Simulator: cleanup in preparation for metadrive #29903
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selfdrive/controls/controlsd.py
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| @@ -339,7 +339,7 @@ def update_events(self, CS): | |||
| self.events.add(EventName.cameraMalfunction) | |||
| elif not self.sm.all_freq_ok(self.camera_packets): | |||
| self.events.add(EventName.cameraFrameRate) | |||
| if not REPLAY and self.rk.lagging: | |||
| if not REPLAY and not SIMULATION and self.rk.lagging: | |||
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this shouldn't be ignored. openpilot doesn't need much to run realtime
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@adeebshihadeh this is all the cleanup stuff for carla, which will allow metadrive to be a drop in replacement |
tools/sim/bridge/carla.py
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| self.num_selected_spawn_point = arguments.num_selected_spawn_point | ||
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| def spawn_world(self): | ||
| import carla # pylint: disable=import-error |
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the pylint suppression needed?
tools/sim/bridge/carla.py
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| world = client.load_world(self.town) | ||
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| settings = world.get_settings() | ||
| #settings.synchronous_mode = True # Enables synchronous mode |
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runs much better without it, removed the commented line
tools/sim/bridge/carla.py
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| def close(self): | ||
| super().close() |
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just don't override it?
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meant to call world.close, done
tools/sim/bridge/carla.py
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| def spawn_world(self): | ||
| import carla # pylint: disable=import-error | ||
| def connect_carla_client(host: str, port: int): |
| @@ -0,0 +1,171 @@ | |||
| import numpy as np | |||
| from openpilot.common.params import Params | |||
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breakup the openpilot imports with a new line
adeebshihadeh
approved these changes
Sep 15, 2023
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With the goal of adding metadrive as another simulator. Mostly taken from #27373