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Simulator: only send camera frames at rate that they are generated (#30802)

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only send frames at rate that they are generated
old-commit-hash: 8017c25f0b
This commit is contained in:
Justin Newberry
2023-12-19 10:45:07 -08:00
committed by GitHub
parent babf868ddd
commit a3eafc8cd5
4 changed files with 14 additions and 10 deletions
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4
tools/sim/bridge/metadrive/metadrive_process.py
View File

@@ -39,7 +39,8 @@ def apply_metadrive_patches():
MetaDriveEnv._is_arrive_destination = arrive_destination_patch
def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, controls_recv: Connection, state_send: Connection, exit_event):
def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
controls_recv: Connection, state_send: Connection, exit_event):
apply_metadrive_patches()
road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3))
@@ -98,5 +99,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera
if dual_camera:
wide_road_image[...] = get_cam_as_rgb("rgb_wide")
road_image[...] = get_cam_as_rgb("rgb_road")
image_lock.release()
rk.keep_time()

4
tools/sim/bridge/metadrive/metadrive_world.py
View File

@@ -27,7 +27,9 @@ class MetaDriveWorld(World):
self.metadrive_process = multiprocessing.Process(name="metadrive process", target=
functools.partial(metadrive_process, dual_camera, config,
self.camera_array, self.wide_camera_array, self.controls_recv, self.state_send, self.exit_event))
self.camera_array, self.wide_camera_array, self.image_lock,
self.controls_recv, self.state_send, self.exit_event))
self.metadrive_process.start()
print("----------------------------------------------------------")

4
tools/sim/lib/common.py
View File

@@ -1,5 +1,5 @@
import math
import threading
import multiprocessing
import numpy as np
from abc import ABC, abstractmethod
@@ -65,7 +65,7 @@ class World(ABC):
def __init__(self, dual_camera):
self.dual_camera = dual_camera
self.image_lock = threading.Lock()
self.image_lock = multiprocessing.Semaphore(value=0)
self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)

12
tools/sim/lib/simulated_sensors.py
View File

@@ -102,13 +102,13 @@ class SimulatedSensors:
self.pm.send('driverMonitoringState', dat)
def send_camera_images(self, world: 'World'):
with world.image_lock:
yuv = self.camerad.rgb_to_yuv(world.road_image)
self.camerad.cam_send_yuv_road(yuv)
world.image_lock.acquire()
yuv = self.camerad.rgb_to_yuv(world.road_image)
self.camerad.cam_send_yuv_road(yuv)
if world.dual_camera:
yuv = self.camerad.rgb_to_yuv(world.wide_road_image)
self.camerad.cam_send_yuv_wide_road(yuv)
if world.dual_camera:
yuv = self.camerad.rgb_to_yuv(world.wide_road_image)
self.camerad.cam_send_yuv_wide_road(yuv)
def update(self, simulator_state: 'SimulatorState', world: 'World'):
now = time.time()