text: #!/usr/bin/env python3
  import argparse
  import math
  import threading
  import time
  import os
  from multiprocessing import Process, Queue
  from typing import Any
  
  import carla  # pylint: disable=import-error
  import numpy as np
  import pyopencl as cl
  import pyopencl.array as cl_array
  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.test.helpers import set_params_enabled
  
  parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
  parser.add_argument('--joystick', action='store_true')
  parser.add_argument('--low_quality', action='store_true')
  parser.add_argument('--town', type=str, default='Town04_Opt')
  parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)
  
  args = parser.parse_args()
  
  W, H = 1928, 1208
  REPEAT_COUNTER = 5
  PRINT_DECIMATION = 100
  STEER_RATIO = 15.
  
  pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"])
  sm = messaging.SubMaster(['carControl', 'controlsState'])
  
  
  class VehicleState:
    def __init__(self):
      self.speed = 0
      self.angle = 0
      self.bearing_deg = 0.0
      self.vel = carla.Vector3D()
      self.cruise_button = 0
      self.is_engaged = False
  
  
  def steer_rate_limit(old, new):
    # Rate limiting to 0.5 degrees per step
    limit = 0.5
    if new > old + limit:
      return old + limit
    elif new < old - limit:
      return old - limit
    else:
      return new
  
  
  class Camerad:
    def __init__(self):
      self.frame_id = 0
      self.vipc_server = VisionIpcServer("camerad")
  
      # TODO: remove RGB buffers once the last RGB vipc subscriber is removed
      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, W, H)
      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 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_ROAD, 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):
    vehicle_state.bearing_deg = math.degrees(imu.compass)
    dat = messaging.new_message('sensorEvents', 2)
    dat.sensorEvents[0].sensor = 4
    dat.sensorEvents[0].type = 0x10
    dat.sensorEvents[0].init('acceleration')
    dat.sensorEvents[0].acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
    # copied these numbers from locationd
    dat.sensorEvents[1].sensor = 5
    dat.sensorEvents[1].type = 0x10
    dat.sensorEvents[1].init('gyroUncalibrated')
    dat.sensorEvents[1].gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
    pm.send('sensorEvents', dat)
  
  
  def panda_state_function(exit_event: threading.Event):
    pm = messaging.PubMaster(['pandaStates'])
    while not exit_event.is_set():
      dat = messaging.new_message('pandaStates', 1)
      dat.valid = True
      dat.pandaStates[0] = {
        'ignitionLine': True,
        'pandaType': "blackPanda",
        'controlsAllowed': True,
        'safetyModel': 'hondaNidec'
      }
      pm.send('pandaStates', dat)
      time.sleep(0.5)
  
  
  def peripheral_state_function(exit_event: threading.Event):
    pm = messaging.PubMaster(['peripheralState'])
    while not exit_event.is_set():
      dat = messaging.new_message('peripheralState')
      dat.valid = True
      # fake peripheral state data
      dat.peripheralState = {
        'pandaType': log.PandaState.PandaType.blackPanda,
        'voltage': 12000,
        'current': 5678,
        'fanSpeedRpm': 1000
      }
      pm.send('peripheralState', dat)
      time.sleep(0.5)
  
  
  def gps_callback(gps, vehicle_state):
    dat = messaging.new_message('gpsLocationExternal')
  
    # transform vel from carla to NED
    # north is -Y in CARLA
    velNED = [
      -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.z,
    ]
  
    dat.gpsLocationExternal = {
      "timestamp": int(time.time() * 1000),
      "flags": 1,  # valid fix
      "accuracy": 1.0,
      "verticalAccuracy": 1.0,
      "speedAccuracy": 0.1,
      "bearingAccuracyDeg": 0.1,
      "vNED": velNED,
      "bearingDeg": vehicle_state.bearing_deg,
      "latitude": gps.latitude,
      "longitude": gps.longitude,
      "altitude": gps.altitude,
      "speed": vehicle_state.speed,
      "source": log.GpsLocationData.SensorSource.ublox,
    }
  
    pm.send('gpsLocationExternal', dat)
  
  
  def fake_driver_monitoring(exit_event: threading.Event):
    pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
    while not exit_event.is_set():
      # dmonitoringmodeld output
      dat = messaging.new_message('driverState')
      dat.driverState.faceProb = 1.0
      pm.send('driverState', dat)
  
