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ca87ccd941
* feat(scripts): lerobot-rollout * fix(rollout) require dataset in dagger + use duration too * fix(docs): dagger num_episodes * test(rollout): fix expectations * fix(rollout): features check * fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config * docs(rollout): edit rename_map instructions * chore(rollout): multiple minor improvements * chore(rollout): address coments + minor improvements * fix(rollout): enable default * fix(tests): default value RTCConfig * fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): prevent relativeactions with sync inference engine Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): rtc reanchor to non normalized state Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): fixing the episode length to use hwc (#3469) also reducing default length to 5 minutes * feat(rollout): go back to initial position is now a config * fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470) * chore(rollout): note about dagger correction stage * chore(docs): update comments and docstring * fix(test): move rtc relative out of rollout module * fix(rollout): address the review comments --------- Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
84 lines
2.9 KiB
Python
84 lines
2.9 KiB
Python
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Generic foot pedal listener using evdev.
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Callers supply a callback receiving the pressed key code (e.g. ``"KEY_A"``)
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and an optional device path. The listener runs in a daemon thread and
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silently no-ops when :mod:`evdev` is not installed or the device is
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unavailable. Strategy-specific key mapping logic lives in the caller.
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"""
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from __future__ import annotations
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import logging
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import threading
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from collections.abc import Callable
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logger = logging.getLogger(__name__)
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DEFAULT_PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
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def start_pedal_listener(
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on_press: Callable[[str], None],
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device_path: str = DEFAULT_PEDAL_DEVICE,
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) -> threading.Thread | None:
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"""Spawn a daemon thread that forwards pedal key-press codes to ``on_press``.
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Parameters
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----------
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on_press:
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Callback invoked with the pressed key code string (e.g. ``"KEY_A"``)
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on each pedal press event. The callback runs in the listener thread
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and must be thread-safe.
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device_path:
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Linux input device path (e.g. ``/dev/input/by-id/...``).
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Returns
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-------
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The started daemon :class:`threading.Thread`, or ``None`` when
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:mod:`evdev` is not installed (optional dependency; silent no-op).
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"""
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try:
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from evdev import InputDevice, categorize, ecodes
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except ImportError:
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return None
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def pedal_reader() -> None:
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try:
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dev = InputDevice(device_path)
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logger.info("Pedal connected: %s", dev.name)
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for ev in dev.read_loop():
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if ev.type != ecodes.EV_KEY:
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continue
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key = categorize(ev)
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code = key.keycode
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if isinstance(code, (list, tuple)):
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code = code[0]
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if key.keystate != 1: # only key-down events
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continue
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try:
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on_press(code)
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except Exception as cb_err: # pragma: no cover - defensive
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logger.warning("Pedal callback error: %s", cb_err)
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except (FileNotFoundError, PermissionError):
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pass
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except Exception as e:
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logger.warning("Pedal error: %s", e)
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thread = threading.Thread(target=pedal_reader, daemon=True, name="PedalListener")
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thread.start()
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return thread
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