Fix simulator docker: CPU only for now (#20227)

* initial commit

* CPU working in dokcer

* Update selfdrive/manager.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/manager.py

* fixes

* fixing env var

* fixes

* building and running in docker

* camerad fix

* camerad fix

* this ACTUALLY works

* removing unused libraries

* updating to CARLA 0.9.11

* removing useless flags

* small changes

* forgot this

* sudo not needed for xhost

* final changes

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/modeld/runners/onnx_runner.py

@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
-# TODO: why are the keras models saved with python 2?
-from __future__ import print_function
 
 import os
 import sys
 import numpy as np
+
+os.environ["OMP_NUM_THREADS"] = "1"
+
 import onnxruntime as ort
 
 def read(sz):
@@ -53,4 +54,3 @@ if __name__ == "__main__":
   ort_session = ort.InferenceSession(sys.argv[1], options)
   ort_session.set_providers([provider], None)
   run_loop(ort_session)
-

tools/sim/Dockerfile.sim

@@ -6,40 +6,33 @@ RUN apt-get update && apt-get install -y \
     tar \
     curl \
     xz-utils \
-    beignet-opencl-icd \
-    libglvnd-dev \
     alien \
     dbus \
     gcc-arm-none-eabi \
     tmux \
     vim \
+    lsb-core \
+    libx11-6 \
   && rm -rf /var/lib/apt/lists/*
 
 # Intel OpenCL driver
-ARG INTEL_DRIVER=opencl_runtime_16.1.1_x64_ubuntu_6.4.0.25.tgz
-ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/9019
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
 RUN mkdir -p /tmp/opencl-driver-intel
 WORKDIR /tmp/opencl-driver-intel
-RUN echo INTEL_DRIVER is $INTEL_DRIVER; \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER; \
-    tar -xzf $INTEL_DRIVER; \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done; \
-    dpkg -i *.deb; \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb; \
-    mkdir -p /etc/OpenCL/vendors; \
-    echo /opt/intel/*/lib64/libintelocl.so > /etc/OpenCL/vendors/intel.icd; \
-    rm -rf /tmp/opencl-driver-intel;
+RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    rm -rf /tmp/opencl-driver-intel
 
-# Open[GL,CL] for gpu
-ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display
-RUN apt-get update && apt-get install -y --no-install-recommends \
-      mesa-utils \
-      ocl-icd-libopencl1 \
-    && rm -rf /var/lib/apt/lists/*
-RUN mkdir -p /etc/OpenCL/vendors && \
-    echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
 ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
 
 RUN dbus-uuidgen > /etc/machine-id
 

tools/sim/bridge.py

@@ -19,7 +19,7 @@ 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('--cloudiness', 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)
@@ -62,7 +62,7 @@ def cam_callback(image):
   dat = messaging.new_message('roadCameraState')
   dat.roadCameraState = {
     "frameId": image.frame,
-    "image": img.tostring(),
+    "image": img.tobytes(),
     "transform": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
   }
   pm.send('roadCameraState', dat)
@@ -118,7 +118,6 @@ def fake_driver_monitoring():
       "faceDetected": True,
       "isDistracted": False,
       "awarenessStatus": 1.,
-      "isRHD": False,
     }
     pm.send('driverMonitoringState', dat)
 
@@ -143,7 +142,7 @@ def go(q):
 
   world_map = world.get_map()
 
-  vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[0]
+  vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
   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
@@ -167,12 +166,12 @@ def go(q):
   blueprint.set_attribute('image_size_y', str(H))
   blueprint.set_attribute('fov', '70')
   blueprint.set_attribute('sensor_tick', '0.05')
-  transform = carla.Transform(carla.Location(x=0.8, z=1.45))
+  transform = carla.Transform(carla.Location(x=0.8, z=1.13))
   camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
   camera.listen(cam_callback)
 
   world.set_weather(carla.WeatherParameters(
-    cloudyness=args.cloudyness,
+    cloudiness=args.cloudiness,
     precipitation=args.precipitation,
     precipitation_deposits=args.precipitation_deposits,
     wind_intensity=args.wind_intensity,
@@ -278,7 +277,7 @@ def go(q):
       sm.update(0)
       throttle_op = sm['carControl'].actuators.gas #[0,1]
       brake_op = sm['carControl'].actuators.brake #[0,1]
-      steer_op = sm['controlsState'].angleSteersDes # degrees [-180,180]
+      steer_op = sm['controlsState'].steeringAngleDesiredDeg # degrees [-180,180]
 
       throttle_out = throttle_op
       steer_out = steer_op

tools/sim/install_carla.sh

@@ -1,15 +1,16 @@
 #!/usr/bin/env bash
 
 cd /tmp
-FILE=CARLA_0.9.7.tar.gz
+FILE=CARLA_0.9.11.tar.gz
 rm -f $FILE
-curl -O http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/$FILE
+curl -O https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/$FILE
 
 rm -rf carla_tmp
 mkdir -p carla_tmp
 cd carla_tmp
 tar xvf ../$FILE PythonAPI/
-easy_install PythonAPI/carla/dist/carla-0.9.7-py3.5-linux-x86_64.egg || true
+easy_install PythonAPI/carla/dist/carla-0.9.11-py3.7-linux-x86_64.egg || true
+
 cd ..
 rm -rf /tmp/$FILE
 rm -rf carla_tmp

tools/sim/start_carla.sh

@@ -15,20 +15,14 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
   fi
 fi
 
-docker pull carlasim/carla:0.9.7
+docker pull carlasim/carla:0.9.11
 
-if [ -z "$WINDOW" ]; then
-  docker run -it --net=host --gpus all carlasim/carla:0.9.7
-else
-  docker run --name openpilot_carla \
-    --privileged --rm \
+docker run \
+  --rm \
   --net=host \
-    -e SDL_VIDEODRIVER=x11 \
-    -e DISPLAY=$DISPLAY \
+  -e SDL_VIDEODRIVER='offscreen' \
   -v /tmp/.X11-unix:/tmp/.X11-unix \
   -it \
   --gpus all \
-    carlasim/carla:0.9.7 \
+  carlasim/carla:0.9.11 \
   ./CarlaUE4.sh -quality-level=Medium
-fi
-

tools/sim/start_openpilot_docker.sh

@@ -2,16 +2,16 @@
 
 # expose X to the container
 xhost +local:root
-docker pull commaai/openpilot-sim:latest
 
 docker run --net=host\
   --name openpilot_client \
   --rm \
   -it \
   --gpus all \
-  --device=/dev/dri/  \
+  --device=/dev/dri \
   -v /tmp/.X11-unix:/tmp/.X11-unix \
   --shm-size 1G \
   -e DISPLAY=$DISPLAY \
+  -e QT_X11_NO_MITSHM=1 \
   commaai/openpilot-sim:latest \
-  /bin/bash -c "cd tools && cd sim && sh tmux_script.sh $*"
+  /bin/bash -c "cd /openpilot/tools/sim && ./tmux_script.sh $*"