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change char to key

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Sem van der Hoeven
2023-05-04 11:49:06 +02:00
parent 96edc69227
commit 7133a11e92
1 changed files with 43 additions and 49 deletions
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92
src/test_controls/test_controls/test_controller.py
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@@ -40,58 +40,52 @@ class TestController(Node):
def on_press(self, key):
try:
char = getattr(key, 'char', None)
if isinstance(char, str):
# self.get_logger().info('pressed ' + char)
if char == 'w':
self.get_logger().info('forward')
self.send_request(pitch=-10.0, yaw=0.0,
roll=0.0, thrust=0.0)
if char == 's':
self.get_logger().info('backward')
self.send_request(pitch=10.0, yaw=0.0,
roll=0.0, thrust=0.0)
if char == 'a':
self.get_logger().info('left')
self.send_request(pitch=0.0, yaw=0.0,
roll=-10.0, thrust=0.0)
if char == 'd':
self.get_logger().info('right')
self.send_request(pitch=0.0, yaw=0.0,
roll=10.0, thrust=0.0)
if char == 'q':
self.get_logger().info('rotate left')
self.send_request(pitch=0.0, yaw=-10.0,
roll=0.0, thrust=0.0)
if char == 'e':
self.get_logger().info('rotate right')
self.send_request(pitch=0.0, yaw=10.0,
roll=0.0, thrust=0.0)
else:
try:
# known keys like spacebar, ctrl
name = key.name
vk = key.value.vk
except AttributeError:
# unknown keys like headphones skip song button
name = 'UNKNOWN'
vk = key.vk
# self.get_logger().info('pressed {} ({})'.format(name, vk))
if vk == 32:
self.get_logger().info('up')
self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.05)
if vk == 65505:
self.get_logger().info('down')
self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=-0.05)
# self.get_logger().info('pressed ' + char)
if key == 'w':
self.get_logger().info('forward')
self.send_request(pitch=-10.0, yaw=0.0,
roll=0.0, thrust=0.0)
if key == 's':
self.get_logger().info('backward')
self.send_request(pitch=10.0, yaw=0.0,
roll=0.0, thrust=0.0)
if key == 'a':
self.get_logger().info('left')
self.send_request(pitch=0.0, yaw=0.0,
roll=-10.0, thrust=0.0)
if key == 'd':
self.get_logger().info('right')
self.send_request(pitch=0.0, yaw=0.0,
roll=10.0, thrust=0.0)
if key == 'q':
self.get_logger().info('rotate left')
self.send_request(pitch=0.0, yaw=-10.0,
roll=0.0, thrust=0.0)
if key == 'e':
self.get_logger().info('rotate right')
self.send_request(pitch=0.0, yaw=10.0,
roll=0.0, thrust=0.0)
# else:
# try:
# # known keys like spacebar, ctrl
# name = key.name
# vk = key.value.vk
# except AttributeError:
# # unknown keys like headphones skip song button
# name = 'UNKNOWN'
# vk = key.vk
# # self.get_logger().info('pressed {} ({})'.format(name, vk))
# if vk == 32:
# self.get_logger().info('up')
# self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.05)
# if vk == 65505:
# self.get_logger().info('down')
# self.send_request(pitch=0.0, yaw=0.0,
# roll=0.0, thrust=-0.05)
except Exception as e:
self.get_logger().error(str(e))
raise
if key == keyboard.Key.esc:
self.get_logger().info('stopping listener')
raise keyboard.Listener.StopException
raise e
def main(args=None):