CARLA: send YUV and RGB over visionipc from bridge.py (#23012)
* CARLA: send YUV and RGB over visionipc * CARLA: send YUV and RGB over visionipc-fix pipfile * CARLA: send YUV and RGB over visionipc-Camerad class * relock pipfile * small bridge cleanup * use tici camera resolution * update vof * HUD_SETTING has no counter * no loggerd Co-authored-by: jwolffe <wolffja@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>pull/23044/head
jimw
GitHub
parent
e376a621ba
commit
a58d272ae4
1
Pipfile
1
Pipfile
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@ -57,6 +57,7 @@ pycapnp = "==1.1.0"
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pycryptodome = "*"
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PyJWT = "*"
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pylint = "*"
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pyopencl = "*"
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pyserial = "*"
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python-dateutil = "*"
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PyYAML = "*"
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@ -1,7 +1,7 @@
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{
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"_meta": {
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"hash": {
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"sha256": "c0f1a46ca2ccdc208a392c5ce78d9d928f82d40afd46a33da7b99b895798fce2"
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"sha256": "6b23dd7136502655f1c18c37d55db33d77f1b85e0572aed69869401df936003a"
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},
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"pipfile-spec": 6,
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"requires": {
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@ -16,13 +16,20 @@
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]
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},
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"default": {
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"appdirs": {
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"hashes": [
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"sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41",
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"sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"
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],
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"version": "==1.4.4"
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},
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"astroid": {
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"hashes": [
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"sha256:11f7356737b624c42e21e71fe85eea6875cb94c03c82ac76bd535a0ff10b0f25",
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"sha256:abc423a1e85bc1553954a14f2053473d2b7f8baf32eae62a328be24f436b5107"
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"sha256:5939cf55de24b92bda00345d4d0659d01b3c7dafb5055165c330bc7c568ba273",
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"sha256:776ca0b748b4ad69c00bfe0fff38fa2d21c338e12c84aa9715ee0d473c422778"
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],
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"markers": "python_version ~= '3.6'",
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"version": "==2.8.5"
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"version": "==2.9.0"
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},
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"atomicwrites": {
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"hashes": [
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@ -141,11 +148,11 @@
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},
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"charset-normalizer": {
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"hashes": [
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"sha256:e019de665e2bcf9c2b64e2e5aa025fa991da8720daa3c1138cadd2fd1856aed0",
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"sha256:f7af805c321bfa1ce6714c51f254e0d5bb5e5834039bc17db7ebe3a4cec9492b"
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"sha256:735e240d9a8506778cd7a453d97e817e536bb1fc29f4f6961ce297b9c7a917b0",
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"sha256:83fcdeb225499d6344c8f7f34684c2981270beacc32ede2e669e94f7fa544405"
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],
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"markers": "python_version >= '3'",
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"version": "==2.0.7"
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"version": "==2.0.8"
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},
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"click": {
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"hashes": [
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@ -167,29 +174,30 @@
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},
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"cryptography": {
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"hashes": [
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"sha256:07bb7fbfb5de0980590ddfc7f13081520def06dc9ed214000ad4372fb4e3c7f6",
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"sha256:18d90f4711bf63e2fb21e8c8e51ed8189438e6b35a6d996201ebd98a26abbbe6",
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"sha256:1ed82abf16df40a60942a8c211251ae72858b25b7421ce2497c2eb7a1cee817c",
