shark/hexapod
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use keyboard to control robot

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This commit is contained in:
Zhengyu Peng
2021-12-29 23:20:32 -05:00
parent 284ada577b
commit c9cb4b74bc
1 changed files with 32 additions and 0 deletions
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32
software/pc/hexapod.py
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@@ -129,8 +129,36 @@ class MyApp(QtWidgets.QMainWindow):
self.on_turnright_button_clicked
)
self.ui.textBrowser_TcpClientMessage.installEventFilter(self)
self.ui.show()
def eventFilter(self, widget, event):
if self.ui.textBrowser_TcpClientMessage.isEnabled():
if (event.type() == QtCore.QEvent.KeyPress):
key = event.key()
if key == QtCore.Qt.Key_Up:
self.on_forward_button_clicked()
elif key == QtCore.Qt.Key_Down:
self.on_backward_button_clicked()
elif key == QtCore.Qt.Key_Left:
self.on_turnleft_button_clicked()
elif key == QtCore.Qt.Key_Right:
self.on_turnright_button_clicked()
elif key == QtCore.Qt.Key_A:
self.on_shiftleft_button_clicked()
elif key == QtCore.Qt.Key_D:
self.on_shiftright_button_clicked()
elif key == QtCore.Qt.Key_W:
self.on_forward_button_clicked()
elif key == QtCore.Qt.Key_S:
self.on_backward_button_clicked()
elif key == QtCore.Qt.Key_Space:
self.on_standby_button_clicked()
return True
return QtWidgets.QWidget.eventFilter(self, widget, event)
def save_config(self):
try:
json.dump(self.config, open('config.json', 'w+'))
@@ -142,6 +170,7 @@ class MyApp(QtWidgets.QMainWindow):
self.update_network_interfaces()
self.ui.groupBox_Control.setEnabled(False)
self.ui.textBrowser_TcpClientMessage.setEnabled(False)
tcp_client_ip = self.config.get('TCP_Client_IP', '127.0.0.1')
tcp_client_port = self.config.get('TCP_Client_Port', '1234')
@@ -299,6 +328,7 @@ class MyApp(QtWidgets.QMainWindow):
self.ui.textBrowser_TcpClientMessage.setEnabled(False)
self.ui.groupBox_Control.setEnabled(False)
self.ui.textBrowser_TcpClientMessage.setEnabled(False)
self.ui.status_bar.clearMessage()
self.ui.status_bar.setStyleSheet('color: green')
@@ -307,8 +337,10 @@ class MyApp(QtWidgets.QMainWindow):
elif status == TCPClient.CONNECTED:
self.ui.button_TcpClient.setText('Disconnect')
self.ui.groupBox_Control.setEnabled(True)
self.ui.textBrowser_TcpClientMessage.setEnabled(True)
self.ui.textBrowser_TcpClientMessage.setEnabled(True)
self.ui.textBrowser_TcpClientMessage.setFocus()
self.ui.status_bar.clearMessage()
self.ui.status_bar.setStyleSheet('color: green')