Adbranch

README1.md

@@ -0,0 +1,20 @@
+# OpenPilot Custom Modifications
+
+This repository contains custom modifications to OpenPilot(steering and accelaration), including updates to the keyboard and joystick control files.
+
+## Modified Files
+
+1. **Keyboard Control File:**
+   - File: `tools/lib/keyboard_ctrl.py`
+   - Description: Custom changes to the keyboard control logic to integrate with the new GUI button.
+   - Path in Repository: [tools/lib/keyboard_ctrl.py](https://github.com/Sage-A/openpilot/blob/ADbranch/tools/lib/keyboard_ctrl.py)
+
+2. **Joystick Control File:**
+   - File: `tools/sim/joystick_control.py`
+   - Description: Modifications to the joystick control to handle new input methods, including GUI-based control.
+   - Path in Repository: [tools/sim/joystick_control.py](https://github.com/Sage-A/openpilot/blob/ADbranch/tools/sim/joystick_control.py)
+
+## How to Set Up
+
+Find instructions on how to set up/build Openpilot in the README.md file in openpilot/tools.
+Find instructions on how to run MetaSim in the README.md file in openpilot/tools/sim.

tools/joystick/joystick_control.py

@@ -16,9 +16,11 @@
 
 class Keyboard:
   def __init__(self):
+    managed_processes['ui'].w.customWindow.accelDown.connect(self.GUI_ACCEL)
+    managed_processes['ui'].w.customWindow.accelRelease.connect(self.GUI_ACCEL)    
     self.kb = KBHit()
     self.axis_increment = 0.05  # 5% of full actuation each key press
-    self.axes_map = {'b': 'gb', 's': 'gb',
+    self.axes_map = {'GUI_ACCEL': 'gb', 's': 'gb',
                      'a': 'steer', 'd': 'steer'}
     self.axes_values = {'gb': 0., 'steer': 0.}
     self.axes_order = ['gb', 'steer']
@@ -33,7 +35,7 @@ def update(self):
       self.cancel = True
     elif key in self.axes_map:
       axis = self.axes_map[key]
-      incr = self.axis_increment if key in ['b', 'a'] else -self.axis_increment
+      incr = self.axis_increment if key in ['GUI_ACCEL', 'a'] else -self.axis_increment
       self.axes_values[axis] = float(np.clip(self.axes_values[axis] + incr, -1, 1))
     else:
       return False
@@ -42,7 +44,7 @@ def update(self):
 class SteeringGUI:
   def __init__(self, steer_slider):
       # Refers to the acceleration and steering inputs
-      self.accel_axis = 'GUI_ACCEL'
+      self.accel_axis = 'b'
       self.steer_axis = 'GUI_STEER'
 
       # Acceleration and steering both range from -1.0 to 1.0
@@ -192,7 +194,7 @@ def main():
   if args.gui:
     print('Using GUI for control (slider + throttle inputs).')
   elif args.keyboard:
-    print('Gas/brake control: `B` and `S` keys')
+    print('Gas/brake control: `GUI_ACCEL` and `S` keys')
     print('Steering control: `A` and `D` keys')
     print('Buttons')
     print('- `R`: Resets axes')

tools/sim/lib/keyboard_ctrl.py

@@ -28,7 +28,7 @@
   |  r   | Reset Simulation      |
   |  i   | Toggle Ignition       |
   |  q   | Exit all              |
-  | basd | Control manually      |
+  | GUI_ACCELasd | Control manually      |
 """
 
 
@@ -66,7 +66,7 @@ def keyboard_poll_thread(q: 'Queue[QueueMessage]'):
       q.put(control_cmd_gen("cruise_down"))
     elif c == '3':
       q.put(control_cmd_gen("cruise_cancel"))
-    elif c == 'b':
+    elif c == 'GUI_ACCEL':
       q.put(control_cmd_gen(f"throttle_{100.0}"))
     elif c == 'a':
       q.put(control_cmd_gen(f"steer_{-0.15}"))