umich_sim.wizard.inputs package#
Submodules#
umich_sim.wizard.inputs.base_input_dev module#
umich_sim.wizard.inputs.base_wheel module#
- class umich_sim.wizard.inputs.base_wheel.BaseWheel(ev_path: str, client_mode: ClientMode)#
Bases:
InputDeviceAbstract wheel class to be inherited
- classmethod PedalMap(val: int)#
map the input of pedals to carla defined region [0,1]
- SetWheelPos(val: float)#
Set the wheel position inputs: - val: float to indicate wheel position [-1,1]
- classmethod SteerMap(val: int)#
map the input of steering wheel to carla defined region [-1,1]
- erase_ff(ff_type: int)#
Erase the specified force feedback type
- erase_ff_autocenter()#
- erase_ff_spring()#
- events_handler() None#
Capture and handle events
- has_ff: bool = True#
- pedal_max: int = 255#
- set_speed_feedback()#
Update the auto center force feedback using speed
- steer_max: int = 65535#
umich_sim.wizard.inputs.g27_wheel module#
umich_sim.wizard.inputs.g29_wheel module#
umich_sim.wizard.inputs.g920_wheel module#
- class umich_sim.wizard.inputs.g920_wheel.G920(ev_path: str, client_mode: ClientMode = ClientMode.EGO)#
Bases:
BaseWheel- acc_val: int#
- brake_val: int#
- client_mode: ClientMode#
- clutch_val: int#
- collision_effect()#
- ev_abs_map: dict#
- ev_events: list#
- ev_key_map: dict#
- ev_type_accepted: tuple#
- start_rumble()#
- steer_val: int#
- stop_rumble()#
umich_sim.wizard.inputs.input_types module#
- class umich_sim.wizard.inputs.input_types.ClientMode(value)#
Bases:
IntEnum- Enum indicating input device type
EGO: Driver input WIZARD: Wizard input as autopilot
- EGO = 0#
- WIZARD = 1#
- class umich_sim.wizard.inputs.input_types.ControlEventType(value)#
Bases:
IntEnumEnum indicating the event requested for controller to handle
- BRAKE = 10#
- CHANGE_WEATHER = 0#
- CLOSE = 21#
- CLUTCH = 12#
- DEC_GEAR = 7#
- GAS = 9#
- INC_GEAR = 8#
- KB_BRAKE = 14#
- KB_GAS = 13#
- KB_LEFT = 15#
- KB_RIGHT = 16#
- KB_TOGGLE_REVERSE = 17#
- LEFT_BLINKER = 18#
- NONE = 22#
- RESTART_WORLD = 1#
- RIGHT_BLINKER = 19#
- STEER = 11#
- SWITCH_DRIVER = 20#
- TOGGLE_CAMERA = 3#
- TOGGLE_HELP = 5#
- TOGGLE_INFO = 2#
- TOGGLE_LDW = 6#
- TOGGLE_SENSOR = 4#
- class umich_sim.wizard.inputs.input_types.InputDevType(value)#
Bases:
IntEnumType of input device
- G27 = 2#
- G29 = 1#
- G920 = 0#
- KBD = 3#
- class umich_sim.wizard.inputs.input_types.InputPacket(event_type: ControlEventType, dev: ClientMode, val: int)#
Bases:
objectdataclass carrying data to controller
- dev: ClientMode#
- event_type: ControlEventType#
- val: int#
- class umich_sim.wizard.inputs.input_types.WheelKeyType(value)#
Bases:
IntEnumEnum indicating the keys on the racing wheel
- A = 11#
- ACC = 24#
- B = 12#
- BRAKE = 23#
- CIRCLE = 16#
- CLUTCH = 22#
- CROSS = 15#
- HPAD = 20#
- L2 = 5#
- L3 = 6#
- LBOT = 27#
- LMID = 26#
- LSB = 1#
- LSHIFT = 3#
- LTOP = 25#
- MENU = 10#
- R2 = 7#
- R3 = 8#
- RBOT = 30#
- RMID = 29#
- RSB = 2#
- RSHIFT = 4#
- RTOP = 28#
- SQUARE = 17#
- STEER = 21#
- TRIANGLE = 18#
- VIEW = 9#
- VPAD = 19#
- X = 13#
- XBOX = 0#
- Y = 14#
umich_sim.wizard.inputs.keyboard module#
- class umich_sim.wizard.inputs.keyboard.KeyboardInput(client_type: ClientMode = ClientMode.EGO)#
Bases:
InputDevicekeyboard input device type, use pygame api to get keyboard event
W : throttle S : brake A/D : steer left/right Q : toggle reverse Z/X : toggle right/left blinker L : toggle lane departure warning TAB : toggle camera F1 : toggle HUD H/? : toggle help ESC : quit
- KB_EVENT_MAP: dict = {9: ControlEventType.TOGGLE_CAMERA, 27: ControlEventType.CLOSE, 47: ControlEventType.TOGGLE_HELP, 63: ControlEventType.TOGGLE_HELP, 97: ControlEventType.KB_LEFT, 100: ControlEventType.KB_RIGHT, 104: ControlEventType.TOGGLE_HELP, 108: ControlEventType.TOGGLE_LDW, 113: ControlEventType.KB_TOGGLE_REVERSE, 115: ControlEventType.KB_BRAKE, 119: ControlEventType.KB_GAS, 120: ControlEventType.RIGHT_BLINKER, 122: ControlEventType.LEFT_BLINKER, 1073741882: ControlEventType.TOGGLE_INFO, 1073741903: ControlEventType.KB_RIGHT, 1073741904: ControlEventType.KB_LEFT, 1073741905: ControlEventType.KB_BRAKE, 1073741906: ControlEventType.KB_GAS}#
- events_handler() None#
Module contents#
- umich_sim.wizard.inputs.create_input_device(dev_type: InputDevType, client_mode: ClientMode, dev_path: Optional[str] = None) InputDevice#
create input device based on dev_type passed :param dev_type: device type :param client_mode: client mode (wizard or host) :param dev_path: optional argument passed to joystick devices