def keyboard_controller_thread(q, route_start_time):
print("keyboard waiting for input")
kb = KBHit()
while 1:
c = kb.getch()
if c == 'm': # Move forward by 1m
q.send_pyobj(SeekRelativeTime(60))
elif c == 'M': # Move backward by 1m
q.send_pyobj(SeekRelativeTime(-60))
elif c == 's': # Move forward by 10s
q.send_pyobj(SeekRelativeTime(10))
elif c == 'S': # Move backward by 10s
q.send_pyobj(SeekRelativeTime(-10))
elif c == 'G': # Move backward by 10s
q.send_pyobj(SeekAbsoluteTime(0.))
elif c == "\x20": # Space bar.
q.send_pyobj(TogglePause())
elif c == "\n":
try:
seek_time_input = input('time: ')
seek_time = absolute_time_str(seek_time_input, route_start_time)
# If less than 60, assume segment number
if seek_time < 60:
seek_time *= 60
q.send_pyobj(SeekAbsoluteTime(seek_time))
except Exception as e:
print("Time not understood: {}".format(e))
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.}
def update(self):
key = self.kb.getch().lower()
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] = clip(self.axes_values[axis] + incr, -1, 1)
else:
return False
return True