187 lines
6.0 KiB
Python
187 lines
6.0 KiB
Python
import signal
|
|
import threading
|
|
import functools
|
|
|
|
from multiprocessing import Process, Queue
|
|
from abc import ABC, abstractmethod
|
|
from typing import Optional
|
|
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.numpy_fast import clip
|
|
from openpilot.common.realtime import Ratekeeper
|
|
from openpilot.selfdrive.test.helpers import set_params_enabled
|
|
from openpilot.selfdrive.car.honda.values import CruiseButtons
|
|
from openpilot.tools.sim.lib.common import SimulatorState, World
|
|
from openpilot.tools.sim.lib.simulated_car import SimulatedCar
|
|
from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors
|
|
from openpilot.tools.sim.lib.keyboard_ctrl import KEYBOARD_HELP
|
|
|
|
|
|
def rk_loop(function, hz, exit_event: threading.Event):
|
|
rk = Ratekeeper(hz, None)
|
|
while not exit_event.is_set():
|
|
function()
|
|
rk.keep_time()
|
|
|
|
|
|
class SimulatorBridge(ABC):
|
|
TICKS_PER_FRAME = 5
|
|
|
|
def __init__(self, arguments):
|
|
set_params_enabled()
|
|
self.params = Params()
|
|
|
|
self.rk = Ratekeeper(100, None)
|
|
|
|
self.dual_camera = arguments.dual_camera
|
|
self.high_quality = arguments.high_quality
|
|
|
|
self._exit_event = threading.Event()
|
|
self._threads = []
|
|
self._keep_alive = True
|
|
self.started = False
|
|
signal.signal(signal.SIGTERM, self._on_shutdown)
|
|
self._exit = threading.Event()
|
|
self.simulator_state = SimulatorState()
|
|
|
|
self.world: Optional[World] = None
|
|
|
|
self.past_startup_engaged = False
|
|
|
|
def _on_shutdown(self, signal, frame):
|
|
self.shutdown()
|
|
|
|
def shutdown(self):
|
|
self._keep_alive = False
|
|
|
|
def bridge_keep_alive(self, q: Queue, retries: int):
|
|
try:
|
|
self._run(q)
|
|
finally:
|
|
self.close()
|
|
|
|
def close(self):
|
|
self.started = False
|
|
self._exit_event.set()
|
|
|
|
if self.world is not None:
|
|
self.world.close()
|
|
|
|
def run(self, queue, retries=-1):
|
|
bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries))
|
|
bridge_p.start()
|
|
return bridge_p
|
|
|
|
def print_status(self):
|
|
print(
|
|
f"""
|
|
Keyboard Commands:
|
|
{KEYBOARD_HELP}
|
|
|
|
State:
|
|
Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_engaged}
|
|
""")
|
|
|
|
@abstractmethod
|
|
def spawn_world(self) -> World:
|
|
pass
|
|
|
|
def _run(self, q: Queue):
|
|
self.world = self.spawn_world()
|
|
|
|
self.simulated_car = SimulatedCar()
|
|
self.simulated_sensors = SimulatedSensors(self.dual_camera)
|
|
|
|
self.simulated_car_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_car.update, self.simulator_state),
|
|
100, self._exit_event))
|
|
self.simulated_car_thread.start()
|
|
|
|
self.simulated_camera_thread = threading.Thread(target=rk_loop, args=(functools.partial(self.simulated_sensors.send_camera_images, self.world),
|
|
20, self._exit_event))
|
|
self.simulated_camera_thread.start()
|
|
|
|
# Simulation tends to be slow in the initial steps. This prevents lagging later
|
|
for _ in range(20):
|
|
self.world.tick()
|
|
|
|
while self._keep_alive:
|
|
throttle_out = steer_out = brake_out = 0.0
|
|
throttle_op = steer_op = brake_op = 0.0
|
|
|
|
self.simulator_state.cruise_button = 0
|
|
self.simulator_state.left_blinker = False
|
|
self.simulator_state.right_blinker = False
|
|
|
|
throttle_manual = steer_manual = brake_manual = 0.
|
|
|
|
# Read manual controls
|
|
if not q.empty():
|
|
message = q.get()
|
|
m = message.split('_')
|
|
if m[0] == "steer":
|
|
steer_manual = float(m[1])
|
|
elif m[0] == "throttle":
|
|
throttle_manual = float(m[1])
|
|
elif m[0] == "brake":
|
|
brake_manual = float(m[1])
|
|
elif m[0] == "cruise":
|
|
if m[1] == "down":
|
|
self.simulator_state.cruise_button = CruiseButtons.DECEL_SET
|
|
elif m[1] == "up":
|
|
self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL
|
|
elif m[1] == "cancel":
|
|
self.simulator_state.cruise_button = CruiseButtons.CANCEL
|
|
elif m[1] == "main":
|
|
self.simulator_state.cruise_button = CruiseButtons.MAIN
|
|
elif m[0] == "blinker":
|
|
if m[1] == "left":
|
|
self.simulator_state.left_blinker = True
|
|
elif m[1] == "right":
|
|
self.simulator_state.right_blinker = True
|
|
elif m[0] == "ignition":
|
|
self.simulator_state.ignition = not self.simulator_state.ignition
|
|
elif m[0] == "reset":
|
|
self.world.reset()
|
|
elif m[0] == "quit":
|
|
break
|
|
|
|
self.simulator_state.user_brake = brake_manual
|
|
self.simulator_state.user_gas = throttle_manual
|
|
self.simulator_state.user_torque = steer_manual * 10000
|
|
|
|
steer_manual = steer_manual * -40
|
|
|
|
# Update openpilot on current sensor state
|
|
self.simulated_sensors.update(self.simulator_state, self.world)
|
|
|
|
self.simulated_car.sm.update(0)
|
|
controlsState = self.simulated_car.sm['controlsState']
|
|
self.simulator_state.is_engaged = controlsState.active
|
|
|
|
if self.simulator_state.is_engaged:
|
|
throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
|
|
brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
|
|
steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
|
|
|
|
self.past_startup_engaged = True
|
|
elif not self.past_startup_engaged and controlsState.engageable:
|
|
self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
|
|
|
|
throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
|
|
brake_out = brake_op if self.simulator_state.is_engaged else brake_manual
|
|
steer_out = steer_op if self.simulator_state.is_engaged else steer_manual
|
|
|
|
self.world.apply_controls(steer_out, throttle_out, brake_out)
|
|
self.world.read_sensors(self.simulator_state)
|
|
|
|
if self.rk.frame % self.TICKS_PER_FRAME == 0:
|
|
self.world.tick()
|
|
self.world.read_cameras()
|
|
|
|
if self.rk.frame % 25 == 0:
|
|
self.print_status()
|
|
|
|
self.started = True
|
|
|
|
self.rk.keep_time()
|