      # dmonitoringd output
      dat = messaging.new_message('driverMonitoringState')
      dat.driverMonitoringState = {
        "faceDetected": True,
        "isDistracted": False,
        "awarenessStatus": 1.,
      }
      pm.send('driverMonitoringState', dat)
  
      time.sleep(DT_DMON)
  
  
  def can_function_runner(vs: VehicleState, exit_event: threading.Event):
    i = 0
    while not exit_event.is_set():
      can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
      time.sleep(0.01)
      i += 1
  
  
  def bridge(q):
    # setup CARLA
    client = carla.Client("127.0.0.1", 2000)
    client.set_timeout(10.0)
    world = client.load_world(args.town)
  
    settings = world.get_settings()
    settings.synchronous_mode = True # Enables synchronous mode
    settings.fixed_delta_seconds = 0.05
    world.apply_settings(settings)
  
    world.set_weather(carla.WeatherParameters.ClearSunset)
  
    if args.low_quality:
      world.unload_map_layer(carla.MapLayer.Foliage)
      world.unload_map_layer(carla.MapLayer.Buildings)
      world.unload_map_layer(carla.MapLayer.ParkedVehicles)
      world.unload_map_layer(carla.MapLayer.Props)
      world.unload_map_layer(carla.MapLayer.StreetLights)
      world.unload_map_layer(carla.MapLayer.Particles)
  
    blueprint_library = world.get_blueprint_library()
  
    world_map = world.get_map()
  
    vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
    spawn_points = world_map.get_spawn_points()
    assert len(spawn_points) > args.num_selected_spawn_point, \
      f'''No spawn point {args.num_selected_spawn_point}, try a value between 0 and
      {len(spawn_points)} for this town.'''
    spawn_point = spawn_points[args.num_selected_spawn_point]
    vehicle = world.spawn_actor(vehicle_bp, spawn_point)
  
    max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
  
    # make tires less slippery
    # wheel_control = carla.WheelPhysicsControl(tire_friction=5)
    physics_control = vehicle.get_physics_control()
    physics_control.mass = 2326
    # physics_control.wheels = [wheel_control]*4
    physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
    physics_control.gear_switch_time = 0.0
    vehicle.apply_physics_control(physics_control)
  
    blueprint = blueprint_library.find('sensor.camera.rgb')
    blueprint.set_attribute('image_size_x', str(W))
    blueprint.set_attribute('image_size_y', str(H))
    blueprint.set_attribute('fov', '40')
    blueprint.set_attribute('sensor_tick', '0.05')
    transform = carla.Transform(carla.Location(x=0.8, z=1.13))
    camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
    camerad = Camerad()
    camera.listen(camerad.cam_callback)
  
    vehicle_state = VehicleState()
  
    # reenable IMU
    imu_bp = blueprint_library.find('sensor.other.imu')
    imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
    imu.listen(lambda imu: imu_callback(imu, vehicle_state))
  
    gps_bp = blueprint_library.find('sensor.other.gnss')
    gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
    gps.listen(lambda gps: gps_callback(gps, vehicle_state))
  
    # launch fake car threads
    threads = []
    exit_event = threading.Event()
    threads.append(threading.Thread(target=panda_state_function, args=(exit_event,)))
    threads.append(threading.Thread(target=peripheral_state_function, args=(exit_event,)))
    threads.append(threading.Thread(target=fake_driver_monitoring, args=(exit_event,)))
    threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, exit_event,)))
    for t in threads:
      t.start()
  
    # can loop
    rk = Ratekeeper(100, print_delay_threshold=0.05)
  
    # init
    throttle_ease_out_counter = REPEAT_COUNTER
    brake_ease_out_counter = REPEAT_COUNTER
    steer_ease_out_counter = REPEAT_COUNTER
  
    vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)
  
    is_openpilot_engaged = False
    throttle_out = steer_out = brake_out = 0
    throttle_op = steer_op = brake_op = 0
    throttle_manual = steer_manual = brake_manual = 0
  
    old_steer = old_brake = old_throttle = 0
    throttle_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
  
    while True:
      # 1. Read the throttle, steer and brake from op or manual controls
      # 2. Set instructions in Carla
      # 3. Send current carstate to op via can
  
      cruise_button = 0
      throttle_out = steer_out = brake_out = 0.0
      throttle_op = steer_op = brake_op = 0
      throttle_manual = steer_manual = brake_manual = 0.0
  
