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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 2021-11-26 10:58:25 -05:00 committed by GitHub
parent e376a621ba
commit a58d272ae4
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 268 additions and 196 deletions
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@ -57,6 +57,7 @@ pycapnp = "==1.1.0"
pycryptodome = "*" pycryptodome = "*"
PyJWT = "*" PyJWT = "*"
pylint = "*" pylint = "*"
pyopencl = "*"
pyserial = "*" pyserial = "*"
python-dateutil = "*" python-dateutil = "*"
PyYAML = "*" PyYAML = "*"

296
Pipfile.lock generated
View File

@ -1,7 +1,7 @@
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@ -16,13 +16,20 @@
] ]
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@ -759,11 +767,23 @@
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@ -781,6 +801,13 @@
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162
tools/sim/bridge.py
View File

@ -1,19 +1,25 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import argparse import argparse
import carla # pylint: disable=import-error
import math import math
import numpy as np
import time
import threading import threading
from cereal import log import time
import os
from multiprocessing import Process, Queue from multiprocessing import Process, Queue
from typing import Any from typing import Any
import cereal.messaging as messaging import carla # pylint: disable=import-error
from common.params import Params import numpy as np
from common.numpy_fast import clip import pyopencl as cl
from common.realtime import Ratekeeper, DT_DMON import pyopencl.array as cl_array
from lib.can import can_function 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.car.honda.values import CruiseButtons
from selfdrive.test.helpers import set_params_enabled 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('--joystick', action='store_true')
parser.add_argument('--low_quality', action='store_true') parser.add_argument('--low_quality', action='store_true')
parser.add_argument('--town', type=str, default='Town04_Opt') parser.add_argument('--town', type=str, default='Town04_Opt')
parser.add_argument('--spawn_point', dest='num_selected_spawn_point', parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
type=int, default=16)
args = parser.parse_args() args = parser.parse_args()
W, H = 1164, 874 W, H = 1928, 1208
REPEAT_COUNTER = 5 REPEAT_COUNTER = 5
PRINT_DECIMATION = 100 PRINT_DECIMATION = 100
STEER_RATIO = 15. STEER_RATIO = 15.
pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"]) pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"])
sm = messaging.SubMaster(['carControl','controlsState']) sm = messaging.SubMaster(['carControl', 'controlsState'])
class VehicleState: class VehicleState:
def __init__(self): def __init__(self):
@ -40,8 +46,9 @@ class VehicleState:
self.angle = 0 self.angle = 0
self.bearing_deg = 0.0 self.bearing_deg = 0.0
self.vel = carla.Vector3D() self.vel = carla.Vector3D()
self.cruise_button= 0 self.cruise_button = 0
self.is_engaged=False self.is_engaged = False
def steer_rate_limit(old, new): def steer_rate_limit(old, new):
# Rate limiting to 0.5 degrees per step # Rate limiting to 0.5 degrees per step
@ -53,21 +60,56 @@ def steer_rate_limit(old, new):
else: else:
return new 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') class Camerad:
dat.roadCameraState = { def __init__(self):
"frameId": image.frame, self.frame_id = 0
"image": img.tobytes(), self.vipc_server = VisionIpcServer("camerad")
"transform": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
} # TODO: remove RGB buffers once the last RGB vipc subscriber is removed
pm.send('roadCameraState', dat) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, W, H)
frame_id += 1 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): def imu_callback(imu, vehicle_state):
vehicle_state.bearing_deg = math.degrees(imu.compass) 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] dat.sensorEvents[1].gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
pm.send('sensorEvents', dat) pm.send('sensorEvents', dat)
def panda_state_function(exit_event: threading.Event): def panda_state_function(exit_event: threading.Event):
pm = messaging.PubMaster(['pandaStates']) pm = messaging.PubMaster(['pandaStates'])
while not exit_event.is_set(): while not exit_event.is_set():
@ -97,6 +140,7 @@ def panda_state_function(exit_event: threading.Event):
pm.send('pandaStates', dat) pm.send('pandaStates', dat)
time.sleep(0.5) time.sleep(0.5)
def peripheral_state_function(exit_event: threading.Event): def peripheral_state_function(exit_event: threading.Event):
