keyboard_server_node.py

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#!/bin/env python3
 
# Copyright 2021 RobosoftAI Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
import sys
import select
import termios
import tty
 
import rclpy
from rclpy.node import Node
 
from std_msgs.msg import UInt16
 
settings = termios.tcgetattr(sys.stdin)
 
 
def getKey():
    global settings
    tty.setraw(sys.stdin.fileno())
    select.select([sys.stdin], [], [], 0)
    key = sys.stdin.read(1)
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
    return key
 
 
class KeyboardPublisher(Node):
    def __init__(self):
        super().__init__("keyboard_node")
        self.pub = self.create_publisher(UInt16, "keyboard_unicode", 1)
        timer_period = 0.20  # seconds
        self.timer = self.create_timer(timer_period, self.timer_update)
        self.i = 0
 
    def timer_update(self):
        try:
            key = getKey()
            # rospy.loginfo(type(key))
            msg = UInt16()
            msg.data = ord(key)
 
            self.pub.publish(msg)
 
        except Exception as e:
            print(e)
 
        finally:
            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
 
 
def main(args=None):
    rclpy.init(args=args)
 
    node = KeyboardPublisher()
 
    rclpy.spin(node)
 
    # Destroy the node explicitly
    # (optional - otherwise it will be done automatically
    # when the garbage collector destroys the node object)
    node.destroy_node()
    rclpy.shutdown()
 
 
if __name__ == "__main__":
    main()
 
 
# ---------------------------------
 
# import std_msgs
#
 
 
# class KeyboardPublisher(Node):
#     def __init__(self):
#         super().__init__('keyboard_node')
#         self.pub = self.create_publisher(UInt16, 'keyboard_unicode', 1)
#         timer_period = 0.20  # seconds
#         self.timer = self.create_timer(timer_period, self.timer_update)
#         self.i = 0
 
#     def timer_update(self):
#         try:
#             key = getKey()
#             #rospy.loginfo(type(key))
#             msg = UInt16()
#             msg.data = ord(key)
 
#             self.pub.publish(msg)
 
#         except Exception as e:
#             print(e)
 
#         finally:
#             termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
 
# def main(args=None):
#     rclpy.init(args=args)
#     node = KeyboardPublisher()
 
#     rclpy.spin(node)
 
#     node.destroy_node()
#     rclpy.shutdown()
 
 
# if __name__ == '__main__':
#     main()