Release 260111

tools/sim/run_bridge.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import argparse
+
+from typing import Any
+from multiprocessing import Queue
+
+from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+
+def create_bridge(dual_camera, high_quality):
+  queue: Any = Queue()
+
+  simulator_bridge = MetaDriveBridge(dual_camera, high_quality)
+  simulator_process = simulator_bridge.run(queue)
+
+  return queue, simulator_process, simulator_bridge
+
+def main():
+  _, simulator_process, _ = create_bridge(True, False)
+  simulator_process.join()
+
+def parse_args(add_args=None):
+  parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
+  parser.add_argument('--joystick', action='store_true')
+  parser.add_argument('--high_quality', action='store_true')
+  parser.add_argument('--dual_camera', action='store_true')
+
+  return parser.parse_args(add_args)
+
+if __name__ == "__main__":
+  args = parse_args()
+
+  queue, simulator_process, simulator_bridge = create_bridge(args.dual_camera, args.high_quality)
+
+  if args.joystick:
+    # start input poll for joystick
+    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
+
+    wheel_poll_thread(queue)
+  else:
+    # start input poll for keyboard
+    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
+
+    keyboard_poll_thread(queue)
+
+  simulator_bridge.shutdown()
+
+  simulator_process.join()