Refactor whl-can to make the buttons more concise.

[daohu527]

Control Key Mapping

Category	Key(s)	Function Description	Optimization Rationale
Driving	W / S	Increase / Decrease target (speed / throttle / accel, depends on mode)	Matches common WASD forward/backward driving intuition
Steering	A / D	Turn left / right (adjust steering)	Classic lateral control using A/D
Braking	B / N	Brake force (+ / -)	Semantic: B increases, N decreases brake force (case-insensitive)
Emergency	Space	Emergency braking (sets brake to max)	Most accessible key in emergencies; fastest reaction
Transmission	G	Cycle gears (P → R → N → D)	Single-key cycle for quick gear change
Parking	P	Electronic Parking Brake (EPB toggle)	Clear Parking semantics
Turn Signals	Q / E / M	Toggle Left / Right / Hazard turn signals	Toggle behavior: press to enable, press again to cancel
Cancel Lights	(none mapped)	—	Note: UI help mentions c: Cancel but c is not mapped in the code
Warning / Hazard	M	Hazard lights (same as above)	Easy index-finger access; mapped to m as toggle
Lighting	L	Cycle headlights (Off → Low → High)	Lights semantic mapping; cyclic control
Horn	O	Horn (toggle)	Placed away from main controls to reduce accidental activation
System — Engage	Enter	Toggle autonomous driving engage / takeover	Enter implies confirm/engage
System — Quit	Esc	Quit program	Standard escape-to-exit mapping
System — Help	H	Toggle help menu	Quick access to help
Control Mode	1 / 2 / 3	Set control mode to SPEED / THROTTLE / ACCEL respectively	Direct numeric mode selection for testing and control
EPB / Status	(display-only)	Status shown in UI (EPB, GEAR, SIGNAL, etc.)	Read-only indicators in UI

[Copilot]

Pull request overview

This PR refactors the whl-can keyboard controller to provide a more intuitive and ergonomic control mapping for Apollo autonomous vehicle control. The refactoring changes button mappings to be more consistent with gaming conventions (WASD for driving), adds a comprehensive UI with real-time visual feedback, introduces multiple control modes (SPEED/THROTTLE/ACCEL), and reorganizes the code architecture to make the controller more self-contained.

Changes:

• Remapped keyboard controls to be more intuitive (e.g., V for brake decrease instead of B, Q/E for turn signals, L to cycle lights)
• Added rich terminal UI with colored status display, progress bars, and visual steering indicator
• Implemented three control modes (SPEED, THROTTLE, ACCEL) switchable via 1/2/3 keys
• Refactored architecture so KeyboardController creates its own Cyber RT node and writer
• Added help screen toggle and improved user feedback with timed message display

[lykling]

lgtm