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CARLA: fix setting camera EOF (#24034)

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* Fix Openpilot in Carla isn't accelerating

The scalars of the timestamp are different in real-world and simulation,
which will cause an infinite loop in selfdrive/modeld/modeld.cc.

* Set eof based on the frame ID

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

* remove global

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: db93275d87
This commit is contained in:
Jack Huang
2022-03-26 04:45:08 +08:00
committed by GitHub
parent bd71c594a2
commit d44266bed4
1 changed files with 1 additions and 1 deletions
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tools/sim/bridge.py
+1 -1
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@@ -94,7 +94,7 @@ class Camerad:
yuv_cl = cl_array.empty_like(rgb_cl)
self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
yuv = np.resize(yuv_cl.get(), np.int32(rgb.size / 2))
eof = self.frame_id * 0.05
eof = int(self.frame_id * 0.05 * 1e9)
# TODO: remove RGB send once the last RGB vipc subscriber is removed
self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_ROAD, img.tobytes(), self.frame_id, eof, eof)