From ac0d062acaf007cebeadf9c7a9c395acf89ec55b Mon Sep 17 00:00:00 2001 From: Iori Yanokura Date: Wed, 13 Nov 2024 00:58:00 +0900 Subject: [PATCH 1/3] Seperate keyboard listener --- rcb4/ics.py | 94 +++++++++++++++++++++++++++++++++++------------------ 1 file changed, 63 insertions(+), 31 deletions(-) diff --git a/rcb4/ics.py b/rcb4/ics.py index ff008de7..5618dd63 100644 --- a/rcb4/ics.py +++ b/rcb4/ics.py @@ -1,4 +1,5 @@ import sys +import threading import time from colorama import Fore @@ -9,6 +10,36 @@ import yaml +class KeyListener(threading.Thread): + def __init__(self): + super().__init__() + self.key = None + self.lock = threading.Lock() + self.running = True # Add a running flag + + def run(self): + """Continuously read keys and store the latest key in self.key while running is True.""" + while self.running: + try: + key = readchar.readkey() + except KeyboardInterrupt: + self.stop() + break + with self.lock: + self.key = key + + def get_key(self): + """Return the latest key and reset it.""" + with self.lock: + key = self.key + self.key = None + return key + + def stop(self): + """Stop the listener thread.""" + self.running = False + + def load_and_process_yaml(yaml_path): with open(yaml_path) as f: joint_data = yaml.safe_load(f) @@ -294,10 +325,14 @@ def display_status(self): "Free", ] selectable_options = ["Current Servo ID", "Angle"] + + key_listener = KeyListener() + key_listener.daemon = True + key_listener.start() try: use_previous_result = False previous_servo_id = None - while True: + while key_listener.running: if not self.ics or not self.ics.is_open: # Clear the previous output at the start of each loop sys.stdout.write("\033[H\033[J") @@ -325,43 +360,41 @@ def display_status(self): if ret is False: time.sleep(1.0) continue - sys.stdout.write("\033[H\033[J") - sys.stdout.flush() - # Print servo status try: servo_id = self.get_servo_id() if servo_id != previous_servo_id: use_previous_result = False previous_servo_id = servo_id - print("--- Servo Status ---") if use_previous_result is False: _, result = self.read_param() - for i, option in enumerate(options): - if i == self.selected_index: - print( - f">> {option}: {self.get_status(option, result, selected=True)}" - ) - else: - print(f" {option}: {self.get_status(option, result, selected=False)}") - - print("----------------------\n") - print( - "Use ↑↓ to navigate, ←→ to adjust Current Servo ID or Servo Angles" - ) - print(f"Press 'Enter' when Current Servo ID is selected to save the currently highlighted ID in {Fore.GREEN}green{Style.RESET_ALL}.") - print("Press 'z' to reset servo position") - print( - "Press 'r' to toggle rotation mode (enables continuous wheel-like rotation)" - ) - print("Press 'f' to set free mode\n") - print("'q' to quit.") + print('======================================') + sys.stdout.write("\033[H\033[J") + sys.stdout.flush() + print("--- Servo Status ---") + for i, option in enumerate(options): + if i == self.selected_index: + print( + f">> {option}: {self.get_status(option, result, selected=True)}" + ) + else: + print(f" {option}: {self.get_status(option, result, selected=False)}") + + print("----------------------\n") + print( + "Use ↑↓ to navigate, ←→ to adjust Current Servo ID or Servo Angles" + ) + print(f"Press 'Enter' when Current Servo ID is selected to save the currently highlighted ID in {Fore.GREEN}green{Style.RESET_ALL}.") + print("Press 'z' to reset servo position") + print( + "Press 'r' to toggle rotation mode (enables continuous wheel-like rotation)" + ) + print("Press 'f' to set free mode\n") + print("'q' to quit.") + key = key_listener.get_key() use_previous_result = False - # Get key input without Enter - key = readchar.readkey() - # Perform actions based on key