lambda-api/keyboard_input.py at main · lwrychan/lambda-api · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
from pynput import keyboard
from pynput.keyboard import Key, KeyCode

from constants import Constants
from input_commands import InputCommands
from robot_control import RobotControl


class KeyboardInput:
    def __init__(self):
        self.keyMap = {
            'a': InputCommands.A_CCW,
            'd': InputCommands.A_CW,
            'w': InputCommands.Z_UP,
            's': InputCommands.Z_DOWN,
            'q': InputCommands.C_CCW,
            'e': InputCommands.C_CW,
            Key.alt_r.name: InputCommands.TOGGLE_KEY_LOCK,
            Key.left.name: InputCommands.X_CCW,
            Key.right.name: InputCommands.X_CW,
            Key.up.name: InputCommands.Y_UP,
            Key.down.name: InputCommands.Y_DOWN,
            'f': InputCommands.B_UP,
            'v': InputCommands.B_DOWN,
            'x': InputCommands.END_EFF_CLOSE,
            'c': InputCommands.END_EFF_OPEN,
            '1': InputCommands.SPEED_SLOW,
            '2': InputCommands.SPEED_MEDIUM,
            '3': InputCommands.SPEED_HIGH,
            'r': InputCommands.REC_TOGGLE,
            'h': InputCommands.RUN_CALIBRATION,
            'z': InputCommands.ZERO_AXES,
            Key.f1.name: InputCommands.MACRO_1,
            Key.f2.name: InputCommands.MACRO_2,
            Key.f3.name: InputCommands.MACRO_3,
            Key.f4.name: InputCommands.MACRO_4,
            Key.f5.name: InputCommands.MACRO_5,
            Key.f6.name: InputCommands.MACRO_6,
            Key.f7.name: InputCommands.MACRO_7,
            Key.f8.name: InputCommands.MACRO_8,
            Key.f9.name: InputCommands.MACRO_9,
            'l': InputCommands.REQUEST_ROBOT_STATUS,
            '`': InputCommands.SOFT_RESET,
            '.': InputCommands.SEND_JOG_STOP,
            '0': InputCommands.RETURN_TO_ORIGIN,
            '9': InputCommands.RETURN_TO_NEUTRAL,
            '8': InputCommands.STORAGE_CONFIGURATION,
            ']': InputCommands.CLAW_DEMO
        }

        self.robotInstance = RobotControl()

    def on_press(self, key: Key | KeyCode) -> None:
        if key == Key.esc:
            raise Exception("Program exit command received.")
        if Constants.KEY_LOG:
            print("KEY |", key)

        key_value = key.char if isinstance(key, KeyCode) else key.name

        command: InputCommands | None = None

        try:
            command = self.keyMap[key_value]
        except KeyError:
            # print(f"No mapping is associated with '{key_value}'.")
            return

        self.robotInstance.execute(command)

    def on_release(self, key: Key | KeyCode) -> bool | None:
        key_value = key.char if isinstance(key, KeyCode) else key.name

        try:
            command = self.keyMap[key_value]
        except KeyError:
            # print(f"No mapping is associated with '{key_value}'.")
            return

        # Exit keyboard input loop
        if key == keyboard.Key.esc:
            return False

        if key_value in ['up', 'down', 'left', 'right', 'q', 'w', 'e', 'a', 's', 'd', 'x', 'c', 'v', 'f']:
            self.robotInstance.execute(InputCommands.AXIS_RELEASE)

    def run(self):
        with keyboard.Listener(
                on_press=self.on_press,
                on_release=self.on_release) as listener:
            listener.join()
        self.robotInstance.serial_connection.connection.close()