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"sha256:22a38e96118a4ce3b97509443feace1d1011d0571fae81fc3ad35f25ba3ea999",
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"sha256:2d69645f535f4b2c722cfb07a8eab916265545b3475fdb34e0be2f4ee8b0b15e",
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"sha256:4a2d0e0acc20ede0f06ef7aa58546eee96d2592c00f450c9acb89c5879b61992",
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"sha256:54b2605e5475944e2213258e0ab8696f4f357a31371e538ef21e8d61c843c28d",
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"sha256:7075b304cd567694dc692ffc9747f3e9cb393cc4aa4fb7b9f3abd6f5c4e43588",
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"sha256:7b7ceeff114c31f285528ba8b390d3e9cfa2da17b56f11d366769a807f17cbaa",
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"sha256:7eba2cebca600a7806b893cb1d541a6e910afa87e97acf2021a22b32da1df52d",
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"sha256:928185a6d1ccdb816e883f56ebe92e975a262d31cc536429041921f8cb5a62fd",
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"sha256:9933f28f70d0517686bd7de36166dda42094eac49415459d9bdf5e7df3e0086d",
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"sha256:a688ebcd08250eab5bb5bca318cc05a8c66de5e4171a65ca51db6bd753ff8953",
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"sha256:abb5a361d2585bb95012a19ed9b2c8f412c5d723a9836418fab7aaa0243e67d2",
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"sha256:c10c797ac89c746e488d2ee92bd4abd593615694ee17b2500578b63cad6b93a8",
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"sha256:ced40344e811d6abba00295ced98c01aecf0c2de39481792d87af4fa58b7b4d6",
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"sha256:d57e0cdc1b44b6cdf8af1d01807db06886f10177469312fbde8f44ccbb284bc9",
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"sha256:d99915d6ab265c22873f1b4d6ea5ef462ef797b4140be4c9d8b179915e0985c6",
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"sha256:eb80e8a1f91e4b7ef8b33041591e6d89b2b8e122d787e87eeb2b08da71bb16ad",
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"sha256:ebeddd119f526bcf323a89f853afb12e225902a24d29b55fe18dd6fcb2838a76"
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"sha256:2049f8b87f449fc6190350de443ee0c1dd631f2ce4fa99efad2984de81031681",
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"sha256:231c4a69b11f6af79c1495a0e5a85909686ea8db946935224b7825cfb53827ed",
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"sha256:24469d9d33217ffd0ce4582dfcf2a76671af115663a95328f63c99ec7ece61a4",
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"sha256:2deab5ec05d83ddcf9b0916319674d3dae88b0e7ee18f8962642d3cde0496568",
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"sha256:494106e9cd945c2cadfce5374fa44c94cfadf01d4566a3b13bb487d2e6c7959e",
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"sha256:4c702855cd3174666ef0d2d13dcc879090aa9c6c38f5578896407a7028f75b9f",
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"sha256:52f769ecb4ef39865719aedc67b4b7eae167bafa48dbc2a26dd36fa56460507f",
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"sha256:5c49c9e8fb26a567a2b3fa0343c89f5d325447956cc2fc7231c943b29a973712",
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"sha256:684993ff6f67000a56454b41bdc7e015429732d65a52d06385b6e9de6181c71e",
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"sha256:6fbbbb8aab4053fa018984bb0e95a16faeb051dd8cca15add2a27e267ba02b58",
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"sha256:8982c19bb90a4fa2aad3d635c6d71814e38b643649b4000a8419f8691f20ac44",
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"sha256:9511416e85e449fe1de73f7f99b21b3aa04fba4c4d335d30c486ba3756e3a2a6",
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"sha256:97199a13b772e74cdcdb03760c32109c808aff7cd49c29e9cf4b7754bb725d1d",
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"sha256:a776bae1629c8d7198396fd93ec0265f8dd2341c553dc32b976168aaf0e6a636",
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"sha256:aa94d617a4cd4cdf4af9b5af65100c036bce22280ebb15d8b5262e8273ebc6ba",
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"sha256:b17d83b3d1610e571fedac21b2eb36b816654d6f7496004d6a0d32f99d1d8120",
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"sha256:d73e3a96c38173e0aa5646c31bf8473bc3564837977dd480f5cbeacf1d7ef3a3",
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"sha256:d91bc9f535599bed58f6d2e21a2724cb0c3895bf41c6403fe881391d29096f1d",
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"sha256:ef216d13ac8d24d9cd851776662f75f8d29c9f2d05cdcc2d34a18d32463a9b0b",
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"sha256:f6a5a85beb33e57998dc605b9dbe7deaa806385fdf5c4810fb849fcd04640c81",
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"sha256:f92556f94e476c1b616e6daec5f7ddded2c082efa7cee7f31c7aeda615906ed8"
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],
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"index": "pypi",
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"version": "==35.0.0"
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"version": "==36.0.0"
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},
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"cython": {
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"hashes": [
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@ -759,11 +767,23 @@
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},
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"pylint": {
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"hashes": [
