client.py 文件源码

def keyPressEvent(self, event):
        """Keyboard press event

        Press a key on keyboard, the function will get an event, if the condition is met, call the function 
        run_action(). 
        In camera calibration mode, Effective key: W,A,S,D, ?,  ?,  ?,  ?, ESC
        In front wheel calibration mode, Effective key: A, D, ?,  ?, ESC
        In back wheel calibration mode, Effective key: A, D, ?,  ?, ESC

        Args:
            event, this argument will get when an event of keyboard pressed occured

        """
        key_press = event.key()

        if key_press in (Qt.Key_Up, Qt.Key_W):      # UP
            if   self.calibration_status == 1:
                cali_action('camcaliup')
            elif self.calibration_status == 2:
                pass
            elif self.calibration_status == 3:
                pass
        elif key_press in (Qt.Key_Right, Qt.Key_D): # RIGHT
            if   self.calibration_status == 1:
                cali_action('camcaliright')
            elif self.calibration_status == 2:
                cali_action('fwcaliright')
            elif self.calibration_status == 3:
                cali_action('bwcaliright')
        elif key_press in (Qt.Key_Down, Qt.Key_S):  # DOWN
            if   self.calibration_status == 1:
                cali_action('camcalidown')
            elif self.calibration_status == 2:
                pass
            elif self.calibration_status == 3:
                pass
        elif key_press in (Qt.Key_Left, Qt.Key_A):  # LEFT
            if   self.calibration_status == 1:
                cali_action('camcalileft')
            elif self.calibration_status == 2:
                cali_action('fwcalileft')
            elif self.calibration_status == 3:
                cali_action('bwcalileft')
                cali_action('forward')
        elif key_press == Qt.Key_Escape:            # ESC
            run_action('stop')
            self.close()