gRPC API 사용하기
본 섹션에서는 gRPC API를 사용하여 MORAI Simulator를 제어하는 방법에 대하여 설명한다.
사용자는 gRPC API를 통해 UI를 사용하지 않아도, 시뮬레이터에서 맵 로드, NPC 차량 생성 및 제어 등을 수행할 수 있고, 사용자가 원하는 테스트 시나리오 환경을 구성할 수 있다.
사전 요구 사항
Example code 다운로드
22.R1.2 / 22.R1.3 버전과 호환되는 예제 코드
Python 환경 설정
python 버전
example code는 python 3.7.11에서 작성 및 테스트 진행
설치 필요 python 모듈
grpcio : 1.39.0
grpcio-tools : 1.39.0
gRPC API 사용 순서
1] Morai Launcher 실행 후 로그인
2] Morai Launcher에서 특정 시뮬레이터 버전 설치 및 실행
3] 시뮬레이터의 맵 선택 및 차량 선택 화면에 위치한 상태에서 example.py 스크립트 실행
4] 결과
맵이 로드되고 Ego 차량이 Cruise 모드로 주행하는 것을 확인
NPC 1, 2 차량이 생성되어 원을 그리며 주행하는 것을 확인
장애물이 2개 생성된 것을 확인
예제 코드 설명
파일 구조
example 코드
example.py
gRPC 통신에 사용되는 proto 파일
morai_openscenario_base_pb2.py
morai_openscenario_base_pb2_grpc.py
morai_openscenario_msgs_pb2.py
morai_openscenario_msgs_pb2_grpc.py
geometry_msgs_pb2.py
geometry_msgs_pb2_grpc.py
예제 코드 동작 방식
main 함수에서 GRPCClient 클래스를 생성하여 해당 클래스를 통해 gRPC API를 호출하여 시뮬레이터와 gRPC 통신을 수행
현재 시뮬레이터와 gRPC 통신을 하기 위해서는 아래와 같은 IP, Port를 사용
localhost:7789
프로그램은 바로 종료되지 않기 위해 무한 루프를 돌다가 ‘Ctrl + C’를 누르면 프로그램 종료
예제 코드의 동작 순서는 아래와 같다.
1] start command 호출하여 gRPC 통신을 시작
2] map load command 호출하여 시뮬레이터에 사용자가 원하는 맵을 로드
3] ego control command를 호출하여 ego를 원하는 위치로 이동
4] object pause 함수를 호출하여 ego 차량의 주행 시작
5] create npc vehicle command를 호출하여 npc 차량 생성
6] npc vehicle control command를 호출하여 npc 제어 명령 수행
7] create obstacle command를 호출하여 장애물 생성
8] start__status_worker를 thread로 생성하여 ego 및 npc 차량의 상태 정보를 주기적으로 수신
PY
import os, sys
from trace import Trace
current_path = os.path.dirname(os.path.realpath(__file__))
sys.path.append(os.path.normpath(os.path.join(current_path, './')))
import morai_openscenario_base_pb2
import morai_openscenario_base_pb2_grpc
import morai_openscenario_msgs_pb2
import morai_openscenario_msgs_pb2_grpc
import geometry_msgs_pb2
import geometry_msgs_pb2_grpc
import grpc
import asyncio
import math
import threading
import time
import json
class GRPCClient():
def __init__(self, parent=None):
self.cnt = 0
self.event_loop = None
async def get_vehicle_state(self):
async with grpc.aio.insecure_channel('localhost:7789') as channel:
stub = morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub(channel)
req = morai_openscenario_base_pb2.ServiceRequest()
req.service_name = ""
req.msg = bytes("", 'utf-8')
call = stub.Connect(req)
async for resp in call:
if resp.service_name == "/morai_msgs/MultiEgoState" :
info = json.loads(str(resp.msg))
elif resp.service_name == "/morai_msgs/EgoState" :
info = json.loads(str(resp.msg))
def start__status_worker(self):
self.event_loop = asyncio.new_event_loop()
asyncio.set_event_loop(self.event_loop)
try:
asyncio.get_event_loop().run_until_complete(self.get_vehicle_state())
except:
return
def send_ego_ctrl_cmd(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub) :
k_city = {"x": 200.93956082984351, "y": 1766.8720364740955, "z": 0.0, "roll": 0.0, "pitch": 0.0, "yaw": -90.0}
request = morai_openscenario_msgs_pb2.EgoCtrlCmd()
request.service_name = "/morai_msgs/EgoCtrlCmd"
request.position.x = k_city["x"]
request.position.y = k_city["y"]
request.position.z = k_city["z"]
request.rotation.x = k_city["roll"]
request.rotation.y = k_city["pitch"]
request.rotation.z = k_city["yaw"]
request.cruise_settings.cruise_on = True
request.cruise_settings.cruise_type = morai_openscenario_msgs_pb2.EgoCruiseCtrl.CONSTANT
request.cruise_settings.link_speed_ratio = 100
request.cruise_settings.constant_velocity = 50
request.velocity = 50
request.pause = True
try:
