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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: 8017c25f0b2960db13df22295c077fbbd6aa6a07
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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tools/sim/lib/common.py
+2 -2
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)
tools/sim/lib/simulated_sensors.py
+6 -6
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()