Release 260111

opendbc_repo/examples/joystick.py

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+#!/usr/bin/env python3
+import time
+import threading
+import argparse
+import numpy as np
+from pprint import pprint
+from inputs import get_gamepad
+
+from kbhit import KBHit
+
+from opendbc.car.structs import CarControl
+from opendbc.car.panda_runner import PandaRunner
+
+class Keyboard:
+  def __init__(self):
+    self.kb = KBHit()
+    self.axis_increment = 0.05  # 5% of full actuation each key press
+    self.axes_map = {'w': 'gb', 's': 'gb',
+                     'a': 'steer', 'd': 'steer'}
+    self.axes_values = {'gb': 0., 'steer': 0.}
+    self.axes_order = ['gb', 'steer']
+    self.cancel = False
+
+  def update(self):
+    key = self.kb.getch().lower()
+    print(key)
+    self.cancel = False
+    if key == 'r':
+      self.axes_values = {ax: 0. for ax in self.axes_values}
+    elif key == 'c':
+      self.cancel = True
+    elif key in self.axes_map:
+      axis = self.axes_map[key]
+      incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
+      self.axes_values[axis] = float(np.clip(self.axes_values[axis] + incr, -1, 1))
+    else:
+      return False
+    return True
+
+class Joystick:
+  def __init__(self, gamepad=False):
+    # TODO: find a way to get this from API, perhaps "inputs" doesn't support it
+    if gamepad:
+      self.cancel_button = 'BTN_NORTH'  # (BTN_NORTH=X, ABS_RZ=Right Trigger)
+      accel_axis = 'ABS_Y'
+      steer_axis = 'ABS_RX'
+    else:
+      self.cancel_button = 'BTN_TRIGGER'
+      accel_axis = 'ABS_Y'
+      steer_axis = 'ABS_RX'
+    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
+    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
+    self.axes_values = {accel_axis: 0., steer_axis: 0.}
+    self.axes_order = [accel_axis, steer_axis]
+    self.cancel = False
+
+  def update(self):
+    joystick_event = get_gamepad()[0]
+    event = (joystick_event.code, joystick_event.state)
+    if event[0] == self.cancel_button:
+      if event[1] == 1:
+        self.cancel = True
+      elif event[1] == 0:   # state 0 is falling edge
+        self.cancel = False
+    elif event[0] in self.axes_values:
+      self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
+      self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
+
+      norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
+      self.axes_values[event[0]] = norm if abs(norm) > 0.05 else 0.  # center can be noisy, deadzone of 5%
+    else:
+      return False
+    return True
+
+def joystick_thread(joystick):
+  while True:
+    joystick.update()
+
+def main(joystick):
+  threading.Thread(target=joystick_thread, args=(joystick,), daemon=True).start()
+  with PandaRunner() as p:
+    CC = CarControl(enabled=False)
+    while True:
+      CC.actuators.accel = float(4.0*np.clip(joystick.axes_values['gb'], -1, 1))
+      CC.actuators.torque = float(np.clip(joystick.axes_values['steer'], -1, 1))
+      pprint(CC)
+
+      p.read()
+      p.write(CC)
+
+      # 100Hz
+      time.sleep(0.01)
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Test the car interface with a joystick. Uses keyboard by default.',
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument('--mode', choices=['keyboard', 'gamepad', 'joystick'], default='keyboard')
+  args = parser.parse_args()
+
+  print()
+  joystick: Keyboard | Joystick
+  if args.mode == 'keyboard':
+    print('Gas/brake control: `W` and `S` keys')
+    print('Steering control: `A` and `D` keys')
+    print('Buttons')
+    print('- `R`: Resets axes')
+    print('- `C`: Cancel cruise control')
+    joystick = Keyboard()
+  else:
+    joystick = Joystick(gamepad=(args.mode == 'gamepad'))
+  main(joystick)

opendbc_repo/examples/kbhit.py

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+#!/usr/bin/env python3
+import sys
+import termios
+import atexit
+from select import select
+
+STDIN_FD = sys.stdin.fileno()
+
+class KBHit:
+  def __init__(self) -> None:
+    self.set_kbhit_terminal()
+
+  def set_kbhit_terminal(self) -> None:
+    # Save the terminal settings
+    self.old_term = termios.tcgetattr(STDIN_FD)
+    self.new_term = self.old_term.copy()
+
+    # New terminal setting unbuffered
+    self.new_term[3] &= ~(termios.ICANON | termios.ECHO)
+    termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.new_term)
+
+    # Support normal-terminal reset at exit
+    atexit.register(self.set_normal_term)
+
+  def set_normal_term(self) -> None:
+    termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.old_term)
+
+  @staticmethod
+  def getch() -> str:
+    return sys.stdin.read(1)
+
+  @staticmethod
+  def getarrow() -> int:
+    c = sys.stdin.read(3)[2]
+    vals = [65, 67, 66, 68]
+    return vals.index(ord(c))
+
+  @staticmethod
+  def kbhit():
+    ''' Returns True if keyboard character was hit, False otherwise.
+    '''
+    return select([sys.stdin], [], [], 0)[0] != []
+
+
+if __name__ == "__main__":
+
+  kb = KBHit()
+
+  print('Hit any key, or ESC to exit')
+
+  while True:
+
+    if kb.kbhit():
+      c = kb.getch()
+      if c == '\x1b':  # ESC
+        break
+      print(c)
+
+  kb.set_normal_term()