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80 lines
2.9 KiB
80 lines
2.9 KiB
#!/usr/bin/env python3
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import math
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import numpy as np
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from cereal import messaging, car
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from openpilot.common.realtime import DT_CTRL, Ratekeeper
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
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LongCtrlState = car.CarControl.Actuators.LongControlState
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MAX_LAT_ACCEL = 2.5
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def joystickd_thread():
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params = Params()
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cloudlog.info("joystickd is waiting for CarParams")
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CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
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VM = VehicleModel(CP)
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sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
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pm = messaging.PubMaster(['carControl', 'controlsState'])
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rk = Ratekeeper(100, print_delay_threshold=None)
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while 1:
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sm.update(0)
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cc_msg = messaging.new_message('carControl')
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cc_msg.valid = True
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CC = cc_msg.carControl
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CC.enabled = sm['selfdriveState'].enabled
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CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
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CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
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CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
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CC.hudControl.leadDistanceBars = 2
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actuators = CC.actuators
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# reset joystick if it hasn't been received in a while
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should_reset_joystick = sm.recv_frame['testJoystick'] == 0 or (sm.frame - sm.recv_frame['testJoystick'])*DT_CTRL > 0.2
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if not should_reset_joystick:
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joystick_axes = sm['testJoystick'].axes
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else:
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joystick_axes = [0.0, 0.0]
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if CC.longActive:
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actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
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actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
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if CC.latActive:
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max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
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max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
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actuators.steer = float(np.clip(joystick_axes[1], -1, 1))
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actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
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pm.send('carControl', cc_msg)
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cs_msg = messaging.new_message('controlsState')
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cs_msg.valid = True
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controlsState = cs_msg.controlsState
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controlsState.lateralControlState.init('debugState')
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lp = sm['liveParameters']
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steer_angle_without_offset = math.radians(sm['carState'].steeringAngleDeg - lp.angleOffsetDeg)
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controlsState.curvature = -VM.calc_curvature(steer_angle_without_offset, sm['carState'].vEgo, lp.roll)
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pm.send('controlsState', cs_msg)
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rk.keep_time()
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def main():
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joystickd_thread()
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if __name__ == "__main__":
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main()
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