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"sha256:0f358e221c45cbd4dad2a1e4b883e75d28acdcccd29d40c76eb72b307269b126",
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"sha256:2c9843fff1a88ca0ad98a256806c82c5a8f86086e7ccbdb93297d86c3f90c436"
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"sha256:4f4a52b132c05b49094b28e109febcec6bfb7bc6961c7485a5ad0a0f961df289",
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"sha256:b4b5a7b6d04e914a11c198c816042af1fb2d3cda29bb0c98a9c637010da2a5c5"
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],
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"index": "pypi",
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"version": "==2.11.1"
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"version": "==2.12.1"
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},
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"pyopencl": {
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"hashes": [
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"sha256:05ccbdc341f64f448bfdff173d1b1e79887129cb6c147605628bbd2e56bc3929",
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"sha256:0e705b47733d1055c4d8f7478907222e5881519a0dbadd1bf288baebfc024999",
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"sha256:51425e65ec49c738eefe21b1eeb1f39245b01cc0ddfd495fbe1f8df33dbc6c9e",
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"sha256:59f9824426d823b544717cc25dee221e1a5c5143143efb8d94034cf4ef562913",
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"sha256:662899ca2fb74f2d14c2d7ac0560d3cac07e6b0847a245694bb86a27a4d350ca",
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"sha256:99e26fde9e5c418878a5a4a685b8ebca118f423bb09f33e7e24cfd8ef94aee30"
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],
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"index": "pypi",
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"version": "==2021.2.9"
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},
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"pyserial": {
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"hashes": [
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@ -781,6 +801,13 @@
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"index": "pypi",
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"version": "==2.8.2"
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},
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"pytools": {
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"hashes": [
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"sha256:db6cf83c9ba0a165d545029e2301621486d1e9ef295684072e5cd75316a13755"
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],
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"markers": "python_version ~= '3.6'",
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"version": "==2021.2.9"
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},
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"pyyaml": {
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"hashes": [
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"sha256:0283c35a6a9fbf047493e3a0ce8d79ef5030852c51e9d911a27badfde0605293",
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@ -883,19 +910,19 @@
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},
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"scons": {
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"hashes": [
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"sha256:663f819e744ddadcdf4f46b03289a7210313b86041efe1b9c8dde81dba437b72",
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"sha256:691893b63f38ad14295f5104661d55cb738ec6514421c6261323351c25432b0a"
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"sha256:8c13911a2aa40552553488f7d625af4c0768fc8cdedab4a858d8ce42c8c3664d",
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"sha256:d47081587e3675cc168f1f54f0d74a69b328a2fc90ec4feb85f728677419b879"
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],
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"index": "pypi",
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"version": "==4.2.0"
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"version": "==4.3.0"
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},
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"sentry-sdk": {
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"hashes": [
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"sha256:b9844751e40710e84a457c5bc29b21c383ccb2b63d76eeaad72f7f1c808c8828",
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"sha256:c091cc7115ff25fe3a0e410dbecd7a996f81a3f6137d2272daef32d6c3cfa6dc"
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"sha256:0db297ab32e095705c20f742c3a5dac62fe15c4318681884053d0898e5abb2f6",
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"sha256:789a11a87ca02491896e121efdd64e8fd93327b69e8f2f7d42f03e2569648e88"
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],
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"index": "pypi",
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"version": "==1.4.3"
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"version": "==1.5.0"
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},
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"setproctitle": {
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"hashes": [
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@ -1187,11 +1214,11 @@
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},
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"charset-normalizer": {
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"hashes": [
