openpilot_comma/tools/sim/lib/manual_ctrl.py

#!/usr/bin/env python3
# set up wheel
import os, struct, array
from fcntl import ioctl

# Iterate over the joystick devices.
print('Available devices:')
for fn in os.listdir('/dev/input'):
    if fn.startswith('js'):
        print('  /dev/input/%s' % (fn))

# We'll store the states here.
axis_states = {}
button_states = {}

# These constants were borrowed from linux/input.h
axis_names = {
    0x00 : 'x',
    0x01 : 'y',
    0x02 : 'z',
    0x03 : 'rx',
    0x04 : 'ry',
    0x05 : 'rz',
    0x06 : 'trottle',
    0x07 : 'rudder',
    0x08 : 'wheel',
    0x09 : 'gas',
    0x0a : 'brake',
    0x10 : 'hat0x',
    0x11 : 'hat0y',
    0x12 : 'hat1x',
    0x13 : 'hat1y',
    0x14 : 'hat2x',
    0x15 : 'hat2y',
    0x16 : 'hat3x',
    0x17 : 'hat3y',
    0x18 : 'pressure',
    0x19 : 'distance',
    0x1a : 'tilt_x',
    0x1b : 'tilt_y',
    0x1c : 'tool_width',
    0x20 : 'volume',
    0x28 : 'misc',
}

button_names = {
    0x120 : 'trigger',
    0x121 : 'thumb',
    0x122 : 'thumb2',
    0x123 : 'top',
    0x124 : 'top2',
    0x125 : 'pinkie',
    0x126 : 'base',
    0x127 : 'base2',
    0x128 : 'base3',
    0x129 : 'base4',
    0x12a : 'base5',
    0x12b : 'base6',
    0x12f : 'dead',
    0x130 : 'a',
    0x131 : 'b',
    0x132 : 'c',
    0x133 : 'x',
    0x134 : 'y',
    0x135 : 'z',
    0x136 : 'tl',
    0x137 : 'tr',
    0x138 : 'tl2',
    0x139 : 'tr2',
    0x13a : 'select',
    0x13b : 'start',
    0x13c : 'mode',
    0x13d : 'thumbl',
    0x13e : 'thumbr',

    0x220 : 'dpad_up',
    0x221 : 'dpad_down',
    0x222 : 'dpad_left',
    0x223 : 'dpad_right',

    # XBox 360 controller uses these codes.
    0x2c0 : 'dpad_left',
    0x2c1 : 'dpad_right',
    0x2c2 : 'dpad_up',
    0x2c3 : 'dpad_down',
}

axis_map = []
button_map = []

def wheel_poll_thread():
  # Open the joystick device.
  fn = '/dev/input/js0'
  print('Opening %s...' % fn)
  jsdev = open(fn, 'rb')

  # Get the device name.
  #buf = bytearray(63)
  buf = array.array('B', [0] * 64)
  ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
  js_name = buf.tobytes().rstrip(b'\x00').decode('utf-8')
  print('Device name: %s' % js_name)

  # Get number of axes and buttons.
  buf = array.array('B', [0])
  ioctl(jsdev, 0x80016a11, buf) # JSIOCGAXES
  num_axes = buf[0]

  buf = array.array('B', [0])
  ioctl(jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
  num_buttons = buf[0]

  # Get the axis map.
  buf = array.array('B', [0] * 0x40)
  ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP

  for axis in buf[:num_axes]:
      axis_name = axis_names.get(axis, 'unknown(0x%02x)' % axis)
      axis_map.append(axis_name)
      axis_states[axis_name] = 0.0

  # Get the button map.
  buf = array.array('H', [0] * 200)
  ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP

  for btn in buf[:num_buttons]:
      btn_name = button_names.get(btn, 'unknown(0x%03x)' % btn)
      button_map.append(btn_name)
      button_states[btn_name] = 0

  print('%d axes found: %s' % (num_axes, ', '.join(axis_map)))
  print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))

  # Enable FF
  import evdev
  from evdev import ecodes, InputDevice, ff
  device = evdev.list_devices()[0]
  evtdev = InputDevice(device)
  val = 24000
  evtdev.write(ecodes.EV_FF, ecodes.FF_AUTOCENTER, val)

  # Set up zmq sock
  import zmq
  context = zmq.Context()
  socket = context.socket(zmq.REQ) # block on send
  socket.bind('tcp://127.0.0.1:4444')

  while True:
    evbuf = jsdev.read(8)
    time, value, mtype, number = struct.unpack('IhBB', evbuf)
    # print(mtype, number, value)
    if mtype & 0x02: # wheel & paddles
      axis = axis_map[number]

      if axis == "z": # gas
        fvalue = value / 32767.0
        axis_states[axis] = fvalue
        normalized = (1 - fvalue) * 50
        socket.send_string(str("throttle_%f" % normalized))
        _ = socket.recv()

      if axis == "rz": # brake
        fvalue = value / 32767.0
        axis_states[axis] = fvalue
        normalized = (1 - fvalue) * 50
        socket.send_string(str("brake_%f" % normalized))
        _ = socket.recv()

      if axis == "x": # steer angle
        fvalue = value / 32767.0
        axis_states[axis] = fvalue
        normalized = fvalue
        socket.send_string(str("steer_%f" % normalized))
        _ = socket.recv()

    if mtype & 0x01: # buttons
      if number in [0,19]: # X
        if value == 1: # press down
          socket.send_string(str("cruise_down"))
          _ = socket.recv()

      if number in [3,18]: # triangle
        if value == 1: # press down
          socket.send_string(str("cruise_up"))
          _ = socket.recv()

      if number in [1,6]: # square
        if value == 1: # press down
          socket.send_string(str("cruise_cancel"))
          _ = socket.recv()

      if number in [10,21]: # R3
        if value == 1: # press down
          socket.send_string(str("reverse_switch"))
          _ = socket.recv()

if __name__ == '__main__':
  from multiprocessing import Process
  p = Process(target=wheel_poll_thread)
  p.start()