You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
94 lines
2.4 KiB
94 lines
2.4 KiB
#!/usr/bin/env python
|
|
from evdev import InputDevice
|
|
from select import select
|
|
import time
|
|
import numpy as np
|
|
import zmq
|
|
|
|
from cereal import car
|
|
|
|
import selfdrive.messaging as messaging
|
|
from selfdrive.services import service_list
|
|
from common.realtime import Ratekeeper
|
|
|
|
from common.fingerprints import fingerprint
|
|
|
|
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)
|
|
|
|
CP = fingerprint(logcan)
|
|
exec('from selfdrive.car.'+CP.carName+'.interface import CarInterface')
|
|
|
|
CI = CarInterface(CP, logcan, sendcan)
|
|
|
|
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()
|
|
#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()
|
|
|
|
|
|
|
|
|