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"sha256:e019de665e2bcf9c2b64e2e5aa025fa991da8720daa3c1138cadd2fd1856aed0",
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"sha256:f7af805c321bfa1ce6714c51f254e0d5bb5e5834039bc17db7ebe3a4cec9492b"
|
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"sha256:735e240d9a8506778cd7a453d97e817e536bb1fc29f4f6961ce297b9c7a917b0",
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"sha256:83fcdeb225499d6344c8f7f34684c2981270beacc32ede2e669e94f7fa544405"
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],
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"markers": "python_version >= '3'",
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"version": "==2.0.7"
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"version": "==2.0.8"
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},
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"control": {
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"hashes": [
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@ -1255,29 +1282,30 @@
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},
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"cryptography": {
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"hashes": [
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"sha256:07bb7fbfb5de0980590ddfc7f13081520def06dc9ed214000ad4372fb4e3c7f6",
|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
"sha256:f92556f94e476c1b616e6daec5f7ddded2c082efa7cee7f31c7aeda615906ed8"
|
||||
],
|
||||
"index": "pypi",
|
||||
"version": "==35.0.0"
|
||||
"version": "==36.0.0"
|
||||
},
|
||||
"cycler": {
|
||||
"hashes": [
|
||||
|
|
@ -1343,11 +1371,11 @@
|
|||
},
|
||||
"fonttools": {
|
||||
"hashes": [
|
||||
"sha256:68071406009e7ef6a5fdcd85d95975cd6963867bb226f2b786bfffe15d1959ef",
|
||||
"sha256:8c8f84131bf04f3b1dcf99b9763cec35c347164ab6ad006e18d2f99fcab05529"
|
||||
"sha256:dca694331af74c8ad47acc5171e57f6b78fac5692bf050f2ab572964577ac0dd",
|
||||
"sha256:eff1da7ea274c54cb8842853005a139f711646cbf6f1bcfb6c9b86a627f35ff0"
|
||||
],
|
||||
"markers": "python_version >= '3.7'",
|
||||
"version": "==4.28.1"
|
||||
"version": "==4.28.2"
|
||||
},
|
||||
"hexdump": {
|
||||
"hashes": [
|
||||
|
|
@ -1358,19 +1386,19 @@
|
|||
},
|
||||
"hypothesis": {
|
||||
"hashes": [
|
||||
"sha256:8f7318839b64bae1410704933fe01f3db5f80f20f2ba8d4ea3520443ae3a001d",
|
||||
"sha256:f1627022f75306c653115fbd169ba6a4322804f60533a7b46625fd0eecba43d5"
|
||||
"sha256:92005826894782cc57c47b98debe1bc889b716f0774e60f83536f14360a9199e",
|
||||
"sha256:c4943d159f299a96b1c23277c4bcf0759a757888b67a6d73e9c70d853024aa15"
|
||||
],
|
||||
"index": "pypi",
|
||||
"version": "==6.24.5"
|
||||
"version": "==6.27.2"
|
||||
},
|
||||
"identify": {
|
||||
"hashes": [
|
||||
"sha256:4f85f9bd8e6e5e2d61b2f8de5ff5313d8a1cfac4c88822d74406de45ad10bd82",
|
||||
"sha256:8cb609a671d2f861ae7fe583711a43fd2faab0c892f39cbc4568b0c51b354238"
|
||||
"sha256:a33ae873287e81651c7800ca309dc1f84679b763c9c8b30680e16fbfa82f0107",
|
||||
"sha256:eba31ca80258de6bb51453084bff4a923187cd2193b9c13710f2516ab30732cc"
|
||||
],
|
||||
"markers": "python_full_version >= '3.6.1'",
|
||||
"version": "==2.3.6"
|
||||
"version": "==2.4.0"
|
||||
},
|
||||
"idna": {
|
||||
"hashes": [
|
||||
|
|
@ -1682,47 +1710,47 @@
|
|||
},
|
||||
"opencv-python-headless": {
|
||||
"hashes": [
|
||||
"sha256:014e4a892f67043610521e673883da5ad98a6e61356a609c6502b9d22144f2f1",
|
||||
"sha256:01a6411eb9eecf58db3a50fa761f0527bdd2b23b884b3bea44eb57e6d06e4767",
|
||||
"sha256:067e4736cdc70712f43c064bfe53ba80492c20479ad3290849337f948572c392",
|
||||
"sha256:09b21c48144a9dd82e435d66ccd834f3a391a2cd2b69f787aabbc7cd3576f2f1",
|
||||
"sha256:113b8ce88f337ab3a1ee670b8c5afc3fbf0d8aafec7b2ee897ad5efd9926ce90",
|
||||
"sha256:1162de92301d0d13642afe8e163593982d3159ef21eba95a56ba3f5ca8024861",
|
||||
"sha256:1799ae397677bd3a68aff4eb4f5c122baf3ee73a26fe67391e0d618bd2b7d046",
|
||||
"sha256:1e0498bc4a39d887e84801b82df5cc943a5ae4b596511da7e69df64b263f293b",
|
||||
"sha256:27b9118b342dc464590ed233c7f468c8cb68ee0e5d9734d9b67fb0bc1b10abd6",
|
||||
"sha256:32e1f478457adeea4e1a3d6baf33310331740cceffd83a2f34e00a7e5bae6407",
|
||||
"sha256:37e20b1a0c623c7e01381668b83342387798d0f32ff8a7d7f3dd0ef127eb10fa",
|
||||
"sha256:3e32018e65eabc9aab10c7a109be5f735cf2c3934a47025b6903dcec034d460b",
|
||||
"sha256:4b9fa45f1b364e7585fd4a2781565667efed49124748fb3ec2a66e40b7398338",
|
||||
"sha256:526417214a1cad27e3d2d064e535868ae05f5a07a0e344d54fe81078bbacfa57",
|
||||
"sha256:540fa340b29dd86670e1f91bbcd2675df032b774f77d08909faf818696524617",
|
||||
"sha256:64bfc55fe60ed9ad778ec73161f0cea58e425a3f2f06293756f82880319bffa9",
|
||||
"sha256:685c41fce11c83a238ab40bd57d5b39c3fc4f87a898565cd27e4a521b5902a62",
|
||||
"sha256:69c55e055e81a2eead40e6f2521ad27bdd11523dc0c1de5e5aea23041a0a49f0",
|
||||
"sha256:6e0757762096158b803b366c386f25f24715662465c448ed70ce65ecd93e41a2",
|
||||
"sha256:79ca8b8feab911a80692fa3871c02526844f112e0f8bf4749f78383696cfaa4c",
|
||||
"sha256:807ac9d48c11b3f734d9de5eda69e1c4197204bac1e6db3d3d51859832df6fc1",
|
||||
"sha256:84f037ba74482548c066ad5e341f77ebcd3d08d06a540a4a1182300045b8bde8",
|
||||
"sha256:989d4817a2f22a601707ea36a3664a6c26cee155ed441363d5f29d73d9aec610",
|
||||
"sha256:a148f8bdb54e03b1d899acb95aa6d870d6f10eed037d9b4700912068f3952c32",
|
||||
"sha256:bb29a911c4a67f9710b53b94766be1bb22926b98460790091d4620a534329736",
|
||||
"sha256:c8b595731b5c519daf2bf3c074ec2080eb51e8efef198a4493f930b5e4439bb0",
|
||||
"sha256:d1735296d88e16379d001c4946c1a196b87e3c3ff4da0c10762918dded02f670",
|
||||
