Create advisory_speed_receiver.py

Create the advisory_speed_receiver.py Module

This module will be responsible for reading advisory speed data from the second USB port and publishing it to the OpenPilot messaging system.

Author: HaoZhouGT

selfdrive/controls/advisory_speed_receiver.py

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+import cereal.messaging as messaging
+import serial
+import time
+from cereal import custom  # This will import the message from custom.capnp
+
+def main():
+    pm = messaging.PubMaster(['advisorySpeed'])
+    
+    # Open the USB serial port where the tablet is sending advisory speed
+    ser = serial.Serial('/dev/ttyGS0', baudrate=9600, timeout=1)
+    
+    while True:
+        try:
+            # Read data from the serial port
+            line = ser.readline().decode('utf-8').strip()
+            if line:
+                advisory_speed = float(line)  # Convert string to float
+                
+                # Create and send the message using custom.AdvisorySpeed
+                dat = messaging.new_message('advisorySpeed')
+                dat.advisorySpeed.speed = advisory_speed
+                pm.send('advisorySpeed', dat)
+            
+            time.sleep(0.1)  # Adjust delay as needed
+        except Exception as e:
+            print(f"Error: {e}")
+            time.sleep(1)
+
+if __name__ == "__main__":
+    main()