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Fix CARLA simulation (#28541)

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* logmessaged conflicts with onnxrunner

* More fixes, now engages

* Fix can properly

* Otherwise it faults

* Put check back

* remove more hacks

* remove more hacks

* Not relevant anymore

* Narrow camera default
old-commit-hash: c5c9d5b92107ed59f3fb70a356f82b3cbe0b3da9
This commit is contained in:
Harald Schäfer
2023-06-13 22:54:37 -07:00
committed by GitHub
parent a51819e9bb
commit cbe8057c55
3 changed files with 11 additions and 9 deletions
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tools/sim/bridge.py
+9 -8
View File
@@ -68,13 +68,14 @@ def steer_rate_limit(old, new):
class Camerad:
def __init__(self):
def __init__(self, dual_camera):
self.frame_road_id = 0
self.frame_wide_id = 0
self.vipc_server = VisionIpcServer("camerad")
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
if dual_camera:
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
self.vipc_server.start_listener()
# set up for pyopencl rgb to yuv conversion
@@ -254,6 +255,7 @@ class CarlaBridge:
msg.liveCalibration.validBlocks = 20
msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
self.params.put("CalibrationParams", msg.to_bytes())
self.params.put_bool("DisengageOnAccelerator", True)
self._args = arguments
self._carla_objects = []
@@ -348,14 +350,13 @@ class CarlaBridge:
camera.listen(callback)
return camera
self._camerad = Camerad()
self._camerad = Camerad(self._args.dual_camera)
if self._args.dual_camera:
road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
self._carla_objects.append(road_camera)
road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts
self._carla_objects.append(road_wide_camera)
road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts
self._carla_objects.append(road_wide_camera)
road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
self._carla_objects.append(road_camera)
vehicle_state = VehicleState()
tools/sim/launch_openpilot.sh
+1 -1
View File
@@ -6,7 +6,7 @@ export SIMULATION="1"
export SKIP_FW_QUERY="1"
export FINGERPRINT="HONDA CIVIC 2016"
export BLOCK="camerad,loggerd,encoderd,micd"
export BLOCK="camerad,loggerd,encoderd,micd,logmessaged"
if [[ "$CI" ]]; then
# TODO: offscreen UI should work
export BLOCK="${BLOCK},ui"
tools/sim/lib/can.py
+1
View File
@@ -68,6 +68,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
# *** cam bus ***
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
msg.append(packer.make_can_msg("LKAS_HUD", 2, {}))
msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
# *** radar bus ***