def __init__(self, input_method, lcm_tag, joy_name):
print 'Initializing...'
pygame.init()
self.screen = pygame.display.set_mode((300, 70))
pygame.display.set_caption('Steering Command Driver')
self.font = pygame.font.SysFont('Courier', 20)
if input_method == 'keyboard':
self.event_processor = KeyboardEventProcessor()
else:
self.event_processor = JoystickEventProcessor(joy_name)
self.last_msg = lcm_msg()
self.lc = lcm.LCM()
self.lcm_tag = lcm_tag
print 'Ready'
def __init__(self, input_method, lcm_tag, joy_name):
print 'Initializing...'
pygame.init()
self.screen = pygame.display.set_mode((300, 70))
pygame.display.set_caption('Steering Command Driver')
self.font = pygame.font.SysFont('Courier', 20)
if input_method == 'keyboard':
self.event_processor = KeyboardEventProcessor()
else:
self.event_processor = JoystickEventProcessor(joy_name)
self.last_msg = lcm_msg()
self.lc = lcm.LCM()
self.lcm_tag = lcm_tag
print 'Ready'
def start(self):
self.printLCMValues()
while True:
event = pygame.event.wait()
if event.type == pygame.QUIT:
pygame.quit()
sys.exit()
else:
self.last_value = self.event_processor.processEvent(
event, self.last_value)
msg = lcm_msg()
msg.steering_angle = self.last_value.steering_angle
msg.acceleration = (self.last_value.throttle -
self.last_value.brake)
self.lc.publish(self.lcm_tag, msg.encode())
self.printLCMValues()
def start(self):
self.printLCMValues()
while True:
event = pygame.event.wait()
if event.type == pygame.QUIT:
pygame.quit()
sys.exit()
else:
self.last_value = self.event_processor.processEvent(
event, self.last_value)
msg = lcm_msg()
msg.steering_angle = self.last_value.steering_angle
msg.acceleration = (self.last_value.throttle -
self.last_value.brake)
self.lc.publish(self.lcm_tag, msg.encode())
self.printLCMValues()
def __init__(self, input_method, lcm_tag, joy_name):
print 'Initializing...'
pygame.init()
self.screen = pygame.display.set_mode((300, 70))
pygame.display.set_caption('Steering Command Driver')
self.font = pygame.font.SysFont('Courier', 20)
if input_method == 'keyboard':
self.event_processor = KeyboardEventProcessor()
print bcolors.OKBLUE + '--- Keyboard Control Instruction --- '\
+ bcolors.ENDC
print 'To increase the throttle/brake: press and hold the Up/Down'\
+ ' Arrow'
print 'To decrease the throttle/brake: release the Up/Down Arrow'
print 'To keep the the current throttle/brake: press the Space Bar'
print 'To increase left/right steering: press the Left/Right Arrow'
print bcolors.OKBLUE + '------------------------------------ ' \
+ bcolors.ENDC
else:
self.event_processor = JoystickEventProcessor(joy_name)
self.last_msg = lcm_msg()
self.lc = lcm.LCM()
self.lcm_tag = lcm_tag
print 'Ready'
def __init__(self, input_method, lcm_tag, joy_name):
print 'Initializing...'
pygame.init()
self.screen = pygame.display.set_mode((300, 70))
pygame.display.set_caption('Steering Command Driver')
self.font = pygame.font.SysFont('Courier', 20)
if input_method == 'keyboard':
self.event_processor = KeyboardEventProcessor()
print bcolors.OKBLUE + '--- Keyboard Control Instruction --- '\
+ bcolors.ENDC
print 'To increase the throttle/brake: press and hold the Up/Down'\
+ ' Arrow'
print 'To decrease the throttle/brake: release the Up/Down Arrow'
print 'To keep the the current throttle/brake: press the Space Bar'
print 'To increase left/right steering: press the Left/Right Arrow'
print bcolors.OKBLUE + '------------------------------------ ' \
+ bcolors.ENDC
else:
self.event_processor = JoystickEventProcessor(joy_name)
self.last_msg = lcm_msg()
self.lc = lcm.LCM()
self.lcm_tag = lcm_tag
print 'Ready'
def make_driving_command(throttle, steering_angle):
msg = lcm_msg()
msg.acceleration = throttle
msg.steering_angle = steering_angle
return msg
def publish_driving_command(lcm_tag, throttle, steering_angle):
lc = lcm.LCM()
last_msg = lcm_msg()
last_msg.throttle = throttle
last_msg.steering_angle = steering_angle
lc.publish(lcm_tag, last_msg.encode())
def publish_driving_command(lcm_tag, throttle, steering_angle):
lc = lcm.LCM()
last_msg = lcm_msg()
last_msg.throttle = throttle
last_msg.steering_angle = steering_angle
lc.publish(lcm_tag, last_msg.encode())
