaging as messaging
@@ -29,13 +30,15 @@ REPEAT_COUNTER = 5
 PRINT_DECIMATION = 100
 STEER_RATIO = 15.
 
-pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can'])
+pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"])
 sm = messaging.SubMaster(['carControl','controlsState'])
 
 class VehicleState:
   def __init__(self):
     self.speed = 0
     self.angle = 0
+    self.bearing_deg = 0.0
+    self.vel = carla.Vector3D()
     self.cruise_button= 0
     self.is_engaged=False
 
@@ -65,7 +68,8 @@ def cam_callback(image):
   pm.send('roadCameraState', dat)
   frame_id += 1
 
-def imu_callback(imu):
+def imu_callback(imu, vehicle_state):
+  vehicle_state.bearing_deg = math.degrees(imu.compass)
   dat = messaging.new_message('sensorEvents', 2)
   dat.sensorEvents[0].sensor = 4
   dat.sensorEvents[0].type = 0x10
@@ -92,13 +96,30 @@ def panda_state_function():
     pm.send('pandaState', dat)
     time.sleep(0.5)
 
-def fake_gps():
+def gps_callback(gps, vehicle_state):
-  # TODO: read GPS from CARLA
+  dat = messaging.new_message('gpsLocationExternal')
-  pm = messaging.PubMaster(['gpsLocationExternal'])
+
-  while 1:
+  # transform vel from carla to NED
-    dat = messaging.new_message('gpsLocationExternal')
+  # north is -Y in CARLA
-    pm.send('gpsLocationExternal', dat)
+  velNED = [
-    time.sleep(0.01)
+    -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 = {
+    "flags": 1, # valid fix
+    "verticalAccuracy": 1.0,
+    "speedAccuracy": 0.1,
+    "vNED": velNED,
+    "bearingDeg": vehicle_state.bearing_deg,
+    "latitude": gps.latitude,
+    "longitude": gps.longitude,
+    "altitude": gps.altitude,
+    "source": log.GpsLocationData.SensorSource.ublox,
+  }
+
+  pm.send('gpsLocationExternal', dat)
 
 def fake_driver_monitoring():
   pm = messaging.PubMaster(['driverState','driverMonitoringState'])
@@ -175,10 +196,16 @@ def bridge(q):
   camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
   camera.listen(cam_callback)
 
+  vehicle_state = VehicleState()
+
   # reenable IMU
   imu_bp = blueprint_library.find('sensor.other.imu')
   imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
-  imu.listen(imu_callback)
+  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))
 
   def destroy():
     print("clean exit")
@@ -188,13 +215,9 @@ def bridge(q):
     print("done")
   atexit.register(destroy)
 
-
-  vehicle_state = VehicleState()
-
   # launch fake car threads
   threading.Thread(target=panda_state_function).start()
   threading.Thread(target=fake_driver_monitoring).start()
-  threading.Thread(target=fake_gps).start()
   threading.Thread(target=can_function_runner, args=(vehicle_state,)).start()
 
   # can loop
@@ -324,6 +347,7 @@ def bridge(q):
     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