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Global Keyboard Panic button implementation

asked 2015-07-31 03:26:02 -0500

raultron gravatar image

Hi,

I am working in a project with several robots including one quadcopter.

When I am designing new control codes for the quadcopter, some times I make mistakes and end up with a high speed uncontrollable quadcopter flying in my lab. When this happens I go very fast to the terminal in which I launched the controller and kill the process. I always run a reliable code in parallel which sends stable commands to the quadcopter which I switch to when this happens. This process takes time (seconds) and it usually results on quadcopter crash with a wall or something.

I would like to program a node with a sort of Panic Button on the keyboard that doesn't require having focus on the terminal to run so in case of a controller fault I can override the bad controller. I don't want to have focus on the terminal because I generally have a LOT of terminals working simultaneously and I don't want to waste some seconds finding the right terminal.

Any ideas on the best way of implementing this? I think ROS should provide this kind of safety mechanisms for moving robots, maybe I haven't looked in the right places.

I am programming on Ubuntu 14.04 with ROS Indigo.

Bests,

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You essentially need to write keylogger, right?

NEngelhard gravatar image NEngelhard  ( 2015-07-31 04:57:23 -0500 )edit
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As an idea, if you have a joystick or some other device, you could use it without focusing the terminal.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2015-07-31 05:05:59 -0500 )edit

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answered 2015-07-31 06:06:59 -0500

NEngelhard gravatar image

updated 2015-07-31 06:07:58 -0500

On Ubuntu 14.04 this works for me:

sudo apt-get install python-xlib

from Xlib import X, display

while True:
   d = display.Display().screen().root.query_pointer()._data
   if d["mask"] == 28:
      print "Triggered"
      break

( http://ubuntuforums.org/showthread.ph... )

mask of 28 is (at least for my keyboard) triggered from ctrl+alt. This could be a starting point. And please publish your findings here :)

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Asked: 2015-07-31 03:26:02 -0500

Seen: 123 times

Last updated: Jul 31 '15