mirror of https://github.com/commaai/openpilot.git
97 lines
3.3 KiB
Python
Executable File
97 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python
|
|
import os
|
|
import argparse
|
|
from inputs import get_gamepad
|
|
|
|
import cereal.messaging as messaging
|
|
from common.numpy_fast import interp, clip
|
|
from common.params import Params
|
|
from tools.lib.kbhit import KBHit
|
|
|
|
|
|
class Keyboard:
|
|
def __init__(self):
|
|
self.kb = KBHit()
|
|
self.axis_increment = 0.05 # 5% of full actuation each key press
|
|
self.axes_map = {'w': 'gb', 's': 'gb',
|
|
'a': 'steer', 'd': 'steer'}
|
|
self.axes_values = {'gb': 0., 'steer': 0.}
|
|
|
|
def update(self):
|
|
key = self.kb.getch().lower()
|
|
self.cancel = False
|
|
if key == 'r':
|
|
self.axes_values = {ax: 0. for ax in self.axes_values}
|
|
elif key == 'c':
|
|
self.cancel = True
|
|
elif key in self.axes_map:
|
|
axis = self.axes_map[key]
|
|
incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
|
|
self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1)
|
|
else:
|
|
return False
|
|
return True
|
|
|
|
|
|
class Joystick:
|
|
def __init__(self):
|
|
self.min_axis_value = 0
|
|
self.max_axis_value = 255
|
|
self.cancel_button = 'BTN_TRIGGER'
|
|
self.axes_values = {'ABS_Y': 0., 'ABS_RZ': 0.} # gb, steer
|
|
|
|
def update(self):
|
|
joystick_event = get_gamepad()[0]
|
|
event = (joystick_event.code, joystick_event.state)
|
|
self.cancel = False
|
|
if event[0] == self.cancel_button and event[1] == 0: # state 0 is falling edge
|
|
self.cancel = True
|
|
elif event[0] in self.axes_values:
|
|
self.max_axis_value = max(event[1], self.max_axis_value)
|
|
self.min_axis_value = min(event[1], self.min_axis_value)
|
|
|
|
norm = -interp(event[1], [self.min_axis_value, self.max_axis_value], [-1., 1.])
|
|
self.axes_values[event[0]] = norm if abs(norm) > 0.05 else 0. # center can be noisy, deadzone of 5%
|
|
else:
|
|
return False
|
|
return True
|
|
|
|
|
|
def joystick_thread(use_keyboard):
|
|
Params().put_bool('JoystickDebugMode', True)
|
|
joystick_sock = messaging.pub_sock('testJoystick')
|
|
joystick = Keyboard() if use_keyboard else Joystick()
|
|
|
|
while True:
|
|
ret = joystick.update()
|
|
if ret:
|
|
dat = messaging.new_message('testJoystick')
|
|
dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_values]
|
|
dat.testJoystick.buttons = [joystick.cancel]
|
|
joystick_sock.send(dat.to_bytes())
|
|
print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
|
|
|
|
|
|
if __name__ == '__main__':
|
|
parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n'
|
|
'openpilot must be offroad before starting joysticked.',
|
|
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
|
parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
|
|
args = parser.parse_args()
|
|
|
|
if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ:
|
|
print("The car must be off before running joystickd.")
|
|
exit()
|
|
|
|
print()
|
|
if args.keyboard:
|
|
print('Gas/brake control: `W` and `S` keys\n'
|
|
'Steering control: `A` and `D` keys')
|
|
print('Buttons:\n'
|
|
'- `R`: Resets axes\n'
|
|
'- `C`: Cancel cruise control')
|
|
else:
|
|
print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
|
|
|
|
joystick_thread(args.keyboard)
|