response = stub.SendEgoCtrlCmd(request)
print("SendEgoCtrlCmd - " + str(response))
except:
return
def set_multi_ego_ctrl_cmd(self, ctrl_info, unique_id, longCmdType, accel, brake, steering, velocity, acceleration) :
ctrl_info.unique_id = unique_id
ctrl_info.longCmdType = longCmdType
ctrl_info.accel = accel
ctrl_info.brake = brake
ctrl_info.steering = steering
ctrl_info.velocity = velocity
ctrl_info.acceleration = acceleration
return ctrl_info
def send_multi_ego_ctrl_cmd(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub) :
while self.cnt < 15:
self.cnt += 1
request = morai_openscenario_msgs_pb2.MultiEgoCtrlCmdList()
request.service_name = "/morai_msgs/MultiEgoCtrlCmd"
ctrl_info = morai_openscenario_msgs_pb2.MultiEgoCtrlCmd()
ctrl_info = self.set_multi_ego_ctrl_cmd(ctrl_info, "NPC_1", 1, 0.9, 0, 1, 66, 77)
request.multi_ego_ctrl_cmd.append(ctrl_info)
ctrl_info_2 = morai_openscenario_msgs_pb2.MultiEgoCtrlCmd()
ctrl_info_2 = self.set_multi_ego_ctrl_cmd(ctrl_info_2, "NPC_2", 2, 0.6, 0, 1, 30, 77)
request.multi_ego_ctrl_cmd.append(ctrl_info_2)
try:
response = stub.SendMultiEgoCtrlCmd(request)
except:
return
time.sleep(1)
def create_multi_ego_vehicle(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub) :
request = morai_openscenario_msgs_pb2.CreateMultiEgoVehicleRequestList()
request.service_name = "/morai_msgs/CreateMultiEgoVehicle"
create_info = morai_openscenario_msgs_pb2.CreateMultiEgoVehicleRequest()
create_info.unique_id = "NPC_1"
create_info.position.x = 201.1550653096617
create_info.position.y = 1726.8726365584039
create_info.position.z = 0.0
create_info.rotation.x = 0.0
create_info.rotation.y = 0.0
create_info.rotation.z = -90.0
create_info.velocity = 50
create_info.vehicleName = "2016_Hyundai_Genesis_DH"
create_info.pause = False
request.req_list.append(create_info)
create_info_2 = morai_openscenario_msgs_pb2.CreateMultiEgoVehicleRequest()
create_info_2.unique_id = "NPC_2"
create_info_2.position.x = 201.70380861467328
create_info_2.position.y = 1620.374109200712
create_info_2.position.z = 0.0
create_info_2.rotation.x = 0.0
create_info_2.rotation.y = 0.0
create_info_2.rotation.z = -90.0
create_info_2.velocity = 50
create_info_2.vehicleName = "2016_Hyundai_Ioniq"
create_info_2.pause = False
request.req_list.append(create_info_2)
try:
response = stub.SendCreateMultiEgoVehicle(request)
print("SendCreateMultiEgoVehicle" + str(response))
except:
return
def start_cmd(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub):
request = morai_openscenario_msgs_pb2.StartRequest()
request.service_name = "/morai_msgs/StartCmd"
request.cmd_start = True
try:
response = stub.Start(request)
except:
return
finally:
time.sleep(2)
def stop_cmd(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub):
request = morai_openscenario_msgs_pb2.StopRequest()
request.service_name = "/morai_msgs/StopCmd"
request.cmd_stop = True
try:
response = stub.Stop(request)
except:
return
finally:
time.sleep(2)
def load_map(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub):
request = morai_openscenario_msgs_pb2.Map()
# extra asset bundle map을 로드하려는 경우
# extra_asset_bundle_name = "las_test"
# request.map_name = f"V_Extra_Scene,{extra_asset_bundle_name}"
request.map_name = "R_KR_PG_KATRI"
request.ego_name = "2016_Hyundai_Ioniq"
try:
response = stub.LoadMap(request)
print(response)
except:
return
def send_delete_multi_ego_vehicle(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub):
request = morai_openscenario_msgs_pb2.DeleteMultiEgoVehicleRequest()
