Keyboard support for robot diagnostics mode in Thunderscope

src/software/thunderscope/robot_diagnostics/BUILD

@@ -23,15 +23,33 @@ py_library(
     ],
 )
 
+py_library(
+    name = "keyboard_controller",
+    srcs = ["keyboard_controller.py"],
+    deps = [
+        ":controller_base",
+    ],
+)
+
 py_library(
     name = "handheld_controller",
     srcs = ["handheld_controller.py"],
+    deps = [
+        ":controller_base",
+    ],
+)
+
+py_library(
+    name = "controller_base",
+    srcs = ["controller_base.py"],
 )
 
 py_library(
     name = "handheld_controller_widget",
     srcs = ["handheld_controller_widget.py"],
     deps = [
+        "keyboard_controller",
+        ":controller_base",
         ":handheld_controller",
         "//software/thunderscope:constants",
         requirement("pyqtgraph"),

src/software/thunderscope/robot_diagnostics/controller_base.py

@@ -0,0 +1,30 @@
+from abc import ABC, abstractmethod
+
+
+class ControllerBase(ABC):
+    """Abstract base class for controller input sources."""
+
+    @abstractmethod
+    def name(self) -> str:
+        """Get the display name of the input source."""
+        ...
+
+    @abstractmethod
+    def connected(self) -> bool:
+        """Return true if the input source is active and available."""
+        ...
+
+    @abstractmethod
+    def key_down(self, key_code: int) -> bool:
+        """Return true if the given key/button code is currently pressed."""
+        ...
+
+    @abstractmethod
+    def abs_value(self, abs_code: int) -> float:
+        """Return the current value of an axis, normalized to [-1, 1]."""
+        ...
+
+    @abstractmethod
+    def close(self) -> None:
+        """Release any resources held by the input source."""
+        ...

src/software/thunderscope/robot_diagnostics/handheld_controller.py

@@ -8,8 +8,10 @@
 
 from threading import Thread
 
+from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
 
-class HandheldController:
+
+class HandheldController(ControllerBase):
     """Represents a handheld game controller or input device that can be used
     to manually control our robots.
     """

src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py

@@ -16,9 +16,13 @@
 
 from software.py_constants import *
 from software.thunderscope.constants import DiagnosticsConstants
+from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
 from software.thunderscope.robot_diagnostics.handheld_controller import (
     HandheldController,
 )
+from software.thunderscope.robot_diagnostics.keyboard_controller import (
+    KeyboardController,
+)
 
 
 class HandheldControllerWidget(QWidget):
@@ -39,7 +43,7 @@ def __init__(self) -> None:
 
         self.constants = tbots_cpp.createRobotConstants()
 
-        self.handheld_controller: HandheldController | None = None
+        self.handheld_controller: ControllerBase | None = None
 
         self.last_d_pad_axis_x_value = 0
         self.last_d_pad_axis_y_value = 0
@@ -62,6 +66,8 @@ def detect_controller(self) -> None:
         handheld controller and, if one is found, set it as the device to accept
         controller inputs from.
         """
+        if self.handheld_controller is not None:
+            self.handheld_controller.close()
         self.handheld_controller = None
 
         for path in evdev.list_devices():
@@ -72,6 +78,13 @@ def detect_controller(self) -> None:
 
         self.__update_controller_status()
 
+    def use_keyboard_controller(self) -> None:
+        """Switch to keyboard input, closing any active controller first."""
+        if self.handheld_controller is not None:
+            self.handheld_controller.close()
+        self.handheld_controller = KeyboardController()
+        self.__update_controller_status()
+
     def controller_input_enabled(self) -> bool:
         """Check whether controller input is enabled.
 
@@ -105,15 +118,19 @@ def __create_widgets(self) -> QGroupBox:
         self.detect_controller_button = QPushButton("Detect Controller")
         self.detect_controller_button.clicked.connect(self.detect_controller)
 
