Cleanup simulator and add usage instructions (#1050)

* cleanup simulator files

* minor updates

* update readme

* keras runner builds

* hmm, still doesn't work

* keras runner works

* should work with python3 keras mod

* touchups

old-commit-hash: c50c718293

tools/sim/.gitignore

@@ -1,3 +1,4 @@
 CARLA_*.tar.gz
 carla
+carla_tmp
 

tools/sim/README

@@ -0,0 +1,24 @@
+Needs Ubuntu 16.04
+
+== Checkout openpilot ==
+cd ~/
+git clone https://github.com/commaai/openpilot.git
+# Add export PYTHONPATH=$HOME/openpilot to your bashrc
+# Have a working tensorflow+keras in python2
+
+== Install (in tab 1) ==
+
+cd ~/openpilot/tools/sim
+./start_carla.sh  # install CARLA 0.9.7 and start the server
+
+== openpilot (in tab 2) ==
+
+cd ~/openpilot/selfdrive/
+PASSIVE=0 NOBOARD=1 ./manager.py
+
+== bridge (in tab 3) ==
+
+# links carla to openpilot, will "start the car" according to manager
+cd ~/openpilot/tools/sim
+./bridge.py
+

tools/sim/bridge.py

@@ -7,11 +7,16 @@ import numpy as np
 import threading
 import random
 import cereal.messaging as messaging
+import argparse
 from common.params import Params
 from common.realtime import Ratekeeper
-from can import can_function, sendcan_function
+from lib.can import can_function, sendcan_function
 import queue
 
+parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
+parser.add_argument('--autopilot', action='store_true')
+args = parser.parse_args()
+
 pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])
 
 W,H = 1164, 874
@@ -99,7 +104,9 @@ def go():
 
   vehicle_bp = random.choice(blueprint_library.filter('vehicle.bmw.*'))
   vehicle = world.spawn_actor(vehicle_bp, random.choice(world_map.get_spawn_points()))
-  #vehicle.set_autopilot(True)
+
+  if args.autopilot:
+    vehicle.set_autopilot(True)
 
   blueprint = blueprint_library.find('sensor.camera.rgb')
   blueprint.set_attribute('image_size_x', str(W))
@@ -123,7 +130,6 @@ def go():
     print("done")
   atexit.register(destroy)
 
-
   # can loop
   sendcan = messaging.sub_sock('sendcan')
   rk = Ratekeeper(100)
@@ -148,6 +154,7 @@ if __name__ == "__main__":
   from selfdrive.version import terms_version, training_version
   params.put("HasAcceptedTerms", terms_version)
   params.put("CompletedTrainingVersion", training_version)
+  params.put("CommunityFeaturesToggle", "1")
 
   threading.Thread(target=health_function).start()
   threading.Thread(target=fake_driver_monitoring).start()

tools/sim/get.sh

@@ -1,10 +0,0 @@
-#!/bin/bash -e
-FILE=CARLA_0.9.7.tar.gz
-if [ ! -f $FILE ]; then
-  curl -O http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/$FILE
-fi
-mkdir -p carla
-cd carla
-tar xvf ../$FILE
-easy_install PythonAPI/carla/dist/carla-0.9.7-py3.5-linux-x86_64.egg
-

tools/sim/start.sh

@@ -1,4 +0,0 @@
-#!/bin/bash
-cd carla
-./CarlaUE4.sh
-

tools/sim/start_carla.sh

@@ -0,0 +1,19 @@
+#!/bin/bash -e
+
+FILE=CARLA_0.9.7.tar.gz
+if [ ! -f $FILE ]; then
+  curl -O http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/$FILE
+fi
+if [ ! -d carla ]; then
+  rm -rf carla_tmp
+  mkdir -p carla_tmp
+  cd carla_tmp
+  tar xvf ../$FILE
+  easy_install PythonAPI/carla/dist/carla-0.9.7-py3.5-linux-x86_64.egg
+  cd ../
+  mv carla_tmp carla
+fi
+
+cd carla
+./CarlaUE4.sh
+