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[Bug] Replace send_pickled in CARLA drivers #233

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[Bug] Replace send_pickled in CARLA drivers #233

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42bbda9
fix send_pickle
mageofboy Mar 16, 2022
6c25372
Update carla_camera_driver_operator.py
mageofboy Mar 18, 2022
1f9e8eb
Update carla_lidar_driver_operator.py
mageofboy Mar 18, 2022
a1a79f5
Update carla_camera_driver_operator.py
mageofboy Mar 18, 2022
3713c48
Update carla_lidar_driver_operator.py
mageofboy Mar 18, 2022
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18 changes: 7 additions & 11 deletions pylot/drivers/carla_camera_driver_operator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,8 +56,8 @@ def __init__(self, ground_vehicle_id_stream: erdos.ReadStream,
self._vehicle = None
# The camera sensor actor object we obtain from the simulator.
self._camera = None
self._pickle_lock = threading.Lock()
self._pickled_messages = {}
self._message_lock = threading.Lock()
self._messages = {}
# Lock to ensure that the callbacks do not execute simultaneously.
self._lock = threading.Lock()
# If false then the operator does not send data until it receives
Expand All @@ -81,14 +81,13 @@ def release_data(self, timestamp):
self._logger.debug("@{}: {} releasing sensor data".format(
timestamp, self.config.name))
watermark_msg = erdos.WatermarkMessage(timestamp)
self._camera_stream.send_pickled(timestamp,
self._pickled_messages[timestamp])
self._camera_stream.send(self._messages[timestamp])
# Note: The operator is set not to automatically propagate
# watermark messages received on input streams. Thus, we can
# issue watermarks only after the simulator callback is invoked.
self._camera_stream.send(watermark_msg)
with self._pickle_lock:
del self._pickled_messages[timestamp]
with self._message_lock:
del self._messages[timestamp]

def run(self):
# Read the vehicle id from the vehicle id stream
Expand Down Expand Up @@ -170,9 +169,6 @@ def process_images(self, simulator_image):
self._camera_stream.send(msg)
self._camera_stream.send(watermark_msg)
else:
# Pickle the data, and release it upon release msg receipt.
pickled_msg = pickle.dumps(
msg, protocol=pickle.HIGHEST_PROTOCOL)
with self._pickle_lock:
self._pickled_messages[msg.timestamp] = pickled_msg
with self._message_lock:
self._messages[msg.timestamp] = msg
self._notify_reading_stream.send(watermark_msg)
18 changes: 7 additions & 11 deletions pylot/drivers/carla_lidar_driver_operator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,8 @@ def __init__(self, ground_vehicle_id_stream: erdos.ReadStream,
self._vehicle = None
# Handle to the Lidar simulator actor.
self._lidar = None
self._pickle_lock = threading.Lock()
self._pickled_messages = {}
self._message_lock = threading.Lock()
self._messages = {}
self._lock = threading.Lock()
# If false then the operator does not send data until it receives
# release data watermark. Otherwise, it sends as soon as it
Expand All @@ -71,14 +71,13 @@ def release_data(self, timestamp):
self._release_data = True
else:
watermark_msg = erdos.WatermarkMessage(timestamp)
self._lidar_stream.send_pickled(timestamp,
self._pickled_messages[timestamp])
self._lidar_stream.send(self._messages[timestamp])
# Note: The operator is set not to automatically propagate
# watermark messages received on input streams. Thus, we can
# issue watermarks only after the simulator callback is invoked.
self._lidar_stream.send(watermark_msg)
with self._pickle_lock:
del self._pickled_messages[timestamp]
with self._message_lock:
del self._messages[timestamp]

def process_point_clouds(self, simulator_pc):
""" Invoked when a point cloud is received from the simulator.
Expand All @@ -105,11 +104,8 @@ def process_point_clouds(self, simulator_pc):
self._lidar_stream.send(msg)
self._lidar_stream.send(watermark_msg)
else:
# Pickle the data, and release it upon release msg receipt.
pickled_msg = pickle.dumps(
msg, protocol=pickle.HIGHEST_PROTOCOL)
with self._pickle_lock:
self._pickled_messages[msg.timestamp] = pickled_msg
with self._message_lock:
self._messages[msg.timestamp] = msg
self._notify_reading_stream.send(watermark_msg)

def run(self):
Expand Down