mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
059bddf7fc
* use carla provided frame_number
* fix carla comm issues error
* add minimal W-A-S-D keyboard controls
* fix window from carla docker not showing
* carla 0.9.7 uses `frame`, not `frame_number`
* set safetyModel on health for simulator
* safetyModel check now works with simulator
* ignore ubloxRaw and frontFrame when running sim
* Update selfdrive/controls/controlsd.py
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* added WINDOW flag for optional show carla window
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: c03a95f7f9
71 lines
1.6 KiB
Python
71 lines
1.6 KiB
Python
import sys
|
|
import termios
|
|
import time
|
|
from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
|
|
ISIG, ISTRIP, IXON, PARENB, VMIN, VTIME)
|
|
from typing import Any
|
|
|
|
# Indexes for termios list.
|
|
IFLAG = 0
|
|
OFLAG = 1
|
|
CFLAG = 2
|
|
LFLAG = 3
|
|
ISPEED = 4
|
|
OSPEED = 5
|
|
CC = 6
|
|
|
|
def getch():
|
|
fd = sys.stdin.fileno()
|
|
old_settings = termios.tcgetattr(fd)
|
|
try:
|
|
# set
|
|
mode = termios.tcgetattr(fd)
|
|
mode[IFLAG] = mode[IFLAG] & ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)
|
|
#mode[OFLAG] = mode[OFLAG] & ~(OPOST)
|
|
mode[CFLAG] = mode[CFLAG] & ~(CSIZE | PARENB)
|
|
mode[CFLAG] = mode[CFLAG] | CS8
|
|
mode[LFLAG] = mode[LFLAG] & ~(ECHO | ICANON | IEXTEN | ISIG)
|
|
mode[CC][VMIN] = 1
|
|
mode[CC][VTIME] = 0
|
|
termios.tcsetattr(fd, termios.TCSAFLUSH, mode)
|
|
|
|
ch = sys.stdin.read(1)
|
|
finally:
|
|
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
|
|
return ch
|
|
|
|
def keyboard_poll_thread(q):
|
|
while True:
|
|
c = getch()
|
|
# print("got %s" % c)
|
|
if c == '1':
|
|
q.put(str("cruise_up"))
|
|
if c == '2':
|
|
q.put(str("cruise_down"))
|
|
if c == '3':
|
|
q.put(str("cruise_cancel"))
|
|
if c == 'w':
|
|
q.put(str("throttle_%f" % 1.0))
|
|
if c == 'a':
|
|
q.put(str("steer_%f" % 0.15))
|
|
if c == 's':
|
|
q.put(str("brake_%f" % 1.0))
|
|
if c == 'd':
|
|
q.put(str("steer_%f" % -0.15))
|
|
if c == 'q':
|
|
exit(0)
|
|
|
|
def test(q):
|
|
while 1:
|
|
print("hello")
|
|
time.sleep(1.0)
|
|
|
|
if __name__ == '__main__':
|
|
from multiprocessing import Process, Queue
|
|
q : Any = Queue()
|
|
p = Process(target=test, args=(q,))
|
|
p.daemon = True
|
|
p.start()
|
|
|
|
keyboard_poll_thread(q)
|