if key == "z": self.reset_servo_position() @@ -376,12 +409,10 @@ def display_status(self): self.selected_index = (self.selected_index - 1) % len( selectable_options ) - use_previous_result = True elif key == readchar.key.DOWN: self.selected_index = (self.selected_index + 1) % len( selectable_options ) - use_previous_result = True elif ( key == readchar.key.ENTER and selectable_options[self.selected_index] == "Current Servo ID" @@ -395,7 +426,6 @@ def display_status(self): key == readchar.key.LEFT and selectable_options[self.selected_index] == "Current Servo ID" ): - use_previous_result = True if self.servo_id_index == 0: self.servo_id_index = len(self.servo_candidates) - 1 else: @@ -405,7 +435,6 @@ def display_status(self): key == readchar.key.RIGHT and selectable_options[self.selected_index] == "Current Servo ID" ): - use_previous_result = True if self.servo_id_index == len(self.servo_candidates) - 1: self.servo_id_index = 0 else: @@ -423,6 +452,8 @@ def display_status(self): and selectable_options[self.selected_index] == "Angle" ): self.increase_angle() + else: + use_previous_result = True except Exception as e: print(f'[ERROR] {e}') use_previous_result = False @@ -436,6 +467,7 @@ def display_status(self): except KeyboardInterrupt: print("\nDisplay stopped by user.") + key_listener.stop() def get_status(self, option, param=None, selected=False): """Return the status based on the selected option.""" From 0bee1f364416f3d6ac20cc9e82ae8ae09a48a435 Mon Sep 17 00:00:00 2001 From: Iori Yanokura Date: Wed, 13 Nov 2024 00:56:18 +0900 Subject: [PATCH 2/3] Use config's wheel servo ids --- ros/kxr_controller/node_scripts/rcb4_ros_bridge.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py index 807bfc8d..c19ea02f 100644 --- a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py +++ b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py @@ -400,7 +400,9 @@ def log_error_and_close_interface(function_name): if ret is None: return log_error_and_close_interface("set trim_vector") if self.interface.wheel_servo_sorted_ids is None: - self.interface.wheel_servo_sorted_ids = wheel_servo_sorted_ids + self.interface.wheel_servo_sorted_ids = [] + self.interface.wheel_servo_sorted_ids = list( + set(self.interface.wheel_servo_sorted_ids + wheel_servo_sorted_ids)) # set servo ids to rosparam servo_ids = self.get_ids(type="servo") From 254b7604b06e1dc391b0fecd6b8034643765cab6 Mon Sep 17 00:00:00 2001 From: Iori Yanokura Date: Wed, 13 Nov 2024 00:59:44 +0900 Subject: [PATCH 3/3] 0.0.5 --- ros/kxr_controller/package.xml | 2 +- ros/kxr_models/package.xml | 2 +- ros/kxreus/package.xml | 2 +- setup.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ros/kxr_controller/package.xml b/ros/kxr_controller/package.xml index 12379313..054c2111 100644 --- a/ros/kxr_controller/package.xml +++ b/ros/kxr_controller/package.xml @@ -1,7 +1,7 @@ kxr_controller - 0.0.4 + 0.0.5 The kxr_controller package Iori Yanokura diff --git a/ros/kxr_models/package.xml b/ros/kxr_models/package.xml index 7ae80c24..a72fb48a 100644 --- a/ros/kxr_models/package.xml +++ b/ros/kxr_models/package.xml @@ -1,6 +1,6 @@ kxr_models - 0.0.4 + 0.0.5

URDF Description package for kxr_models

This package contains configuration data, 3D models and launch files for kxr robot

diff --git a/ros/kxreus/package.xml b/ros/kxreus/package.xml index 4a8c02ef..2bc27a17 100644 --- a/ros/kxreus/package.xml +++ b/ros/kxreus/package.xml @@ -1,7 +1,7 @@ kxreus - 0.0.4 + 0.0.5 roseus interface for kxr robots. diff --git a/setup.py b/setup.py index e1edcc33..0b6ce5dc 100644 --- a/setup.py +++ b/setup.py @@ -6,7 +6,7 @@ from setuptools import find_packages from setuptools import setup -version = "0.0.4" +version = "0.0.5" if sys.argv[-1] == "release":