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Commit 11dc9b1b authored by Hoop77's avatar Hoop77
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scripts/.gitignore 0 → 100644
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View file @ 11dc9b1b
.vscode
.idea
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scripts/remote_control.py
+ 116
− 118
View file @ 11dc9b1b
import pygame
import sys
import time
from pexpect import pxssh
from pygame.locals import *
......@@ -54,143 +53,142 @@ class OdroidConnection(pxssh.pxssh):
def center(src, dest):
src.centerx = dest.centerx
src.centery = dest.centery
src.centerx = dest.centerx
src.centery = dest.centery
class Button:
def __init__(self, rect, label, onPressed=None, onReleased=None):
self.rect = rect
self.label = label
self.onPressed = onPressed
self.onReleased = onReleased
self.pressed = False
def press(self):
if not self.pressed and self.onPressed is not None:
self.onPressed()
self.pressed = True
def release(self):
if self.pressed and self.onReleased is not None:
self.onReleased()
self.pressed = False
def draw(self, surf):
# fill
if not self.pressed:
pygame.draw.rect(surf, (150, 150, 150), self.rect)
else:
pygame.draw.rect(surf, (255, 100, 100), self.rect)
# frame
pygame.draw.rect(surf, (10, 10, 10), self.rect, 1)
# label
font = pygame.font.Font(None, 36)
text = font.render(self.label, True, (10, 10, 10))
text_rect = text.get_rect()
center(text_rect, self.rect)
surf.blit(text, text_rect)
def __init__(self, rect, label, onPressed=None, onReleased=None):
self.rect = rect
self.label = label
self.onPressed = onPressed
self.onReleased = onReleased
self.pressed = False
def press(self):
if not self.pressed and self.onPressed is not None:
self.onPressed()
self.pressed = True
def release(self):
if self.pressed and self.onReleased is not None:
self.onReleased()
self.pressed = False
def draw(self, surf):
# fill
if not self.pressed:
pygame.draw.rect(surf, (150, 150, 150), self.rect)
else:
pygame.draw.rect(surf, (255, 100, 100), self.rect)
# frame
pygame.draw.rect(surf, (10, 10, 10), self.rect, 1)
# label
font = pygame.font.Font(None, 36)
text = font.render(self.label, True, (10, 10, 10))
text_rect = text.get_rect()
center(text_rect, self.rect)
surf.blit(text, text_rect)
if __name__ == '__main__':
conn = OdroidConnection("10.5.37.195", "/root/repos/Hochautomatisiertes\ Fahren/modules/catkin_ws/src/VeloxProtocolLib/cmake-build-debug/TerminalControl")
conn.connect()
FPS = 60
pygame.init()
fpsClock = pygame.time.Clock()
BACKGROUND_COLOR = (255, 255, 255)
SCREEN_WIDTH, SCREEN_HEIGHT = 640, 480
screen = pygame.display.set_mode((SCREEN_WIDTH, SCREEN_HEIGHT), 0, 32)
background = pygame.Surface(screen.get_size())
background = background.convert()
background.fill(BACKGROUND_COLOR)
background.blit(background, (0,0))
clock = pygame.time.Clock()
pygame.key.set_repeat(1, 40)
GRIDSIZE=10
GRID_WIDTH = SCREEN_WIDTH / GRIDSIZE
GRID_HEIGHT = SCREEN_HEIGHT / GRIDSIZE
UP = (0, -1)
DOWN = (0, 1)
LEFT = (-1, 0)
RIGHT = (1, 0)
BUTTON_WIDTH = 200
BUTTON_HEIGHT = 100
PADDING = 10
buttonsSurface = pygame.Surface((3 * BUTTON_WIDTH + 2 * PADDING, 2 * BUTTON_HEIGHT + PADDING))
buttonsSurface = buttonsSurface.convert()
buttonsSurface.fill(BACKGROUND_COLOR)
FPS = 60
pygame.init()
fpsClock = pygame.time.Clock()
BACKGROUND_COLOR = (255, 255, 255)
SCREEN_WIDTH, SCREEN_HEIGHT = 640, 480
screen = pygame.display.set_mode((SCREEN_WIDTH, SCREEN_HEIGHT), 0, 32)
background = pygame.Surface(screen.get_size())
background = background.convert()
background.fill(BACKGROUND_COLOR)
background.blit(background, (0,0))
clock = pygame.time.Clock()
pygame.key.set_repeat(1, 40)
GRIDSIZE=10
GRID_WIDTH = SCREEN_WIDTH / GRIDSIZE
