Apollo学习——键盘控制速度

# keyboard_control.py
import time
import keyboard # 键盘输入模块 pip install keyboard
from getkey import getkey, keys
from cyber.python.cyber_py3 import cyber_time
from cyber.python.cyber_py3 import cyber
from modules.common_msgs.control_msgs import control_cmd_pb2
from modules.common_msgs.chassis_msgs import chassis_pb2
import sys, select, os
if os.name == 'nt':import msvcrt, time
else:import tty, termios
derta_speed = 2.0  # 单位：m/s
derta_heading = 2.0  # 单位：m/s
def getKey():if os.name == 'nt':timeout = 0.1startTime = time.time()while(1):if msvcrt.kbhit():if sys.version_info[0] >= 3:return msvcrt.getch().decode()else:return msvcrt.getch()elif time.time() - startTime > timeout:return ''tty.setraw(sys.stdin.fileno())rlist, _, _ = select.select([sys.stdin], [], [], 0.1)if rlist:key = sys.stdin.read(1)else:key = ''termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)return key
class CarController:def __init__(self):# 控制参数初始化self.throttle = 0.0    # 油门 (0.0~1.0)self.brake = 0.0       # 刹车 (0.0~1.0)self.steering = 0.0    # 转向 (-1.0左 ~ 1.0右)self.max_throttle = 100.0  # 最大油门限制（安全阈值）self.steering_rate = 0.1  # 转向灵敏度# 初始化 Cyber RTcyber.init()self.node = cyber.Node("keyboard_control")self.control_writer = self.node.create_writer("/apollo/control", control_cmd_pb2.ControlCommand)def send_control_command(self):"""发布控制指令至 Apollo 控制模块"""cmd = control_cmd_pb2.ControlCommand()cmd.header.timestamp_sec = cyber_time.Time.now().to_sec()cmd.header.module_name = "keyboard_control"# 指令映射cmd.throttle = self.throttlecmd.brake = self.brakecmd.steering_target = self.steeringcmd.gear_location = 1  # 前进挡self.control_writer.write(cmd)print(f"指令: 油门={self.throttle:.2f}, 刹车={self.brake:.2f}, 转向={self.steering:.2f}")def keyboard_listener(self):"""监听键盘输入并更新控制参数"""print("使用 WASD 控制车辆，Q 退出...")while not cyber.is_shutdown():key = getKey()# 油门控制（W/S）if key == 'w':self.throttle = min(self.throttle + derta_speed, self.max_throttle)self.brake = 0.0elif key == 's':self.brake = min(self.brake + derta_speed, self.max_throttle)self.throttle = 0.0# else:#     self.throttle = max(self.throttle - derta_speed, 0.0)#     self.brake = max(self.brake - derta_speed, 0.0)# 转向控制（A/D）if key == 'a':self.steering = max(self.steering - self.steering_rate, -1.0)elif key == 'd':self.steering = min(self.steering + self.steering_rate, 1.0)else:self.steering *= 0.9  # 自动回正# 退出条件if key == 'q':breakself.send_control_command()time.sleep(0.1)  # 控制频率10Hzif __name__ == '__main__':controller = CarController()controller.keyboard_listener()cyber.shutdown()