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#!/usr/bin/env python
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from common.numpy_fast import clip
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from common.params import Params
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from copy import copy
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from cereal import car, log
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import cereal.messaging as messaging
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from selfdrive.car.car_helpers import get_car, get_one_can
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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HwType = log.HealthData.HwType
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def steer_thread():
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poller = messaging.Poller()
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logcan = messaging.sub_sock('can')
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health = messaging.sub_sock('health')
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joystick_sock = messaging.sub_sock('testJoystick', conflate=True, poller=poller)
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carstate = messaging.pub_sock('carState')
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carcontrol = messaging.pub_sock('carControl')
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sendcan = messaging.pub_sock('sendcan')
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button_1_last = 0
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enabled = False
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# wait for health and CAN packets
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hw_type = messaging.recv_one(health).health.hwType
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has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
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print("Waiting for CAN messages...")
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get_one_can(logcan)
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CI, CP = get_car(logcan, sendcan, has_relay)
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Params().put("CarParams", CP.to_bytes())
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CC = car.CarControl.new_message()
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while True:
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# send
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joystick = messaging.recv_one(joystick_sock)
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can_strs = messaging.drain_sock_raw(logcan, wait_for_one=True)
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CS = CI.update(CC, can_strs)
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# Usually axis run in pairs, up/down for one, and left/right for
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# the other.
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actuators = car.CarControl.Actuators.new_message()
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if joystick is not None:
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axis_3 = clip(-joystick.testJoystick.axes[3] * 1.05, -1., 1.) # -1 to 1
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actuators.steer = axis_3
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actuators.steerAngle = axis_3 * 43. # deg
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axis_1 = clip(-joystick.testJoystick.axes[1] * 1.05, -1., 1.) # -1 to 1
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actuators.gas = max(axis_1, 0.)
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actuators.brake = max(-axis_1, 0.)
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pcm_cancel_cmd = joystick.testJoystick.buttons[0]
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button_1 = joystick.testJoystick.buttons[1]
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if button_1 and not button_1_last:
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enabled = not enabled
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button_1_last = button_1
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#print "enable", enabled, "steer", actuators.steer, "accel", actuators.gas - actuators.brake
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hud_alert = 0
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if joystick.testJoystick.buttons[3]:
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hud_alert = "steerRequired"
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CC.actuators.gas = actuators.gas
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CC.actuators.brake = actuators.brake
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CC.actuators.steer = actuators.steer
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CC.actuators.steerAngle = actuators.steerAngle
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CC.hudControl.visualAlert = hud_alert
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CC.hudControl.setSpeed = 20
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CC.cruiseControl.cancel = pcm_cancel_cmd
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CC.enabled = enabled
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can_sends = CI.apply(CC)
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sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
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# broadcast carState
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cs_send = messaging.new_message('carState')
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cs_send.carState = copy(CS)
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carstate.send(cs_send.to_bytes())
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# broadcast carControl
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cc_send = messaging.new_message('carControl')
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cc_send.carControl = copy(CC)
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carcontrol.send(cc_send.to_bytes())
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if __name__ == "__main__":
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steer_thread()
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