GRID_HEIGHT = SCREEN_HEIGHT / GRIDSIZE
UP = (0, -1)
DOWN = (0, 1)
LEFT = (-1, 0)
RIGHT = (1, 0)
BUTTON_WIDTH = 200
BUTTON_HEIGHT = 100
PADDING = 10
buttonsSurface = pygame.Surface((3 * BUTTON_WIDTH + 2 * PADDING, 2 * BUTTON_HEIGHT + PADDING))
buttonsSurface = buttonsSurface.convert()
buttonsSurface.fill(BACKGROUND_COLOR)
SPEED = 1
ANGLE = 20
ZERO_SPEED = 0
ZERO_ANGLE = 0
forwards = Button(
pygame.Rect(1 * (BUTTON_WIDTH + PADDING), 0 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"FORWARDS",
onPressed=lambda: conn.set_speed(SPEED),
forwards = Button(
pygame.Rect(1 * (BUTTON_WIDTH + PADDING), 0 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"FORWARDS",
onPressed=lambda: conn.set_speed(SPEED),
onReleased=lambda: conn.set_speed(ZERO_SPEED))
backwards = Button(
pygame.Rect(1 * (BUTTON_WIDTH + PADDING), 1 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"BACKWARDS",
onPressed=lambda: conn.set_speed(-SPEED),
backwards = Button(
pygame.Rect(1 * (BUTTON_WIDTH + PADDING), 1 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"BACKWARDS",
onPressed=lambda: conn.set_speed(-SPEED),
onReleased=lambda: conn.set_speed(ZERO_SPEED))
left = Button(
pygame.Rect(0 * (BUTTON_WIDTH + PADDING), 1 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"LEFT",
onPressed=lambda: conn.set_angle(ANGLE),
left = Button(
pygame.Rect(0 * (BUTTON_WIDTH + PADDING), 1 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"LEFT",
onPressed=lambda: conn.set_angle(ANGLE),
onReleased=lambda: conn.set_speed(ZERO_ANGLE))
right = Button(
pygame.Rect(2 * (BUTTON_WIDTH + PADDING), 1 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"RIGHT",
onPressed=lambda: conn.set_angle(-ANGLE),
right = Button(
pygame.Rect(2 * (BUTTON_WIDTH + PADDING), 1 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
"RIGHT",
onPressed=lambda: conn.set_angle(-ANGLE),
onReleased=lambda: conn.set_speed(ZERO_ANGLE))
buttons = [forwards, backwards, left, right]
buttons_rect = buttonsSurface.get_rect()
center(buttons_rect, background.get_rect())
while True:
for event in pygame.event.get():
if event.type == QUIT:
pygame.quit()
sys.exit()
elif event.type == KEYDOWN:
if event.key == K_UP:
forwards.press()
elif event.key == K_DOWN:
backwards.press()
elif event.key == K_LEFT:
left.press()
elif event.key == K_RIGHT:
right.press()
elif event.type == KEYUP:
if event.key == K_UP:
forwards.release()
elif event.key == K_DOWN:
backwards.release()
elif event.key == K_LEFT:
left.release()
elif event.key == K_RIGHT:
right.release()
background.fill(BACKGROUND_COLOR)
for button in buttons:
button.draw(buttonsSurface)
background.blit(buttonsSurface, buttons_rect)
screen.blit(background, (0, 0))
pygame.display.update()
fpsClock.tick(FPS)
conn.disconnect()
\ No newline at end of file
buttons = [forwards, backwards, left, right]
buttons_rect = buttonsSurface.get_rect()
center(buttons_rect, background.get_rect())
while True:
for event in pygame.event.get():
if event.type == QUIT:
conn.disconnect()
pygame.quit()
sys.exit()
elif event.type == KEYDOWN:
if event.key == K_UP:
forwards.press()
elif event.key == K_DOWN:
backwards.press()
elif event.key == K_LEFT:
left.press()
elif event.key == K_RIGHT:
right.press()
elif event.type == KEYUP:
if event.key == K_UP:
forwards.release()
elif event.key == K_DOWN:
backwards.release()
elif event.key == K_LEFT:
left.release()
elif event.key == K_RIGHT:
right.release()
background.fill(BACKGROUND_COLOR)
for button in buttons:
button.draw(buttonsSurface)
background.blit(buttonsSurface, buttons_rect)
screen.blit(background, (0, 0))
pygame.display.update()
fpsClock.tick(FPS)
\ No newline at end of file
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