def on_release(key):
if key == Key.esc:
d = ManualData()
d.endProgram = True
sendData(sock, d)
time.sleep(2)
sock.shutdown(socket.SHUT_RDWR)
sock.close()
s.shutdown(socket.SHUT_RDWR)
s.close()
return False
def press(key):
if key == Key.up:
self.data.manualDrive = 1
print("Set command to drive forward")
elif key == KeyCode.from_char('2'):
self.data.manualDrive = 2
print("Set command to drive forward slowly")
elif key == Key.down:
self.data.manualDrive = -1
print("Set command to drive backwards")
elif key == Key.right:
self.data.manualTurn = 1
sendData(sock, self.data)
self.data = ManualData()
print("Send command to turn right ***")
elif key == Key.left:
self.data.manualTurn = -1
sendData(sock, self.data)
self.data = ManualData()
print("Send command to turn left ***")
elif key == KeyCode.from_char('r'):
self.data.raiseForDig = 1
print("Set command to raise digger")
elif key == KeyCode.from_char('l'):
self.data.raiseForDig = -1
print("Set command to lower digger")
elif key == KeyCode.from_char('c'):
speed = int(input("Dig speed: "))
self.data.dig = speed
print("Set command to dig (collect)")
elif key == KeyCode.from_char('p'):
self.data.packin = True
sendData(sock, self.data)
self.data = ManualData()
print("Send command to pack in ***")
elif key == KeyCode.from_char('d'):
speed = int(input("Dump speed: "))
self.data.dump = speed
print("Set command to dump")
elif key == Key.space:
self.data.stop = True
sendData(sock, self.data)
self.data = ManualData()
print("Send command to stop ***")
elif key == KeyCode.from_char('s'):
print("-----Send command-----")
sendData(sock, self.data)
self.data = ManualData()
else:
print("Not a valid command")
def __init__(self):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind(("", 20000))
print("binding")
s.listen(1)
print("listening")
self.sock, address = s.accept()
print("accepted connection")
self.data = ManualData()
def on_press(key):
data = ManualData()
if key == Key.up:
data.manualDrive = 1
print("Set command to drive forward")
sendData(sock, data)
elif key == Key.down:
data.manualDrive = -1
print("Set command to drive backwards")
sendData(sock, data)
elif key == KeyCode.from_char('1'):
data.drive = 100
print("Set command to drive backwards")
sendData(sock, data)
elif key == KeyCode.from_char('2'):
data.drive = -100
print("Set command to drive backwards")
sendData(sock, data)
elif key == Key.right:
data.manualTurn = 1
print("Set command to turn right")
sendData(sock, data)
elif key == Key.left:
data.manualTurn = -1
print("Set command to turn left")
sendData(sock, data)
elif key == KeyCode.from_char('e'):
data.dig = True
print("Set command to excavate")
sendData(sock, data)
elif key == KeyCode.from_char('p'):
data.packin = True
print("Set command to pack in")
sendData(sock, data)
elif key == KeyCode.from_char('d'):
data.dump = True
print("Set command to dump")
sendData(sock, data)
elif key == Key.space:
data.stop = True
print("Set command to stop")
sendData(sock, data)
elif key == KeyCode.from_char('f'):
data.forwardScan = True
print("Scan LiDAR forward")
sendData(sock, data)
elif key == KeyCode.from_char('b'):
data.backwardScan = True
print("Scan LiDAR backwards")
sendData(sock, data)
elif key == KeyCode.from_char('a'):
data.autonomousMode = True
print("switch from manual to autonomous")
sendData(sock, data)
else:
print("Not a valid command")
def on_press(key):
data = ManualData()
if key == Key.up:
data.manualDrive = 1
print("Set command to drive forward")
sendData(sock, data)
elif key == KeyCode.from_char('s'):
data.manualDrive = 2
print("Set command to drive slowly")
sendData(sock, data)
elif key == KeyCode.from_char('0'):
data.raiseForDig = -2
sendData(sock, data)
time.sleep(.1)
data.raiseForDig = 0
print("Set command to lower and dig slowly")
sendData(sock, data)
elif key == KeyCode.from_char('9'):
data.raiseForDig = -3
sendData(sock, data)
time.sleep(.1)
data.raiseForDig = 0
print("Set command to lower and dig extra slowly")
sendData(sock, data)
elif key == KeyCode.from_char('1'):
data.manualDrive = 2
speed = int(input("Dig speed: "))
data.dig = speed
print("Set command to lower and dig")
sendData(sock, data)
elif key == KeyCode.from_char('2'):
data.raiseForDig = -1
speed = int(input("Dig speed: "))
data.dig = speed
data.manualDrive = 2
print("Set command to lower, dig, drive forward slowly")
sendData(sock, data)
elif key == KeyCode.from_char('3'):
data.raiseForDig = -1
data.manualDrive = 1
print("Set command to lower and drive normal")
sendData(sock, data)
elif key == KeyCode.from_char('4'):
data.manualDrive = 3
print("Set command to unstick from left side")
sendData(sock, data)
elif key == KeyCode.from_char('5'):
data.manualDrive = 4
print("Set command to unstick from right side")
sendData(sock, data)
elif key == KeyCode.from_char('6'):
data.manualDrive = 5
print("Set command to unstick from back")
sendData(sock, data)
elif key == KeyCode.from_char('7'):
data.manualDrive = 6
print("Set command to unstick from front")
sendData(sock, data)
elif key == Key.down:
data.manualDrive = -1
print("Set command to drive backwards")
sendData(sock, data)
elif key == Key.right:
data.manualTurn = 1
print("Set command to turn right")
sendData(sock, data)
elif key == Key.left:
data.manualTurn = -1
print("Set command to turn left")
sendData(sock, data)
elif key == KeyCode.from_char('r'):
data.raiseForDig = 1
print("Set command to raise digger")
sendData(sock, data)
elif key == KeyCode.from_char('l'):
data.raiseForDig = -1
print("Set command to lower digger")
sendData(sock, data)
elif key == KeyCode.from_char('c'):
speed = int(input("Dig speed: "))
data.dig = speed
print("Set command to dig (collect)")
sendData(sock, data)
elif key == KeyCode.from_char('p'):
data.packin = True
print("Set command to pack in")
sendData(sock, data)
elif key == KeyCode.from_char('d'):
speed = int(input("Dump speed: "))
data.dump = speed
print("Set command to dump")
sendData(sock, data)
elif key == Key.space:
data.stop = True
print("Set command to stop")
sendData(sock, data)
else:
print("Not a valid command")