openpilot_comma/selfdrive/debug/test_carcontroller.py

#!/usr/bin/env python
import time
import numpy as np
import zmq
from evdev import InputDevice
from select import select

from cereal import car
from common.realtime import Ratekeeper

import selfdrive.messaging as messaging
from selfdrive.services import service_list
from selfdrive.car import get_car


if __name__ == "__main__":
  # ***** connect to joystick *****
  # we use a Mad Catz V.1
  dev = InputDevice("/dev/input/event8")
  print dev

  button_values = [0]*7
  axis_values = [0.0, 0.0, 0.0]

  # ***** connect to car *****
  context = zmq.Context()
  logcan = messaging.sub_sock(context, service_list['can'].port)
  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)

  CI, CP = get_car(logcan, sendcan)
  CC = car.CarControl.new_message()

  rk = Ratekeeper(100)

  while 1:
    # **** handle joystick ****
    r, w, x = select([dev], [], [], 0.0)
    if dev in r:
      for event in dev.read():
        # button event
        if event.type == 1:
          btn = event.code - 288 
          if btn >= 0 and btn < 7:
            button_values[btn] = int(event.value)

        # axis move event
        if event.type == 3:
          if event.code < 3:
            if event.code == 2:
              axis_values[event.code] = np.clip((255-int(event.value))/250.0, 0.0, 1.0)
            else:
              DEADZONE = 5 
              if event.value-DEADZONE < 128 and event.value+DEADZONE > 128:
                event.value = 128 
              axis_values[event.code] = np.clip((int(event.value)-128)/120.0, -1.0, 1.0)

    print axis_values, button_values
    # **** handle car ****

    CS = CI.update(CC)
    #print CS
    CC = car.CarControl.new_message()


    CC.enabled = True

    CC.gas = float(np.clip(-axis_values[1], 0, 1.0))
    CC.brake = float(np.clip(axis_values[1], 0, 1.0))
    CC.steeringTorque = float(-axis_values[0])

    CC.hudControl.speedVisible = bool(button_values[1])
    CC.hudControl.lanesVisible = bool(button_values[2])
    CC.hudControl.leadVisible = bool(button_values[3])

    CC.cruiseControl.override = bool(button_values[0])
    CC.cruiseControl.cancel = bool(button_values[-1])

    CC.hudControl.setSpeed = float(axis_values[2] * 100.0)

    # TODO: test alerts
    CC.hudControl.visualAlert = "none"
    CC.hudControl.audibleAlert = "none"

    #print CC

    if not CI.apply(CC):
      print "CONTROLS FAILED"

    rk.keep_time()