"sha256:d73972a62d3e48ee01783d4eee01152c93348c70305c91f85fb668ddcc8907ad",
|
||||
"sha256:dabf703efe12ec4341efd71c1dd384542e28fc49b7d2ea02f185ef22bb75a1c8",
|
||||
"sha256:fdd80034749b8b2f211c2549293b34af691e4f90bf17b320a84b09b784275cc2"
|
||||
"sha256:01f76ca55fdb7e94c3e7eab5035376d06518155e3d88a08096e4670e57a0cee4",
|
||||
"sha256:03349d9fb28703b2eaa8b1f333a6139b9849596ae4445cb1d76e2a7f5e4a2cf8",
|
||||
"sha256:29f5372dabdcd571074f0539bd294a2f5a245a00b871827af6d75a971b3f657e",
|
||||
"sha256:30261b87477a718993fa7cd8a44b7de986b81f8005e23110978c58fd53eb5e43",
|
||||
"sha256:33e534fbc7a417a05ef6b14812fe8ff6b6b7152c22d502b61536c50ad63f80cb",
|
||||
"sha256:3a8457918ecbca57669f141e7dba92e56af370876d022d75d58b94174d11e26b",
|
||||
"sha256:4ef93f338b16e95418b69293924745a36f23e3d05da5ee10dde76af72b0889e3",
|
||||
"sha256:5009a183be7a6817ff216dcb63ef95022c74e360011fa52aa33bc833256693b5",
|
||||
"sha256:5331ce17a094bea4f8132ee23b2eaade85904199c0d04501102c9bb889302c67",
|
||||
"sha256:659107ea6059b5cc953e1a32136a54998540cefea47b01dd62f1e806d10cbe39",
|
||||
"sha256:6d949ec3e10cffa915ab1853e490674b8c420ba29eb0aeea72785f3e254dc7a1",
|
||||
"sha256:6e7710aff3a0717f39c9ade77fdd9111203b09589539655044e73cc5d9960666",
|
||||
"sha256:7b4bd3c6a0d2601b2619ae406eb85a41dff538a7c9cb2a54fb1e90631bf33887",
|
||||
"sha256:7da49405e163b7a2cf891bf54a877ff3e198bc0bfe55009c1d19eb5a0153921d",
|
||||
"sha256:7f8dd594ea0b0049d1614d7bfba984ebd926b2f12670edf6ae3d9d5d6ff8f8f0",
|
||||
"sha256:8f8a06f75dc69631404e0846038d30ff43c9a9d60fcffe07c7a88f8b8c8c776c",
|
||||
"sha256:99e678db353102119cbfe9d17aef520bacf585a3a287c4278dd1ce6fcd3be8f7",
|
||||
"sha256:a1f9d41c6afe86fdbe85ac31ff9a6ce893af2d0fce68fbd1581dbbc0e4dfcb25",
|
||||
"sha256:a1fd5bbf5db00432fb368c73e7d70ead13f69619b33e01dabf2906426a1a9277",
|
||||
"sha256:a5461ad9789c784e75713d6c213c0e34b709073c71ec8ed94129419ea0ce7c01",
|
||||
"sha256:a6ba305364df31b8ac8471a719371d0c05e1e5f7cc5b8a2295e7e958f9bc39bb",
|
||||
"sha256:bbf37d5de98b09e7513e61fca6ebf6466fd82c3c2f0475e51d2a3c80e0bc1a92",
|
||||
"sha256:bc9502064e8c3ff6f40b74c8a68fb31d0c9eae18c1d3f52d4e3f0ccda986f7cb",
|
||||
"sha256:cdea7ab1698b69274eb69b16efdd7b16944c5019c06f0ace9530f91862496cf4",
|
||||
"sha256:cdfec5dedd44617d94725170446cbe77c0b45044188bdc97cd251e698aeee822",
|
||||
"sha256:db112fe9ffde7af96df09befcefdd33c4338f3a34fbfe894e04e66e14f584d9e",
|
||||
"sha256:db461f2f0bfac155d56be7688ab6b43c140ce8b944aa5e6cfcb754bfeeeca750",
|
||||
"sha256:dc303a5e09089001fd4fd51bd18a6d519e81ad5cbc36bb4b5fc3388d22a64be1",
|
||||
"sha256:eb9e571427b7f44b8d8f9a3b6b7b25e45bc8e8895ed3cf3ecd917c0125cf3477",
|
||||
"sha256:f4fbd431b2b0014b7d99e870f428eebf50a0149e4be1a72b905569aaadf4b540"
|
||||
],
|
||||
"index": "pypi",
|
||||
"version": "==4.5.4.58"
|
||||
"version": "==4.5.4.60"
|
||||
},
|
||||
"packaging": {
|
||||
"hashes": [
|
||||
"sha256:096d689d78ca690e4cd8a89568ba06d07ca097e3306a4381635073ca91479966",
|
||||
"sha256:14317396d1e8cdb122989b916fa2c7e9ca8e2be9e8060a6eff75b6b7b4d8a7e0"
|
||||
"sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb",
|
||||
"sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"
|
||||
],
|
||||
"markers": "python_version >= '3.6'",
|
||||
"version": "==21.2"
|
||||
"version": "==21.3"
|
||||
},
|
||||
"parameterized": {
|
||||
"hashes": [
|
||||
|
|
@ -1923,11 +1951,11 @@
|
|||
},
|
||||
"pyparsing": {
|
||||
"hashes": [
|
||||
"sha256:c203ec8783bf771a155b207279b9bccb8dea02d8f0c9e5f8ead507bc3246ecc1",
|
||||
"sha256:ef9d7589ef3c200abe66653d3f1ab1033c3c419ae9b9bdb1240a85b024efc88b"
|
||||
"sha256:04ff808a5b90911829c55c4e26f75fa5ca8a2f5f36aa3a51f68e27033341d3e4",
|
||||
"sha256:d9bdec0013ef1eb5a84ab39a3b3868911598afa494f5faa038647101504e2b81"
|
||||
],
|
||||
"markers": "python_version >= '2.6' and python_version not in '3.0, 3.1, 3.2, 3.3'",
|
||||
"version": "==2.4.7"
|
||||
"markers": "python_version >= '3.6'",
|
||||
"version": "==3.0.6"
|
||||
},
|
||||
"pyprof2calltree": {
|
||||
"hashes": [
|
||||
|
|
@ -2007,33 +2035,35 @@
|
|||
},
|
||||
"scipy": {
|
||||
"hashes": [
|
||||
"sha256:1437073f1d4664990879aa8f9547524764372e0fef84a077be4b19e82bba7a8d",
|
||||
"sha256:17fd991a275e4283453f89d404209aa92059ac68d76d804b4bc1716a3742e1b5",
|
||||
"sha256:1ea6233f5a365cb7945b4304bd06323ece3ece85d6a3fa8598d2f53e513467c9",
|
||||
"sha256:2d25272c03ee3c0fe5e0dff1bb7889280bb6c9e1766fa9c7bde81ad8a5f78694",
|
||||
"sha256:30bdda199667e74b50208a793eb1ba47a04e5e3fa16f5ff06c6f7969ae78e4da",
|
||||
"sha256:359b60a0cccd17723b9d5e329a5212a710e771a3ddde800e472fb93732756c46",
|
||||
"sha256:39f838ea5ce8da868785193d88d05cf5a6d5c390804ec99de29a28e1dcdd53e6",
|
||||
"sha256:4d175ba93e00d8eef8f7cd70d4d88a9106a86800c82ea03cf2268c36d6545483",
|
||||
"sha256:5273d832fb9cd5724ee0d335c16a903b923441107dd973d27fc4293075a9f4e3",
|
||||
"sha256:54951f51d731c832b1b8885e0a92e89f33d087de7e40d02078bf0d49c7cbdbb5",
|
||||
"sha256:74f518ce542533054695f743e4271cb8986b63f95bb51d70fcee4f3929cbff7d",
|
||||
"sha256:7b1d0f5f524518f1a86f288443528e4ff4a739c0966db663af4129b7ac7849f8",
|
||||
"sha256:82c5befebf54d799d77e5f0205c03030f57f69ba2541baa44d2e6ad138c28cd3",
|
||||
"sha256:8482c8e45857ab0a5446eb7460d2307a27cbbe659d6d2257820c6d6eb950fd0f",
|
||||
"sha256:87cf3964db0f1cce17aeed5bfc1b89a6b4b07dbfc48e50d21fa3549e00456803",
|
||||
"sha256:8b5726a0fedeaa6beb1095e4466998bdd1d1e960b28db9b5a16c89cbd7b2ebf1",
|
||||
"sha256:97eb573e361a73a553b915dc195c6f72a08249964b1a33f157f9659f3b6210d1",
|
||||
"sha256:a80eb01c43fd98257ec7a49ff5cec0edba32031b5f86503f55399a48cb2c5379",
|
||||
"sha256:cac71d5476a6f56b50459da21f6221707e0051ebd428b2137db32ef4a43bb15e",
|
||||
