simple joystick example (#1200)

* setup runner

* port over joystickd

* fix mypy

* set accel and steer

examples/joystick.py

@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import time
+import threading
+import argparse
+import numpy as np
+from inputs import get_gamepad
+
+from kbhit import KBHit
+
+from opendbc.car.structs import CarControl
+from opendbc.car.panda_runner import PandaRunner
+from opendbc.car.can_definitions import CanData
+
+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, CI):
+    CC = CarControl(enabled=False)
+    while True:
+      cd = [CanData(addr, dat, bus) for addr, dat, bus in p.can_recv()]
+      CI.update([0, cd])
+
+      CC.actuators.accel = float(4.0*np.clip(joystick.axes_values['gb'], -1, 1))
+      CC.actuators.steer = float(np.clip(joystick.axes_values['steer'], -1, 1))
+
+      from pprint import pprint
+      pprint(CC)
+
+      _, can_sends = CI.apply(CC)
+      p.can_send_many(can_sends, timeout=1000)
+
+      # 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)

examples/kbhit.py

@@ -0,0 +1,59 @@
+#!/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()

opendbc/car/panda_runner.py

@@ -0,0 +1,35 @@
+from contextlib import contextmanager
+
+from panda import Panda
+from opendbc.car.car_helpers import get_car
+from opendbc.car.can_definitions import CanData
+
+@contextmanager
+def PandaRunner():
+  p = Panda()
+
+  def _can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+    recv = p.can_recv()
+    while len(recv) == 0 and wait_for_one:
+      recv = p.can_recv()
+    return [[CanData(addr, dat, bus) for addr, dat, bus in recv], ]
+
+  try:
+    # setup + fingerprinting
+    p.set_safety_mode(Panda.SAFETY_ELM327, 1)
+    CI = get_car(_can_recv, p.can_send_many, p.set_obd, True)
+    print("fingerprinted", CI.CP.carName)
+    assert CI.CP.carFingerprint != "mock", "Unable to identify car. Check connections and ensure car is supported."
+
+    p.set_safety_mode(Panda.SAFETY_ELM327, 1)
+    CI.init(CI.CP, _can_recv, p.can_send_many)
+    p.set_safety_mode(Panda.SAFETY_TOYOTA, CI.CP.safetyConfigs[0].safetyParam)
+
+    yield p, CI
+  finally:
+    p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+
+
+if __name__ == "__main__":
+  with PandaRunner() as (p, CI):
+    print(p.can_recv())

pyproject.toml

@@ -33,6 +33,9 @@ docs = [
   "Jinja2",
   "natsort",
 ]
+examples = [
+  "inputs",
+]
 
 [tool.pytest.ini_options]
 addopts = "--ignore=panda/ -Werror --strict-config --strict-markers --durations=10 -n auto"