request.service_name = "/morai_msgs/DeleteMultiEgoVehicle"
request.req_delete = True
try:
response = stub.SendDeleteMultiEgoVehicle(request)
print(response)
except:
return
def object_pause(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub, object_list):
request = morai_openscenario_msgs_pb2.ObjectPauseList()
for object in object_list:
msg = morai_openscenario_msgs_pb2.ObjectPause()
msg.unique_id = object['unique_id']
msg.obj_type = morai_openscenario_msgs_pb2.ObjectPause.EGO if object['is_ego'] else morai_openscenario_msgs_pb2.ObjectPause.MULTIEGO
msg.set_pause = object['is_pause']
request.req_list.append(msg)
try:
response = stub.ObjectPause(request)
except BaseException as e:
return
def create_obstacle(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub):
request = morai_openscenario_msgs_pb2.ObstacleSpawnList()
create_info = morai_openscenario_msgs_pb2.ObstacleSpawn()
create_info.unique_id = 'obstacle_1'
create_info.position.x = 208.68639761359265
create_info.position.y = 1661.4038564971388
create_info.position.z = 0
create_info.rotation.x = 0.0
create_info.rotation.y = 0.0
create_info.rotation.z = 0.0
create_info.scale.x = 1.0
create_info.scale.y = 1.0
create_info.scale.z = 1.0
create_info.obstacle_name = 'CargoBox'
request.req_list.append(create_info)
create_info_2 = morai_openscenario_msgs_pb2.ObstacleSpawn()
create_info_2.unique_id = 'obstacle_2'
create_info_2.position.x = 212.4813728324434
create_info_2.position.y = 1605.9207673354679
create_info_2.position.z = 0
create_info_2.rotation.x = 0.0
create_info_2.rotation.y = 0.0
create_info_2.rotation.z = 0.0
create_info_2.scale.x = 1.0
create_info_2.scale.y = 1.0
create_info_2.scale.z = 1.0
create_info_2.obstacle_name = 'WoodBox'
request.req_list.append(create_info_2)
# send message & get response
try:
response = stub.CreateObstacle(request)
except BaseException as e:
return
def delete_objects(self, stub : morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub):
"""Spawn Obstacles 제거"""
req = morai_openscenario_msgs_pb2.CategoryObstacles()
req.vehicle = True
req.pedestrian = True
req.obstacle = True
req.spawn_point = True
req.map_object = True
try:
stub.DeleteSpawnObstacles(req)
except BaseException as e:
return
if __name__ == "__main__":
print('start example.')
print('press ctrl + c for exit.')
client = GRPCClient()
channel = grpc.insecure_channel('localhost:7789')
stub = morai_openscenario_base_pb2_grpc.MoraiOpenScenarioBaseServiceStub(channel)
# start command
client.start_cmd(stub)
# load map command
client.load_map(stub)
# ego Control
client.send_ego_ctrl_cmd(stub)
# resume ego vehicle
ego_object_list = []
ego_object = {
'unique_id': 'ego',
'is_ego': True,
'is_pause': False
}
ego_object_list.append(ego_object)
client.object_pause(stub, ego_object_list)
# create npc vehicle
client.create_multi_ego_vehicle(stub)
# control npc vehicle
t_stop = threading.Thread(target=client.send_multi_ego_ctrl_cmd, daemon=True, args=(stub,))
t_stop.start()
# create obstacle
client.create_obstacle(stub)
# start to receive vehicle status
t_car_status = threading.Thread(target=client.start__status_worker)
t_car_status.start()
try:
while True:
pass
# press ctrl + c for exit
except KeyboardInterrupt:
# delete all scenario objects
client.delete_objects(stub)
# stop receiving vehicle status
if client.event_loop != None:
client.event_loop.stop()
# stop command
client.stop_cmd(stub)
# gRPC channel close
channel.close()
sys.exit()