"sha256:d86abd1ddf421dea5e9cebfeb4de0d205b3dc04e78249afedba9c6c3b2227ff2",
|
||||
"sha256:dc2d1bf41294e63c7302bf499973ac0c7f73c93c01763db43055f6525234bf11",
|
||||
"sha256:e08b81fcd9bf98740b58dc6fdd7879e33a64dcb682201c1135f7d4a75216bb05",
|
||||
"sha256:e3efe7ef75dfe627b354ab0af0dbc918eadee97cc80ff1aabea6d3e01114ebdd",
|
||||
"sha256:fa2dbabaaecdb502641b0b3c00dec05fb475ae48655c66da16c9ed24eda1e711"
|
||||
"sha256:033ce76ed4e9f62923e1f8124f7e2b0800db533828c853b402c7eec6e9465d80",
|
||||
"sha256:173308efba2270dcd61cd45a30dfded6ec0085b4b6eb33b5eb11ab443005e088",
|
||||
"sha256:21b66200cf44b1c3e86495e3a436fc7a26608f92b8d43d344457c54f1c024cbc",
|
||||
"sha256:2c56b820d304dffcadbbb6cbfbc2e2c79ee46ea291db17e288e73cd3c64fefa9",
|
||||
"sha256:304dfaa7146cffdb75fbf6bb7c190fd7688795389ad060b970269c8576d038e9",
|
||||
"sha256:3f78181a153fa21c018d346f595edd648344751d7f03ab94b398be2ad083ed3e",
|
||||
"sha256:4d242d13206ca4302d83d8a6388c9dfce49fc48fdd3c20efad89ba12f785bf9e",
|
||||
"sha256:5d1cc2c19afe3b5a546ede7e6a44ce1ff52e443d12b231823268019f608b9b12",
|
||||
"sha256:5f2cfc359379c56b3a41b17ebd024109b2049f878badc1e454f31418c3a18436",
|
||||
"sha256:65bd52bf55f9a1071398557394203d881384d27b9c2cad7df9a027170aeaef93",
|
||||
"sha256:7edd9a311299a61e9919ea4192dd477395b50c014cdc1a1ac572d7c27e2207fa",
|
||||
"sha256:8499d9dd1459dc0d0fe68db0832c3d5fc1361ae8e13d05e6849b358dc3f2c279",
|
||||
"sha256:866ada14a95b083dd727a845a764cf95dd13ba3dc69a16b99038001b05439709",
|
||||
"sha256:87069cf875f0262a6e3187ab0f419f5b4280d3dcf4811ef9613c605f6e4dca95",
|
||||
"sha256:93378f3d14fff07572392ce6a6a2ceb3a1f237733bd6dcb9eb6a2b29b0d19085",
|
||||
"sha256:95c2d250074cfa76715d58830579c64dff7354484b284c2b8b87e5a38321672c",
|
||||
"sha256:ab5875facfdef77e0a47d5fd39ea178b58e60e454a4c85aa1e52fcb80db7babf",
|
||||
"sha256:ca36e7d9430f7481fc7d11e015ae16fbd5575615a8e9060538104778be84addf",
|
||||
"sha256:ceebc3c4f6a109777c0053dfa0282fddb8893eddfb0d598574acfb734a926168",
|
||||
"sha256:e2c036492e673aad1b7b0d0ccdc0cb30a968353d2c4bf92ac8e73509e1bf212c",
|
||||
"sha256:eb326658f9b73c07081300daba90a8746543b5ea177184daed26528273157294",
|
||||
"sha256:eb7ae2c4dbdb3c9247e07acc532f91077ae6dbc40ad5bd5dca0bb5a176ee9bda",
|
||||
"sha256:edad1cf5b2ce1912c4d8ddad20e11d333165552aba262c882e28c78bbc09dbf6",
|
||||
"sha256:eef93a446114ac0193a7b714ce67659db80caf940f3232bad63f4c7a81bc18df",
|
||||
"sha256:f7eaea089345a35130bc9a39b89ec1ff69c208efa97b3f8b25ea5d4c41d88094",
|
||||
"sha256:f99d206db1f1ae735a8192ab93bd6028f3a42f6fa08467d37a14eb96c9dd34a3"
|
||||
],
|
||||
"index": "pypi",
|
||||
"version": "==1.7.2"
|
||||
"version": "==1.7.3"
|
||||
},
|
||||
"setuptools-scm": {
|
||||
"hashes": [
|
||||
|
|
|
|||
|
|
@ -1,19 +1,25 @@
|
|||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import carla # pylint: disable=import-error
|
||||
import math
|
||||
import numpy as np
|
||||
import time
|
||||
import threading
|
||||
from cereal import log
|
||||
import time
|
||||
import os
|
||||
from multiprocessing import Process, Queue
|
||||
from typing import Any
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from common.params import Params
|
||||
from common.numpy_fast import clip
|
||||
from common.realtime import Ratekeeper, DT_DMON
|
||||
import carla # pylint: disable=import-error
|
||||
import numpy as np
|
||||
import pyopencl as cl
|
||||
import pyopencl.array as cl_array
|
||||
from lib.can import can_function
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
|
||||
from common.basedir import BASEDIR
|
||||
from common.numpy_fast import clip
|
||||
from common.params import Params
|
||||
from common.realtime import DT_DMON, Ratekeeper
|
||||
from selfdrive.car.honda.values import CruiseButtons
|
||||
from selfdrive.test.helpers import set_params_enabled
|
||||
|
||||
|
|
@ -21,18 +27,18 @@ parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot
|
|||
parser.add_argument('--joystick', action='store_true')
|
||||
parser.add_argument('--low_quality', action='store_true')
|
||||
parser.add_argument('--town', type=str, default='Town04_Opt')
|
||||
parser.add_argument('--spawn_point', dest='num_selected_spawn_point',
|
||||
type=int, default=16)
|
||||
parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
W, H = 1164, 874
|
||||
W, H = 1928, 1208
|
||||
REPEAT_COUNTER = 5
|
||||
PRINT_DECIMATION = 100
|
||||
STEER_RATIO = 15.
|
||||
|
||||
pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"])
|
||||
sm = messaging.SubMaster(['carControl','controlsState'])
|
||||
sm = messaging.SubMaster(['carControl', 'controlsState'])
|
||||
|
||||
|
||||
class VehicleState:
|
||||
def __init__(self):
|
||||
|
|
@ -40,8 +46,9 @@ class VehicleState:
|
|||
self.angle = 0
|
||||
self.bearing_deg = 0.0
|
||||
self.vel = carla.Vector3D()
|
||||
self.cruise_button= 0
|
||||
self.is_engaged=False
|
||||
self.cruise_button = 0
|
||||
self.is_engaged = False
|
||||
|
||||
|
||||
def steer_rate_limit(old, new):
|
||||
# Rate limiting to 0.5 degrees per step
|
||||
|
|
@ -53,21 +60,56 @@ def steer_rate_limit(old, new):
|
|||
else:
|
||||
return new
|
||||
|
||||
frame_id = 0
|
||||
def cam_callback(image):
|
||||
global frame_id
|
||||
img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
|
||||
img = np.reshape(img, (H, W, 4))
|
||||
img = img[:, :, [0, 1, 2]].copy()
|
||||
|
||||
dat = messaging.new_message('roadCameraState')
|
||||
dat.roadCameraState = {
|
||||
"frameId": image.frame,
|
||||
"image": img.tobytes(),
|
||||
"transform": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
|
||||
}
|
||||
pm.send('roadCameraState', dat)
|
||||
frame_id += 1
|
||||
class Camerad:
|
||||
def __init__(self):
|
||||
