手动控制 controller.py

我们发现 pynput 是一个很好的库，用于向代理发送键盘命令以进行手动控制。

这是一个使用以下键盘快捷键控制 HovingAUV 的示例。

键	前进键	后退键
上/下	`i`	`k`
左/右偏航	`j`	`l`
前进/后退	`w`	`s`
左/右扫	`w`	`s`

import holoocean
import numpy as np
from pynput import keyboard

pressed_keys = list()
force = 25

def on_press(key):
    global pressed_keys
    if hasattr(key, 'char'):
        pressed_keys.append(key.char)
        pressed_keys = list(set(pressed_keys))

def on_release(key):
    global pressed_keys
    if hasattr(key, 'char'):
        pressed_keys.remove(key.char)

listener = keyboard.Listener(
    on_press=on_press,
    on_release=on_release)
listener.start()

def parse_keys(keys, val):
    command = np.zeros(8)
    if 'i' in keys:
        command[0:4] += val
    if 'k' in keys:
        command[0:4] -= val
    if 'j' in keys:
        command[[4,7]] += val
        command[[5,6]] -= val
    if 'l' in keys:
        command[[4,7]] -= val
        command[[5,6]] += val

    if 'w' in keys:
        command[4:8] += val
    if 's' in keys:
        command[4:8] -= val
    if 'a' in keys:
        command[[4,6]] += val
        command[[5,7]] -= val
    if 'd' in keys:
        command[[4,6]] -= val
        command[[5,7]] += val

    return command

with holoocean.make("Dam-Hovering") as env:
    while True:
        if 'q' in pressed_keys:
            break
        command = parse_keys(pressed_keys, force)

        # 发送到 holoocean
        env.act("auv0", command)
        state = env.tick()