Revert "joystickd is a real process (#33490)"

This reverts commit 374246845c.

selfdrive/selfdrived/events.py

@@ -320,10 +320,11 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  gb = sm['carControl'].actuators.accel / 4.
+  # TODO: add some info back
-  steer = sm['carControl'].actuators.steer
+  #axes = sm['testJoystick'].axes
-  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  #gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
-  return NormalPermanentAlert("Joystick Mode", vals)
+  #vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
+  return NormalPermanentAlert("Joystick Mode", "")
 
 def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   personality = str(personality).title()

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-78eb5f832bb1a53b33d952edc586b986a8e31089
+eac137f456f25bf138677315b7c4907e2fe9971b

system/manager/process_config.py

@@ -29,12 +29,6 @@ def ublox(started, params, CP: car.CarParams) -> bool:
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
-def joystick(started: bool, params, CP: car.CarParams) -> bool:
-  return started and params.get_bool("JoystickDebugMode")
-
-def not_joystick(started: bool, params, CP: car.CarParams) -> bool:
-  return started and not params.get_bool("JoystickDebugMode")
-
 def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
@@ -69,8 +63,7 @@ procs = [
   NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", not_joystick),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
-  PythonProcess("joystickd", "tools.joystick.joystickd", joystick),
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),

tools/joystick/joystickd.py

@@ -3,19 +3,15 @@ import os
 import argparse
 import threading
 from inputs import get_gamepad
-import math
 
-from cereal import messaging, car
+import cereal.messaging as messaging
-from openpilot.common.realtime import DT_CTRL, Ratekeeper
+from openpilot.common.realtime import Ratekeeper
 from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
-EXPO = 0.4
+JS_EXPO = 0.4
-MAX_LAT_ACCEL = 2.5
 
 
 class Keyboard:
@@ -84,56 +80,21 @@ class Joystick:
 
       norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
-      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
+      self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm  # less action near center for fine control
     else:
       return False
     return True
 
 
 def send_thread(joystick):
-  params = Params()
+  joystick_sock = messaging.pub_sock('testJoystick')
-  cloudlog.info("joystickd is waiting for CarParams")
-  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  VM = VehicleModel(CP)
-
-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState'], frequency=1. / DT_CTRL)
-  pm = messaging.PubMaster(['carControl', 'controlsState'])
-
   rk = Ratekeeper(100, print_delay_threshold=None)
   while 1:
-    sm.update(0)
+    dat = messaging.new_message('testJoystick')
-
+    dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_order]
-    joystick_axes = [joystick.axes_values[a] for a in joystick.axes_order]
+    dat.testJoystick.buttons = [joystick.cancel]
-    if rk.frame % 20 == 0:
+    joystick_sock.send(dat.to_bytes())
-      print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
+    print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
-
-    cc_msg = messaging.new_message('carControl')
-    cc_msg.valid = True
-    CC = cc_msg.carControl
-    CC.enabled = sm['selfdriveState'].enabled
-    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
-
-    actuators = CC.actuators
-
-    if CC.longActive:
-      actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1)
-
-    if CC.latActive:
-      max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
-      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
-
-      actuators.steer = clip(joystick_axes[1], -1, 1)
-      actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
-
-    pm.send('carControl', cc_msg)
-
-    cs_msg = messaging.new_message('controlsState')
-    cs_msg.valid = True
-    controlsState = cs_msg.controlsState
-    controlsState.lateralControlState.init('debugState')
-    pm.send('controlsState', cs_msg)
-
     rk.keep_time()
 
 
@@ -144,10 +105,6 @@ def joystick_thread(joystick):
     joystick.update()
 
 
-def main():
-  joystick_thread(Joystick())
-
-
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
                                                'openpilot must be offroad before starting joystickd. This tool supports ' +