self.frame_id = 0
|
||||
self.vipc_server = VisionIpcServer("camerad")
|
||||
|
||||
# TODO: remove RGB buffers once the last RGB vipc subscriber is removed
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, W, H)
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_YUV_BACK, 40, False, W, H)
|
||||
self.vipc_server.start_listener()
|
||||
|
||||
# set up for pyopencl rgb to yuv conversion
|
||||
self.ctx = cl.create_some_context()
|
||||
self.queue = cl.CommandQueue(self.ctx)
|
||||
cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W*3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
|
||||
|
||||
# TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed
|
||||
kernel_fn = os.path.join(BASEDIR, "selfdrive", "camerad", "transforms", "rgb_to_yuv.cl")
|
||||
prg = cl.Program(self.ctx, open(kernel_fn).read()).build(cl_arg)
|
||||
self.krnl = prg.rgb_to_yuv
|
||||
self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
|
||||
self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
|
||||
|
||||
def cam_callback(self, image):
|
||||
img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
|
||||
img = np.reshape(img, (H, W, 4))
|
||||
img = img[:, :, [0, 1, 2]].copy()
|
||||
|
||||
# convert RGB frame to YUV
|
||||
rgb = np.reshape(img, (H, W * 3))
|
||||
rgb_cl = cl_array.to_device(self.queue, rgb)
|
||||
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
|
||||
|
||||
# TODO: remove RGB send once the last RGB vipc subscriber is removed
|
||||
self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_BACK, img.tobytes(), self.frame_id, eof, eof)
|
||||
self.vipc_server.send(VisionStreamType.VISION_STREAM_YUV_BACK, yuv.data.tobytes(), self.frame_id, eof, eof)
|
||||
|
||||
dat = messaging.new_message('roadCameraState')
|
||||
dat.roadCameraState = {
|
||||
"frameId": image.frame,
|
||||
"transform": [1.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 1.0]
|
||||
}
|
||||
pm.send('roadCameraState', dat)
|
||||
self.frame_id += 1
|
||||
|
||||
|
||||
def imu_callback(imu, vehicle_state):
|
||||
vehicle_state.bearing_deg = math.degrees(imu.compass)
|
||||
|
|
@ -83,6 +125,7 @@ def imu_callback(imu, vehicle_state):
|
|||
dat.sensorEvents[1].gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
|
||||
pm.send('sensorEvents', dat)
|
||||
|
||||
|
||||
def panda_state_function(exit_event: threading.Event):
|
||||
pm = messaging.PubMaster(['pandaStates'])
|
||||
while not exit_event.is_set():
|
||||
|
|
@ -97,6 +140,7 @@ def panda_state_function(exit_event: threading.Event):
|
|||
pm.send('pandaStates', dat)
|
||||
time.sleep(0.5)
|
||||
|
||||
|
||||
def peripheral_state_function(exit_event: threading.Event):
|
||||
pm = messaging.PubMaster(['peripheralState'])
|
||||
while not exit_event.is_set():
|
||||
|
|
@ -112,20 +156,21 @@ def peripheral_state_function(exit_event: threading.Event):
|
|||
pm.send('peripheralState', dat)
|
||||
time.sleep(0.5)
|
||||
|
||||
|
||||
def gps_callback(gps, vehicle_state):
|
||||
dat = messaging.new_message('gpsLocationExternal')
|
||||
|
||||
# transform vel from carla to NED
|
||||
# north is -Y in CARLA
|
||||
velNED = [
|
||||
-vehicle_state.vel.y, # north/south component of NED is negative when moving south
|
||||
vehicle_state.vel.x, # positive when moving east, which is x in carla
|
||||
-vehicle_state.vel.y, # north/south component of NED is negative when moving south
|
||||
vehicle_state.vel.x, # positive when moving east, which is x in carla
|
||||
vehicle_state.vel.z,
|
||||
]
|
||||
|
||||
dat.gpsLocationExternal = {
|
||||
"timestamp": int(time.time() * 1000),
|
||||
"flags": 1, # valid fix
|
||||
"flags": 1, # valid fix
|
||||
"accuracy": 1.0,
|
||||
"verticalAccuracy": 1.0,
|
||||
"speedAccuracy": 0.1,
|
||||
|
|
@ -141,8 +186,9 @@ def gps_callback(gps, vehicle_state):
|
|||
|
||||
pm.send('gpsLocationExternal', dat)
|
||||
|
||||
|
||||
def fake_driver_monitoring(exit_event: threading.Event):
|
||||
pm = messaging.PubMaster(['driverState','driverMonitoringState'])
|
||||
pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
|
||||
while not exit_event.is_set():
|
||||
# dmonitoringmodeld output
|
||||
dat = messaging.new_message('driverState')
|
||||
|
|
@ -160,16 +206,16 @@ def fake_driver_monitoring(exit_event: threading.Event):
|
|||
|
||||
time.sleep(DT_DMON)
|
||||
|
||||
|
||||
def can_function_runner(vs: VehicleState, exit_event: threading.Event):
|
||||
i = 0
|
||||
while not exit_event.is_set():
|
||||
can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
|
||||
time.sleep(0.01)
|
||||
i+=1
|
||||
i += 1
|
||||
|
||||
|
||||
def bridge(q):
|
||||
|
||||
# setup CARLA
|
||||
client = carla.Client("127.0.0.1", 2000)
|
||||
client.set_timeout(10.0)
|
||||
|
|
@ -209,11 +255,12 @@ def bridge(q):
|
|||
blueprint = blueprint_library.find('sensor.camera.rgb')
|
||||
blueprint.set_attribute('image_size_x', str(W))
|
||||
blueprint.set_attribute('image_size_y', str(H))
|
||||
blueprint.set_attribute('fov', '70')
|
||||
blueprint.set_attribute('fov', '40')
|
||||
blueprint.set_attribute('sensor_tick', '0.05')
|
||||
transform = carla.Transform(carla.Location(x=0.8, z=1.13))
|
||||
camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
|
||||
camera.listen(cam_callback)
|
||||
camerad = Camerad()
|
||||
camera.listen(camerad.cam_callback)
|
||||
|
||||
vehicle_state = VehicleState()
|
||||
|
||||
|
|
@ -244,7 +291,6 @@ def bridge(q):
|
|||
brake_ease_out_counter = REPEAT_COUNTER
|
||||
steer_ease_out_counter = REPEAT_COUNTER
|
||||
|
||||
|
||||
vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
|
||||
|
||||
is_openpilot_engaged = False
|
||||
