def control_car(data):
try:
frame = CvBridge().imgmsg_to_cv2(data, "passthrough")
except CvBridgeError as e:
print(e)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
frame = pygame.image.frombuffer(frame.tostring(), frame.shape[1::-1],
"RGB")
display_surface.blit(frame, (0, 0))
for event in pygame.event.get():
if event.type == pygame.QUIT:
os._exit(0)
pressed = pygame.key.get_pressed()
if np.count_nonzero(pressed) > 0:
if pressed[pygame.K_UP]:
SEND_COMMAND = UP
elif pressed[pygame.K_DOWN]:
SEND_COMMAND = DOWN
elif pressed[pygame.K_LEFT]:
SEND_COMMAND = LEFT
elif pressed[pygame.K_RIGHT]:
SEND_COMMAND = RIGHT
elif pressed[pygame.K_SPACE]:
SEND_COMMAND = STOP
else:
SEND_COMMAND = STOP
print(SEND_COMMAND)
s.send(SEND_COMMAND)
pygame.display.flip()
pygame.display.update()
