Release 260111

tools/joystick/joystickd.py

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