dockerize carla + openpilot (commaai#2011)

* dockerize carla + openpilot * separate dockerfile * bring back CI dockerfile * cleanup bridge * add op docker build and start script * build container in CI * fix camerad hack * remove most magic numbers from bridge.py * openpilot-sim docker build and run scripts * fix dmonitoring hacks * revert controlsd hacks * clean up build scripts * singular * fix path * fix image name * modify sim readme * sim readme and start script changes * dockerfile with working opengl * working opengl + passing panda build_st in docker * fix bug in sim docker file * bugfix sim docker file * bugfix all op-sim docker issues * modify readme + run script * IT DRIVES * clean this up * more cleanup * cleanup docker stuff * more cleanup * start with openpilot-base * install carla python package * Script is not in lib * chmod * everything should be running in docker now, the code may not be nice though * works locally... * rhdChecked is deprecated * Checkout using git lfs when building sim container * try to pass the tests * pull latest docker * gps should not throw an error on openpilot launch in bridge.py * fixed a coding style error * Only start ubloxd in car * fixed more style problems * revert typo * Use enviromental variable to prevent errors in a simulator * Remove unused import * Attempt to fix missing enviromental variable * fix typo * less work for users, auto tmux engagement * less work for users, auto tmux engagement * fix check for nvidia * clean up nvidia check * remove typo, shorted dockerfile Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: Bruce Wayne <batman@workstation-eu-gregor.eu.local> Co-authored-by: Gregor Kikelj <gregor1234567890@gmail.com> old-commit-hash: c5dfbe7
andrewchambers · Sep 10, 2020 · db0a4ef · db0a4ef
1 parent 6aebe5f
commit db0a4ef
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diff --git a/.dockerignore b/.dockerignore
@@ -38,3 +38,5 @@ xx/projects
 !xx/projects/map3d
 xx/ops
 xx/junk
+tools/sim/carla
+tools/sim/*.tar.gz
diff --git a/.github/workflows/sim_tests.yaml b/.github/workflows/sim_tests.yaml
@@ -0,0 +1,26 @@
+name: simulator
+on:
+  push:
+
+  # TODO: remove the push trigger, and only run on schedule
+  #schedule:
+  #- cron: '0 * * * *'
+
+jobs:
+  docker_build:
+    name: build container
+    runs-on: ubuntu-16.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+        lfs: true
+    - name: Docker build
+      run: |
+        tools/sim/build_container.sh
+    - name: Push to dockerhub
+      run: |
+        docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN }}
+        docker tag commaai/openpilot-sim docker.io/commaai/openpilot-sim:latest
+        docker push docker.io/commaai/openpilot-sim:latest
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -27,6 +27,7 @@
 LANE_DEPARTURE_THRESHOLD = 0.1
 STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+SIMULATION = "SIMULATION" in os.environ
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -193,7 +194,7 @@ def update_events(self, CS):
     elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
                                         LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
-
+    
     if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
       self.events.add(EventName.canError)
     if self.mismatch_counter >= 200:
@@ -210,7 +211,9 @@ def update_events(self, CS):
         self.events.add(EventName.sensorDataInvalid)
     if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and os.getenv("NOSENSOR") is None:
       # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-      self.events.add(EventName.noGps)
+      # GPS is not yet working in a simulation
+      if not SIMULATION:
+        self.events.add(EventName.noGps)
     if not self.sm['pathPlan'].paramsValid:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
@@ -229,11 +232,12 @@ def update_events(self, CS):
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
     if self.sm['model'].frameDropPerc > 1:
-      self.events.add(EventName.modeldLagging)
+      if not SIMULATION:
+        self.events.add(EventName.modeldLagging)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
-       and not self.CP.radarOffCan and CS.vEgo < 0.3:
+      and not self.CP.radarOffCan and CS.vEgo < 0.3:
       self.events.add(EventName.noTarget)
 
   def data_sample(self):

diff --git a/selfdrive/manager.py b/selfdrive/manager.py
@@ -234,31 +234,31 @@ def get_running():
   'plannerd',
   'loggerd',
   'radard',
-  'dmonitoringd',
   'calibrationd',
   'paramsd',
   'camerad',
   'modeld',
   'proclogd',
-  'ubloxd',
   'locationd',
   'clocksd',
 ]
 
 driver_view_processes = [
   'camerad',
-  'dmonitoringd',
   'dmonitoringmodeld'
 ]
 
 if WEBCAM:
   car_started_processes += [
+    'dmonitoringd',
     'dmonitoringmodeld',
   ]
 
 if not PC:
   car_started_processes += [
+    'ubloxd',
     'sensord',
+    'dmonitoringd',
     'dmonitoringmodeld',
   ]
 

diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld
@@ -1,8 +1,7 @@
 #!/bin/sh
 if [ -d /system ]; then
-  export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
 else
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:/openpilot/phonelibs/snpe/x86_64:$HOME/openpilot/phonelibs/snpe/x86_64:$LD_LIBRARY_PATH"
 fi
 exec ./_modeld
-
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
@@ -0,0 +1,104 @@
+FROM commaai/openpilot-base:latest
+#Carla
+
+COPY ./tools/sim/install_carla.sh /tmp
+RUN /tmp/install_carla.sh
+
+#Intel openCL- run openCL on CPU
+RUN apt-get update && apt-get install -y \
+    apt-utils \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+
+    beignet-opencl-icd \
+
+    alien \
+    clinfo \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+
+    # libglvnd dependencies
+    automake \
+    libtool \
+    libxext-dev \
+    libx11-dev \
+    x11proto-gl-dev \
+    libpng16-16 \
+  && rm -rf /var/lib/apt/lists/*
+
+
+ARG INTEL_DRIVER=opencl_runtime_16.1.1_x64_ubuntu_6.4.0.25.tgz
+ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/9019
+RUN mkdir -p /tmp/opencl-driver-intel
+WORKDIR /tmp/opencl-driver-intel
+RUN echo INTEL_DRIVER is $INTEL_DRIVER; \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER; \
+    if echo $INTEL_DRIVER | grep -q "[.]zip$"; then \
+        unzip $INTEL_DRIVER; \
+        mkdir fakeroot; \
+        for f in intel-opencl-*.tar.xz; do tar -C fakeroot -Jxvf $f; done; \
+        cp -R fakeroot/* /; \
+        ldconfig; \
+    else \
+        tar -xzf $INTEL_DRIVER; \
+        for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done; \
+        dpkg -i *.deb; \
+        rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb; \
+        mkdir -p /etc/OpenCL/vendors; \
+        echo /opt/intel/*/lib64/libintelocl.so > /etc/OpenCL/vendors/intel.icd; \
+    fi; \
+    rm -rf /tmp/opencl-driver-intel;
+
+
+#Open[GL,CL] for gpu
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        mesa-utils \
+        ocl-icd-libopencl1 \
+        clinfo && \
+    rm -rf /var/lib/apt/lists/*
+RUN mkdir -p /etc/OpenCL/vendors && \
+    echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display
+
+#Python
+ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH}
+RUN dbus-uuidgen > /etc/machine-id
+
+# we can apt-get after moving to a newer ubuntu
+WORKDIR /opt/libglvnd
+RUN git clone --branch="0.1.1" https://github.com/NVIDIA/libglvnd.git . && \
+    ./autogen.sh && \
+    ./configure --prefix=/usr/local --libdir=/usr/local/lib/x86_64-linux-gnu && \
+    make -j"$(nproc)" install-strip && \
+    find /usr/local/lib/x86_64-linux-gnu -type f -name 'lib*.la' -delete
+
+ENV LD_LIBRARY_PATH /usr/local/lib/x86_64-linux-gnu:/usr/local/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
+
+# get same tmux config used on NEOS for debugging
+RUN cd $HOME && \
+    wget https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
+
+RUN mkdir -p $HOME/openpilot
+
+COPY SConstruct $HOME/openpilot/
+
+COPY ./phonelibs $HOME/openpilot/phonelibs
+COPY ./laika $HOME/openpilot/laika
+COPY ./laika_repo $HOME/openpilot/laika_repo
+COPY ./rednose $HOME/openpilot/rednose
+COPY ./common $HOME/openpilot/common
+COPY ./models $HOME/openpilot/models
+COPY ./opendbc $HOME/openpilot/opendbc
+COPY ./cereal $HOME/openpilot/cereal
+COPY ./panda $HOME/openpilot/panda
+COPY ./selfdrive $HOME/openpilot/selfdrive
+COPY ./tools $HOME/openpilot/tools
+
+WORKDIR $HOME/openpilot
+RUN scons -j40
diff --git a/tools/sim/README.md b/tools/sim/README.md
@@ -1,32 +1,25 @@
 openpilot in simulator
 =====================
-Needs Ubuntu 16.04
 
-## Checkout openpilot
-```
-cd ~/
-git clone https://github.com/commaai/openpilot.git
+## Setup
 
-# Add export PYTHONPATH=$HOME/openpilot to your bashrc
-# Have a working tensorflow+keras in python3.7.3 (with [packages] in openpilot/Pipfile)
-```
-## Install (in terminal 1)
-```
-cd ~/openpilot/tools/sim
-./start_carla.sh  # install CARLA 0.9.7 and start the server
-```
-## openpilot (in terminal 2)
+Checkout openpilot
 ```
-cd ~/openpilot/selfdrive/
-PASSIVE=0 NOBOARD=1 ./manager.py
+cd ~/ && git clone https://github.com/commaai/openpilot.git
 ```
-## bridge (in terminal 3)
+
+## Running the simulator
+
+First, start the CARLA server.
 ```
-# links carla to openpilot, will "start the car" according to manager
 cd ~/openpilot/tools/sim
-./bridge.py
+./start_carla.sh
 ```
+
+Then use `start_openpilot_docker.sh` to start the docker container. 
+
 ## Controls
+
 Now put the focus on the terminal running bridge.py and you can control
 openpilot driving in the simulation with the following keys
 
@@ -37,4 +30,3 @@ openpilot driving in the simulation with the following keys
 |   3   |   Cruise cancel   |
 |   q   |     Exit all      |
 
-