+        self.use_keyboard_button = QPushButton("Use Keyboard")
+        self.use_keyboard_button.clicked.connect(self.use_keyboard_controller)
+
         self.enable_input_checkbox = QCheckBox("Enable Input")
         self.enable_input_checkbox.setChecked(False)
         self.enable_input_checkbox.setEnabled(True)
 
         grid_layout = QGridLayout()
-        grid_layout.addWidget(self.controller_status_label, 0, 0, 2, 1)
+        grid_layout.addWidget(self.controller_status_label, 0, 0, 3, 1)
         grid_layout.addWidget(self.detect_controller_button, 0, 1)
+        grid_layout.addWidget(self.use_keyboard_button, 1, 1)
         grid_layout.addWidget(
-            self.enable_input_checkbox, 1, 1, QtCore.Qt.AlignmentFlag.AlignHCenter
+            self.enable_input_checkbox, 2, 1, QtCore.Qt.AlignmentFlag.AlignHCenter
         )
         grid_layout.setColumnStretch(0, 4)
         grid_layout.setColumnStretch(1, 1)

src/software/thunderscope/robot_diagnostics/keyboard_controller.py

@@ -0,0 +1,90 @@
+from abc import ABCMeta
+
+from pyqtgraph.Qt.QtCore import Qt, QObject, QEvent
+from pyqtgraph.Qt.QtWidgets import QApplication
+
+from software.thunderscope.robot_diagnostics.controller_base import ControllerBase
+
+# evdev-independent copies of the ecodes values used by HandheldControllerWidget
+_ABS_X = 0
+_ABS_Y = 1
+_ABS_Z = 2
+_ABS_RX = 3
+_ABS_RZ = 5
+_ABS_HAT0X = 16
+_ABS_HAT0Y = 17
+_BTN_A = 304
+_BTN_B = 305
+
+# Maps abs_code -> (negative_key, positive_key).
+# A held negative key returns -1.0; a held positive key returns +1.0.
+_ABS_KEY_MAP: dict[int, tuple[Qt.Key | None, Qt.Key | None]] = {
+    _ABS_Y: (Qt.Key.Key_W, Qt.Key.Key_S),  # forward / back
+    _ABS_X: (Qt.Key.Key_A, Qt.Key.Key_D),  # strafe left / right
+    _ABS_RX: (Qt.Key.Key_Q, Qt.Key.Key_E),  # rotate CCW / CW
+    _ABS_Z: (None, Qt.Key.Key_Shift),  # slowdown (left trigger)
+    _ABS_HAT0X: (Qt.Key.Key_Left, Qt.Key.Key_Right),  # step kick power
+    _ABS_HAT0Y: (Qt.Key.Key_Up, Qt.Key.Key_Down),  # step dribbler RPM
+    _ABS_RZ: (None, Qt.Key.Key_R),  # dribbler hold (right trigger)
+}
+
+# Maps key_code (ecodes int) -> Qt key for digital button inputs
+_BTN_KEY_MAP: dict[int, Qt.Key] = {
+    _BTN_A: Qt.Key.Key_X,  # kick
+    _BTN_B: Qt.Key.Key_C,  # chip
+}
+
+
+class _QABCMeta(type(QObject), ABCMeta):
+    pass
+
+
+class KeyboardController(QObject, ControllerBase, metaclass=_QABCMeta):
+    """Keyboard input source.
+
+    Installs a QApplication-level event filter so key events are captured
+    regardless of which widget currently has focus.
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self._held_keys: set[Qt.Key] = set()
+        self._active = True
+        QApplication.instance().installEventFilter(self)
+
+    def name(self) -> str:
+        return "Keyboard"
+
+    def connected(self) -> bool:
+        return self._active
+
+    def key_down(self, key_code: int) -> bool:
+        qt_key = _BTN_KEY_MAP.get(key_code)
+        if qt_key is None:
+            return False
+        return qt_key in self._held_keys
+
+    def abs_value(self, abs_code: int) -> float:
+        key_pair = _ABS_KEY_MAP.get(abs_code)
+        if key_pair is None:
+            return 0.0
+        neg_key, pos_key = key_pair
+        if neg_key is not None and neg_key in self._held_keys:
+            return -1.0
+        if pos_key is not None and pos_key in self._held_keys:
+            return 1.0
+        return 0.0
+
+    def close(self) -> None:
+        self._active = False
+        self._held_keys.clear()
+        app = QApplication.instance()
+        if app is not None:
+            app.removeEventFilter(self)
+
+    def eventFilter(self, obj: QObject, event: QEvent) -> bool:
+        if event.type() == QEvent.Type.KeyPress and not event.isAutoRepeat():
+            self._held_keys.add(Qt.Key(event.key()))
+        elif event.type() == QEvent.Type.KeyRelease and not event.isAutoRepeat():
+            self._held_keys.discard(Qt.Key(event.key()))
+        return False