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text_interpolation.py
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text_interpolation.py
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from pynput import keyboard
import time
from datetime import datetime
import math
import pickle
import time
import numpy as np
import json
from dora import Node
node = Node()
key_value = ""
key_press_flag = 0
# 每0.01秒刷新一次
try:
linear_x =0.0
linear_y =0.0
linear_z =0.0
angular_x =0.0
angular_y =0.0
angular_z =0.0
speed_value_ratio = 0.1
cnt = 0
cnt_flag = 0
#while True:
for event in node:
#event = node.next()
event_type = event["type"]
if event_type == "INPUT":
#if event["id"] == "keyboard":
key_value = event["value"][0].as_py()
print("recived: ",key_value, flush=True)
#print(event["id"])
cnt = cnt + 1
linear_x = 0
angular_z = 0
if key_value == "quit":
break
elif key_value == "forward":
linear_x = 1.0 * speed_value_ratio
angular_z = 0.0
key_press_flag = 0
cnt_flag = 0
#print("forward linear_x",linear_x, flush=True)
elif key_value == "left":
linear_x = 0.0
angular_z = 1 * speed_value_ratio
key_press_flag = 0
cnt_flag = 0
#print("left", flush=True)
elif key_value == "right":
linear_x = 0.0
angular_z = -1.0 * speed_value_ratio
key_press_flag = 0
cnt_flag = 0
#print("right", flush=True)
elif key_value == "backward":
linear_x = -1.0 * speed_value_ratio
angular_z = 0.0
key_press_flag = 0
cnt_flag = 0
#print("back", flush=True)
elif key_value == "stop":
linear_x = 0.0
angular_z = 0.0
key_press_flag = 0
cnt_flag = 0
#print("stop", flush=True)
#if key_press_flag == 0:
# cnt_flag = cnt_flag + 1
#if cnt_flag > 5:
# linear_x = 0
# linear_y = 0
# linear_z = 0
# angular_x = 0
# angular_y = 0
# angular_z = 0
timestamp = datetime.now().timestamp() # 获取当前时间
# timestamp_ms = round(datetime.now().timestamp() * 1000)# 转换为毫秒格式
#print(timestamp)
sentence_dict = {
"header": {
"frame_id": "keyboard",
"seq": cnt,
"stamp": {
"sec": int(timestamp),
"nanosec": int((timestamp - int(timestamp)) * 1e9),
},
},
"linear": {"x": linear_x, "y": linear_y, "z": linear_z},
"angular": {"x": angular_x, "y": angular_y, "z": angular_z},
}
json_string = json.dumps(
sentence_dict, indent=4
) # 使用indent参数设置缩进宽度为4
print(json_string, flush=True)
json_bytes = json_string.encode("utf-8")
node.send_output(
"CmdVelTwist",
json_bytes,
event["metadata"],
)
# print("counter: ",self.cnt1 ,"NavSatFix pub time: ", timestamp_ms)# 打印时间戳（毫秒）
key_value = None
# time.sleep(0.02)
elif event_type == "STOP":
print("received stop")
break
else:
print("received unexpected event:", event_type)
break
except KeyboardInterrupt:
print("Keyboard Interrupt")
pass