|
|
@ -253,12 +299,11 @@ def bridge(q):
|
|||
throttle_manual = steer_manual = brake_manual = 0
|
||||
|
||||
old_steer = old_brake = old_throttle = 0
|
||||
throttle_manual_multiplier = 0.7 #keyboard signal is always 1
|
||||
brake_manual_multiplier = 0.7 #keyboard signal is always 1
|
||||
steer_manual_multiplier = 45 * STEER_RATIO #keyboard signal is always 1
|
||||
throttle_manual_multiplier = 0.7 # keyboard signal is always 1
|
||||
brake_manual_multiplier = 0.7 # keyboard signal is always 1
|
||||
steer_manual_multiplier = 45 * STEER_RATIO # keyboard signal is always 1
|
||||
|
||||
|
||||
while 1:
|
||||
while True:
|
||||
# 1. Read the throttle, steer and brake from op or manual controls
|
||||
# 2. Set instructions in Carla
|
||||
# 3. Send current carstate to op via can
|
||||
|
|
@ -282,7 +327,6 @@ def bridge(q):
|
|||
brake_manual = float(m[1])
|
||||
is_openpilot_engaged = False
|
||||
elif m[0] == "reverse":
|
||||
#in_reverse = not in_reverse
|
||||
cruise_button = CruiseButtons.CANCEL
|
||||
is_openpilot_engaged = False
|
||||
elif m[0] == "cruise":
|
||||
|
|
@ -302,19 +346,16 @@ def bridge(q):
|
|||
steer_out = steer_manual * steer_manual_multiplier
|
||||
brake_out = brake_manual * brake_manual_multiplier
|
||||
|
||||
#steer_out = steer_out
|
||||
# steer_out = steer_rate_limit(old_steer, steer_out)
|
||||
old_steer = steer_out
|
||||
old_throttle = throttle_out
|
||||
old_brake = brake_out
|
||||
|
||||
# print('message',old_throttle, old_steer, old_brake)
|
||||
|
||||
if is_openpilot_engaged:
|
||||
sm.update(0)
|
||||
|
||||
# TODO gas and brake is deprecated
|
||||
throttle_op = clip(sm['carControl'].actuators.accel/1.6, 0.0, 1.0)
|
||||
brake_op = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
|
||||
throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
|
||||
brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
|
||||
steer_op = sm['carControl'].actuators.steeringAngleDeg
|
||||
|
||||
throttle_out = throttle_op
|
||||
|
|
@ -325,24 +366,24 @@ def bridge(q):
|
|||
old_steer = steer_out
|
||||
|
||||
else:
|
||||
if throttle_out==0 and old_throttle>0:
|
||||
if throttle_ease_out_counter>0:
|
||||
if throttle_out == 0 and old_throttle > 0:
|
||||
if throttle_ease_out_counter > 0:
|
||||
throttle_out = old_throttle
|
||||
throttle_ease_out_counter += -1
|
||||
else:
|
||||
throttle_ease_out_counter = REPEAT_COUNTER
|
||||
old_throttle = 0
|
||||
|
||||
if brake_out==0 and old_brake>0:
|
||||
if brake_ease_out_counter>0:
|
||||
if brake_out == 0 and old_brake > 0:
|
||||
if brake_ease_out_counter > 0:
|
||||
brake_out = old_brake
|
||||
brake_ease_out_counter += -1
|
||||
else:
|
||||
brake_ease_out_counter = REPEAT_COUNTER
|
||||
old_brake = 0
|
||||
|
||||
if steer_out==0 and old_steer!=0:
|
||||
if steer_ease_out_counter>0:
|
||||
if steer_out == 0 and old_steer != 0:
|
||||
if steer_ease_out_counter > 0:
|
||||
steer_out = old_steer
|
||||
steer_ease_out_counter += -1
|
||||
else:
|
||||
|
|
@ -350,28 +391,27 @@ def bridge(q):
|
|||
old_steer = 0
|
||||
|
||||
# --------------Step 2-------------------------------
|
||||
|
||||
steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
|
||||
|
||||
steer_carla = np.clip(steer_carla, -1,1)
|
||||
steer_carla = np.clip(steer_carla, -1, 1)
|
||||
steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
|
||||
old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)
|
||||
|
||||
vc.throttle = throttle_out/0.6
|
||||
vc.throttle = throttle_out / 0.6
|
||||
vc.steer = steer_carla
|
||||
vc.brake = brake_out
|
||||
vehicle.apply_control(vc)
|
||||
|
||||
# --------------Step 3-------------------------------
|
||||
vel = vehicle.get_velocity()
|
||||
speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) # in m/s
|
||||
speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) # in m/s
|
||||
vehicle_state.speed = speed
|
||||
vehicle_state.vel = vel
|
||||
vehicle_state.angle = steer_out
|
||||
vehicle_state.cruise_button = cruise_button
|
||||
vehicle_state.is_engaged = is_openpilot_engaged
|
||||
|
||||
if rk.frame%PRINT_DECIMATION == 0:
|
||||
if rk.frame % PRINT_DECIMATION == 0:
|
||||
print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ", round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))
|
||||
|
||||
rk.keep_time()
|
||||
|
|
@ -385,6 +425,7 @@ def bridge(q):
|
|||
camera.destroy()
|
||||
vehicle.destroy()
|
||||
|
||||
|
||||
def bridge_keep_alive(q: Any):
|
||||
while 1:
|
||||
try:
|
||||
|
|
@ -393,6 +434,7 @@ def bridge_keep_alive(q: Any):
|
|||
except RuntimeError:
|
||||
print("Restarting bridge...")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# make sure params are in a good state
|
||||
set_params_enabled()
|
||||
|
|
|
|||
|
|
@ -5,8 +5,7 @@ export NOBOARD="1"
|
|||
export SIMULATION="1"
|
||||
export FINGERPRINT="HONDA CIVIC 2016"
|
||||
|
||||
# TODO: remove this once the bridge uses visionipc
|
||||
export BLOCK="loggerd"
|
||||
export BLOCK="camerad,loggerd"
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
cd ../../selfdrive/manager && ./manager.py
|
||||
|
|
|
|||
|
|
@ -62,7 +62,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
|
|||
msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
|
||||
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
|
||||
msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
|
||||
msg.append(packer.make_can_msg("HUD_SETTING", 0, {}, idx))
|
||||
msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
|
||||
|
||||
# *** cam bus ***
|
||||
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
|
||||
|
|
|
|||
Loading…
Reference in New Issue