      # --------------Step 1-------------------------------
      if not q.empty():
        message = q.get()
        m = message.split('_')
        if m[0] == "steer":
          steer_manual = float(m[1])
          is_openpilot_engaged = False
        elif m[0] == "throttle":
          throttle_manual = float(m[1])
          is_openpilot_engaged = False
        elif m[0] == "brake":
          brake_manual = float(m[1])
          is_openpilot_engaged = False
        elif m[0] == "reverse":
          cruise_button = CruiseButtons.CANCEL
          is_openpilot_engaged = False
        elif m[0] == "cruise":
          if m[1] == "down":
            cruise_button = CruiseButtons.DECEL_SET
            is_openpilot_engaged = True
          elif m[1] == "up":
            cruise_button = CruiseButtons.RES_ACCEL
            is_openpilot_engaged = True
          elif m[1] == "cancel":
            cruise_button = CruiseButtons.CANCEL
            is_openpilot_engaged = False
        elif m[0] == "quit":
          break
  
        throttle_out = throttle_manual * throttle_manual_multiplier
        steer_out = steer_manual * steer_manual_multiplier
        brake_out = brake_manual * brake_manual_multiplier
  
        old_steer = steer_out
        old_throttle = throttle_out
        old_brake = brake_out
  
      if is_openpilot_engaged:
        sm.update(0)
  
        # TODO gas and brake is deprecated
        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)
        steer_op = sm['carControl'].actuators.steeringAngleDeg
  
        throttle_out = throttle_op
        steer_out = steer_op
        brake_out = brake_op
  
        steer_out = steer_rate_limit(old_steer, steer_out)
        old_steer = steer_out
  
      else:
        if throttle_out == 0 and old_throttle > 0:
          if throttle_ease_out_counter > 0:
            throttle_out = old_throttle
            throttle_ease_out_counter += -1
          else:
            throttle_ease_out_counter = REPEAT_COUNTER
            old_throttle = 0
  
        if brake_out == 0 and old_brake > 0:
          if brake_ease_out_counter > 0:
            brake_out = old_brake
            brake_ease_out_counter += -1
          else:
            brake_ease_out_counter = REPEAT_COUNTER
            old_brake = 0
  
        if steer_out == 0 and old_steer != 0:
          if steer_ease_out_counter > 0:
            steer_out = old_steer
            steer_ease_out_counter += -1
          else:
            steer_ease_out_counter = REPEAT_COUNTER
            old_steer = 0
  
      # --------------Step 2-------------------------------
      steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
  
      steer_carla = np.clip(steer_carla, -1, 1)
      steer_out = 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.steer = steer_carla
      vc.brake = brake_out
      vehicle.apply_control(vc)
  
      # --------------Step 3-------------------------------
      vel = vehicle.get_velocity()
      speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2)  # in m/s
      vehicle_state.speed = speed
      vehicle_state.vel = vel
      vehicle_state.angle = steer_out
      vehicle_state.cruise_button = cruise_button
      vehicle_state.is_engaged = is_openpilot_engaged
  
      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))
  
      if rk.frame % 5 == 0:
        world.tick()
  
      rk.keep_time()
  
    # Clean up resources in the opposite order they were created.
    exit_event.set()
    for t in reversed(threads):
      t.join()
    gps.destroy()
    imu.destroy()
    camera.destroy()
    vehicle.destroy()
  
  
  def bridge_keep_alive(q: Any):
    while 1:
      try:
        bridge(q)
        break
      except RuntimeError:
        print("Restarting bridge...")
  
  
  if __name__ == "__main__":
    # make sure params are in a good state
    set_params_enabled()
  
    msg = messaging.new_message('liveCalibration')
    msg.liveCalibration.validBlocks = 20
    msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
    Params().put("CalibrationParams", msg.to_bytes())
  
    q: Any = Queue()
    p = Process(target=bridge_keep_alive, args=(q,), daemon=True)
    p.start()
  
    if args.joystick:
      # start input poll for joystick
      from lib.manual_ctrl import wheel_poll_thread
      wheel_poll_thread(q)
      p.join()
    else:
      # start input poll for keyboard
      from lib.keyboard_ctrl import keyboard_poll_thread
      keyboard_poll_thread(q)
  