48 lines
1.3 KiB
Python
48 lines
1.3 KiB
Python
#!/usr/bin/env python
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import argparse
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from typing import Any
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from multiprocessing import Queue
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from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
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def create_bridge(dual_camera, high_quality):
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queue: Any = Queue()
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simulator_bridge = MetaDriveBridge(dual_camera, high_quality)
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simulator_process = simulator_bridge.run(queue)
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return queue, simulator_process, simulator_bridge
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def main():
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_, simulator_process, _ = create_bridge(True, False)
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simulator_process.join()
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def parse_args(add_args=None):
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parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
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parser.add_argument('--joystick', action='store_true')
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parser.add_argument('--high_quality', action='store_true')
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parser.add_argument('--dual_camera', action='store_true')
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return parser.parse_args(add_args)
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if __name__ == "__main__":
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args = parse_args()
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queue, simulator_process, simulator_bridge = create_bridge(args.dual_camera, args.high_quality)
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if args.joystick:
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# start input poll for joystick
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from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
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wheel_poll_thread(queue)
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else:
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# start input poll for keyboard
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from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
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keyboard_poll_thread(queue)
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simulator_bridge.shutdown()
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simulator_process.join()
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