pm = messaging.PubMaster(['peripheralState']) pm = messaging.PubMaster(['peripheralState'])
while not exit_event.is_set(): while not exit_event.is_set():
@ -112,20 +156,21 @@ def peripheral_state_function(exit_event: threading.Event):
pm.send('peripheralState', dat) pm.send('peripheralState', dat)
time.sleep(0.5) time.sleep(0.5)
def gps_callback(gps, vehicle_state): def gps_callback(gps, vehicle_state):
dat = messaging.new_message('gpsLocationExternal') dat = messaging.new_message('gpsLocationExternal')
# transform vel from carla to NED # transform vel from carla to NED
# north is -Y in CARLA # north is -Y in CARLA
velNED = [ velNED = [
-vehicle_state.vel.y, # north/south component of NED is negative when moving south -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.x, # positive when moving east, which is x in carla
vehicle_state.vel.z, vehicle_state.vel.z,
] ]
dat.gpsLocationExternal = { dat.gpsLocationExternal = {
"timestamp": int(time.time() * 1000), "timestamp": int(time.time() * 1000),
"flags": 1, # valid fix "flags": 1, # valid fix
"accuracy": 1.0, "accuracy": 1.0,
"verticalAccuracy": 1.0, "verticalAccuracy": 1.0,
"speedAccuracy": 0.1, "speedAccuracy": 0.1,
@ -141,8 +186,9 @@ def gps_callback(gps, vehicle_state):
pm.send('gpsLocationExternal', dat) pm.send('gpsLocationExternal', dat)
def fake_driver_monitoring(exit_event: threading.Event): def fake_driver_monitoring(exit_event: threading.Event):
pm = messaging.PubMaster(['driverState','driverMonitoringState']) pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
while not exit_event.is_set(): while not exit_event.is_set():
# dmonitoringmodeld output # dmonitoringmodeld output
dat = messaging.new_message('driverState') dat = messaging.new_message('driverState')
@ -160,16 +206,16 @@ def fake_driver_monitoring(exit_event: threading.Event):
time.sleep(DT_DMON) time.sleep(DT_DMON)
def can_function_runner(vs: VehicleState, exit_event: threading.Event): def can_function_runner(vs: VehicleState, exit_event: threading.Event):
i = 0 i = 0
while not exit_event.is_set(): while not exit_event.is_set():
can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged) can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
time.sleep(0.01) time.sleep(0.01)
i+=1 i += 1
def bridge(q): def bridge(q):
# setup CARLA # setup CARLA
client = carla.Client("127.0.0.1", 2000) client = carla.Client("127.0.0.1", 2000)
client.set_timeout(10.0) client.set_timeout(10.0)
@ -209,11 +255,12 @@ def bridge(q):
blueprint = blueprint_library.find('sensor.camera.rgb') blueprint = blueprint_library.find('sensor.camera.rgb')
blueprint.set_attribute('image_size_x', str(W)) blueprint.set_attribute('image_size_x', str(W))
blueprint.set_attribute('image_size_y', str(H)) 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') blueprint.set_attribute('sensor_tick', '0.05')
transform = carla.Transform(carla.Location(x=0.8, z=1.13)) transform = carla.Transform(carla.Location(x=0.8, z=1.13))
camera = world.spawn_actor(blueprint, transform, attach_to=vehicle) camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
camera.listen(cam_callback) camerad = Camerad()
camera.listen(camerad.cam_callback)
vehicle_state = VehicleState() vehicle_state = VehicleState()
@ -244,7 +291,6 @@ def bridge(q):
brake_ease_out_counter = REPEAT_COUNTER brake_ease_out_counter = REPEAT_COUNTER
steer_ease_out_counter = REPEAT_COUNTER steer_ease_out_counter = REPEAT_COUNTER
vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False) vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
is_openpilot_engaged = False is_openpilot_engaged = False
@ -253,12 +299,11 @@ def bridge(q):
throttle_manual = steer_manual = brake_manual = 0 throttle_manual = steer_manual = brake_manual = 0
old_steer = old_brake = old_throttle = 0 old_steer = old_brake = old_throttle = 0
throttle_manual_multiplier = 0.7 #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 brake_manual_multiplier = 0.7 # keyboard signal is always 1
steer_manual_multiplier = 45 * STEER_RATIO #keyboard signal is always 1 steer_manual_multiplier = 45 * STEER_RATIO # keyboard signal is always 1
while True:
while 1:
# 1. Read the throttle, steer and brake from op or manual controls # 1. Read the throttle, steer and brake from op or manual controls
# 2. Set instructions in Carla # 2. Set instructions in Carla
# 3. Send current carstate to op via can # 3. Send current carstate to op via can
@ -282,7 +327,6 @@ def bridge(q):
brake_manual = float(m[1]) brake_manual = float(m[1])
is_openpilot_engaged = False is_openpilot_engaged = False
elif m[0] == "reverse": elif m[0] == "reverse":
#in_reverse = not in_reverse
