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joystickd: add WEB support, add logitech joystick support

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old-commit-hash: e9ef6509010f3ce6881e61a6b04e8fbe11e1b312
This commit is contained in:
George Hotz
2022-04-18 22:13:09 -07:00
parent d73af8d298
commit 8353786c69
1 changed files with 13 additions and 6 deletions
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19
tools/joystick/joystickd.py
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@@ -1,5 +1,6 @@
#!/usr/bin/env python
import os
import time
import argparse
from inputs import get_gamepad
@@ -35,8 +36,9 @@ class Keyboard:
class Joystick:
def __init__(self):
self.min_axis_value = 0
self.max_axis_value = 255
# TODO: find a way to get this from API, perhaps "inputs" doesn't support it
self.min_axis_value = {'ABS_Y': 0., 'ABS_RZ': 0.}
self.max_axis_value = {'ABS_Y': 1023., 'ABS_RZ': 255.}
self.cancel_button = 'BTN_TRIGGER'
self.axes_values = {'ABS_Y': 0., 'ABS_RZ': 0.} # gb, steer
@@ -47,10 +49,10 @@ class Joystick:
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)
self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
norm = -interp(event[1], [self.min_axis_value, self.max_axis_value], [-1., 1.])
norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-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
@@ -62,6 +64,7 @@ def joystick_thread(use_keyboard):
joystick_sock = messaging.pub_sock('testJoystick')
joystick = Keyboard() if use_keyboard else Joystick()
last_update = 0
while True:
ret = joystick.update()
if ret:
@@ -70,6 +73,10 @@ def joystick_thread(use_keyboard):
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 "WEB" in os.environ and (last_update + 0.02) < time.time():
import requests
requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % (joystick.axes_values['ABS_RZ'], joystick.axes_values['ABS_Y']))
last_update = time.time()
if __name__ == '__main__':
@@ -79,7 +86,7 @@ if __name__ == '__main__':
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:
if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ and "WEB" not in os.environ:
print("The car must be off before running joystickd.")
exit()