89 lines
2.4 KiB
Python
89 lines
2.4 KiB
Python
import threading
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from pynput import keyboard
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class BaseRemote:
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def __init__(self):
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pass
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def startSeq(self):
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return False
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def standUpDownSeq(self):
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return False
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def flushStates(self):
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pass
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remote = BaseRemote()
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class KeyboardRemote(BaseRemote):
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def __init__(self):
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super().__init__()
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self.start_seq_flag = False
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self.stand_up_down_seq_flag = False
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self.listener_thread = threading.Thread(target=self._listen_to_keyboard)
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self.listener_thread.daemon = True
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self.listener_thread.start()
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def _on_press(self, key):
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try:
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if key.char == 's': # Start sequence
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self.start_seq_flag = True
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elif key.char == 'u': # Stand up/down sequence
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self.stand_up_down_seq_flag = True
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except AttributeError:
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pass # Special keys (like space) will be handled here
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def _on_release(self, key):
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try:
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if key.char == 's': # Start sequence
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self.start_seq_flag = False
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elif key.char == 'u': # Stand up/down sequence
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self.stand_up_down_seq_flag = False
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except AttributeError:
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pass # Special keys (like space) will be handled here
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def _listen_to_keyboard(self):
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with keyboard.Listener(on_press=self._on_press, on_release=self._on_release) as listener:
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listener.join()
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def startSeq(self):
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if self.start_seq_flag:
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self.start_seq_flag = False
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return True
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return False
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def standUpDownSeq(self):
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if self.stand_up_down_seq_flag:
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self.stand_up_down_seq_flag = False
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return True
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return False
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def flushStates(self):
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self.stand_up_down_seq_flag = False
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self.start_seq_flag = False
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class UnitreeRemote(BaseRemote):
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def __init__(self, robot):
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self.robot = robot
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def startSeq(self):
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remote = self.robot.getRemoteState()
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if remote.btn.start:
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return True
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else:
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return False
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def standUpDownSeq(self):
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remote = self.robot.getRemoteState()
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if remote.btn.L2 and remote.btn.A:
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return True
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else:
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return False
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def getEstop(self):
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remote = self.robot.getRemoteState()
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if remote.btn.L2 and remote.btn.R2:
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return True
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else:
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return False
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