cruise_button = CruiseButtons.CANCEL cruise_button = CruiseButtons.CANCEL
is_openpilot_engaged = False is_openpilot_engaged = False
elif m[0] == "cruise": elif m[0] == "cruise":
@ -302,19 +346,16 @@ def bridge(q):
steer_out = steer_manual * steer_manual_multiplier steer_out = steer_manual * steer_manual_multiplier
brake_out = brake_manual * brake_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_steer = steer_out
old_throttle = throttle_out old_throttle = throttle_out
old_brake = brake_out old_brake = brake_out
# print('message',old_throttle, old_steer, old_brake)
if is_openpilot_engaged: if is_openpilot_engaged:
sm.update(0) sm.update(0)
# TODO gas and brake is deprecated # TODO gas and brake is deprecated
throttle_op = clip(sm['carControl'].actuators.accel/1.6, 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) brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
steer_op = sm['carControl'].actuators.steeringAngleDeg steer_op = sm['carControl'].actuators.steeringAngleDeg
throttle_out = throttle_op throttle_out = throttle_op
@ -325,24 +366,24 @@ def bridge(q):
old_steer = steer_out old_steer = steer_out
else: else:
if throttle_out==0 and old_throttle>0: if throttle_out == 0 and old_throttle > 0:
if throttle_ease_out_counter>0: if throttle_ease_out_counter > 0:
throttle_out = old_throttle throttle_out = old_throttle
throttle_ease_out_counter += -1 throttle_ease_out_counter += -1
else: else:
throttle_ease_out_counter = REPEAT_COUNTER throttle_ease_out_counter = REPEAT_COUNTER
old_throttle = 0 old_throttle = 0
if brake_out==0 and old_brake>0: if brake_out == 0 and old_brake > 0:
if brake_ease_out_counter>0: if brake_ease_out_counter > 0:
brake_out = old_brake brake_out = old_brake
brake_ease_out_counter += -1 brake_ease_out_counter += -1
else: else:
brake_ease_out_counter = REPEAT_COUNTER brake_ease_out_counter = REPEAT_COUNTER
old_brake = 0 old_brake = 0
if steer_out==0 and old_steer!=0: if steer_out == 0 and old_steer != 0:
if steer_ease_out_counter>0: if steer_ease_out_counter > 0:
steer_out = old_steer steer_out = old_steer
steer_ease_out_counter += -1 steer_ease_out_counter += -1
else: else:
@ -350,28 +391,27 @@ def bridge(q):
old_steer = 0 old_steer = 0
# --------------Step 2------------------------------- # --------------Step 2-------------------------------
steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1) 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) steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
old_steer = 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.steer = steer_carla
vc.brake = brake_out vc.brake = brake_out
vehicle.apply_control(vc) vehicle.apply_control(vc)
# --------------Step 3------------------------------- # --------------Step 3-------------------------------
vel = vehicle.get_velocity() 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.speed = speed
vehicle_state.vel = vel vehicle_state.vel = vel
vehicle_state.angle = steer_out vehicle_state.angle = steer_out
vehicle_state.cruise_button = cruise_button vehicle_state.cruise_button = cruise_button
vehicle_state.is_engaged = is_openpilot_engaged 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)) 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() rk.keep_time()
@ -385,6 +425,7 @@ def bridge(q):
camera.destroy() camera.destroy()
vehicle.destroy() vehicle.destroy()
def bridge_keep_alive(q: Any): def bridge_keep_alive(q: Any):
while 1: while 1:
try: try:
@ -393,6 +434,7 @@ def bridge_keep_alive(q: Any):
except RuntimeError: except RuntimeError:
print("Restarting bridge...") print("Restarting bridge...")
if __name__ == "__main__": if __name__ == "__main__":
# make sure params are in a good state # make sure params are in a good state
set_params_enabled() set_params_enabled()

3
tools/sim/launch_openpilot.sh
View File

@ -5,8 +5,7 @@ export NOBOARD="1"
export SIMULATION="1" export SIMULATION="1"
export FINGERPRINT="HONDA CIVIC 2016" export FINGERPRINT="HONDA CIVIC 2016"
# TODO: remove this once the bridge uses visionipc export BLOCK="camerad,loggerd"
export BLOCK="loggerd"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
cd ../../selfdrive/manager && ./manager.py cd ../../selfdrive/manager && ./manager.py

2
tools/sim/lib/can.py
View File

@ -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("CRUISE", 0, {}, idx))
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, 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("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 *** # *** cam bus ***
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx)) msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))