87 lines
2.2 KiB
Python
87 lines
2.2 KiB
Python
from multiprocessing import Queue
|
|
|
|
from metadrive.component.sensors.base_camera import _cuda_enable
|
|
from metadrive.component.map.pg_map import MapGenerateMethod
|
|
|
|
from openpilot.tools.sim.bridge.common import SimulatorBridge
|
|
from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide
|
|
from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld
|
|
from openpilot.tools.sim.lib.camerad import W, H
|
|
|
|
|
|
def straight_block(length):
|
|
return {
|
|
"id": "S",
|
|
"pre_block_socket_index": 0,
|
|
"length": length
|
|
}
|
|
|
|
def curve_block(length, angle=45, direction=0):
|
|
return {
|
|
"id": "C",
|
|
"pre_block_socket_index": 0,
|
|
"length": length,
|
|
"radius": length,
|
|
"angle": angle,
|
|
"dir": direction
|
|
}
|
|
|
|
def create_map(track_size=60):
|
|
return dict(
|
|
type=MapGenerateMethod.PG_MAP_FILE,
|
|
lane_num=2,
|
|
lane_width=3.5,
|
|
config=[
|
|
None,
|
|
straight_block(track_size),
|
|
curve_block(track_size*2, 90),
|
|
straight_block(track_size),
|
|
curve_block(track_size*2, 90),
|
|
straight_block(track_size),
|
|
curve_block(track_size*2, 90),
|
|
straight_block(track_size),
|
|
curve_block(track_size*2, 90),
|
|
]
|
|
)
|
|
|
|
|
|
class MetaDriveBridge(SimulatorBridge):
|
|
TICKS_PER_FRAME = 5
|
|
|
|
def __init__(self, dual_camera, high_quality):
|
|
self.should_render = False
|
|
|
|
super().__init__(dual_camera, high_quality)
|
|
|
|
def spawn_world(self):
|
|
sensors = {
|
|
"rgb_road": (RGBCameraRoad, W, H, )
|
|
}
|
|
|
|
if self.dual_camera:
|
|
sensors["rgb_wide"] = (RGBCameraWide, W, H)
|
|
|
|
config = dict(
|
|
use_render=self.should_render,
|
|
vehicle_config=dict(
|
|
enable_reverse=False,
|
|
image_source="rgb_road",
|
|
),
|
|
sensors=sensors,
|
|
image_on_cuda=_cuda_enable,
|
|
image_observation=True,
|
|
interface_panel=[],
|
|
out_of_route_done=False,
|
|
on_continuous_line_done=False,
|
|
crash_vehicle_done=False,
|
|
crash_object_done=False,
|
|
arrive_dest_done=False,
|
|
traffic_density=0.0, # traffic is incredibly expensive
|
|
map_config=create_map(),
|
|
decision_repeat=1,
|
|
physics_world_step_size=self.TICKS_PER_FRAME/100,
|
|
preload_models=False
|
|
)
|
|
|
|
return MetaDriveWorld(Queue(), config, self.dual_camera)
|