feat: 对接KCP-C
This commit is contained in:
meiqi
229
Deploy_Tienkung/udp_loopback/omnisocket_keyboard_sender.py
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229
Deploy_Tienkung/udp_loopback/omnisocket_keyboard_sender.py
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"""Keyboard sender that emits binary control packets over OmniSocket."""
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from __future__ import annotations
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import os
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from pathlib import Path
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import select
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import signal
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import sys
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import termios
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import threading
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import tty
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from typing import Dict, Optional
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import yaml
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try:
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from .omnisocket_control import make_control_packet
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except ImportError: # pragma: no cover - direct script execution fallback
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from omnisocket_control import make_control_packet
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def _load_omnisocket_api():
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try:
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from omnisocket import CONTROL_DEFAULTS, Session
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except ImportError as exc: # pragma: no cover - environment dependent
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raise RuntimeError(
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"omnisocket is not installed. Install it before using "
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"omnisocket_keyboard_sender.py."
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) from exc
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return CONTROL_DEFAULTS, Session
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class OmniSocketKeyboardSender:
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"""Standalone keyboard sender for OmniSocket control-plane testing."""
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def __init__(self) -> None:
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self.config: Dict[str, object] = {}
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self.seq_id = 0
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self.running = False
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self.session = None
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self.input_thread: Optional[threading.Thread] = None
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self.original_terminal_settings = None
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self._load_config()
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self._init_session()
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self._print_help()
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def _load_config(self) -> None:
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config_path = Path(__file__).resolve().parent / "config" / "omnisocket_demo.yaml"
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if config_path.exists():
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with config_path.open("r", encoding="utf-8") as file:
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self.config = yaml.safe_load(file) or {}
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else:
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self.config = {}
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transport_cfg = self.config.get("transport", {})
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sender_cfg = self.config.get("control_sender", {})
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self.server_addr = str(transport_cfg.get("server_addr", "127.0.0.1:10909"))
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self.relay_via = str(transport_cfg.get("relay_via", ""))
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self.bind_ip = str(transport_cfg.get("bind_ip", ""))
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self.bind_device = str(transport_cfg.get("bind_device", ""))
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self.peer_id = str(sender_cfg.get("peer_id", "peer-a-ctrl"))
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self.target_peer = str(sender_cfg.get("target_peer", "peer-b-ctrl"))
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def _init_session(self) -> None:
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control_defaults, session_cls = _load_omnisocket_api()
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self.session = session_cls()
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self.session.connect(
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server_addr=self.server_addr,
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peer_id=self.peer_id,
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relay_via=self.relay_via,
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bind_ip=self.bind_ip,
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bind_device=self.bind_device,
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**control_defaults,
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)
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def _print_help(self) -> None:
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print("OmniSocket keyboard sender ready")
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print(f"Peer: {self.peer_id} -> {self.target_peer} via {self.server_addr}")
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print("Keys:")
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print(" z -> pose_home")
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print(" c -> pose_hold")
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print(" m -> mode_stride")
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print(" w/s -> surge +/-")
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print(" a/d -> sway +/-")
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print(" q/e -> spin +/-")
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print(" Left/Right -> lift +/-")
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print(" Up/Down -> surge +/-")
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print(" r -> trim_reset")
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print(" 4 -> clear x speed")
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print(" 5 -> clear y speed")
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print(" 6 -> clear yaw speed")
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print(" x -> session_quit")
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def start(self) -> None:
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self.running = True
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self.input_thread = threading.Thread(target=self._input_loop, daemon=True)
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self.input_thread.start()
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print("OmniSocket keyboard sender thread started")
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def stop(self) -> None:
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self.running = False
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if self.input_thread and self.input_thread.is_alive():
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self.input_thread.join(timeout=1.0)
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if self.original_terminal_settings is not None:
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try:
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termios.tcsetattr(
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sys.stdin, termios.TCSADRAIN, self.original_terminal_settings
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)
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except termios.error:
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pass
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self.original_terminal_settings = None
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if self.session is not None:
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self.session.close()
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self.session = None
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print("OmniSocket keyboard sender stopped")
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def _input_loop(self) -> None:
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self.original_terminal_settings = termios.tcgetattr(sys.stdin)
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try:
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tty.setraw(sys.stdin.fileno())
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while self.running:
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if select.select([sys.stdin], [], [], 0.1)[0]:
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key = sys.stdin.read(1)
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self._process_key(key)
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except KeyboardInterrupt:
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self._handle_ctrl_c()
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finally:
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if self.original_terminal_settings is not None:
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termios.tcsetattr(
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sys.stdin, termios.TCSADRAIN, self.original_terminal_settings
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)
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self.original_terminal_settings = None
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def _process_key(self, key: str) -> None:
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event_map = {
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"w": ("surge_up", "w", 1.0),
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"s": ("surge_down", "s", 1.0),
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"a": ("sway_left", "a", 1.0),
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"d": ("sway_right", "d", 1.0),
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"q": ("spin_left", "q", 1.0),
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"e": ("spin_right", "e", 1.0),
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"z": ("pose_home", "z", 1.0),
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"c": ("pose_hold", "c", 1.0),
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"m": ("mode_stride", "m", 1.0),
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"r": ("trim_reset", "r", 1.0),
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"4": ("set_surge", "4", 0.0),
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"5": ("set_sway", "5", 0.0),
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"6": ("set_spin", "6", 0.0),
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"x": ("session_quit", "x", 1.0),
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}
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if key == "\x03":
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self._handle_ctrl_c()
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return
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if key == "\x1b":
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self._handle_arrow_key()
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return
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if key in event_map:
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event_code, key_name, drive_value = event_map[key]
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self._send_event(event_code, key_name, drive_value)
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def _handle_arrow_key(self) -> None:
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if not select.select([sys.stdin], [], [], 0.1)[0]:
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return
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key2 = sys.stdin.read(1)
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if key2 != "[":
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return
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if not select.select([sys.stdin], [], [], 0.1)[0]:
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return
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key3 = sys.stdin.read(1)
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arrow_map = {
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"A": ("surge_up", "arrow_up"),
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"B": ("surge_down", "arrow_down"),
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"C": ("lift_down", "arrow_right"),
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"D": ("lift_up", "arrow_left"),
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}
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if key3 in arrow_map:
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event_code, key_name = arrow_map[key3]
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self._send_event(event_code, key_name)
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def _send_event(
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self, event_code: str, key_name: str, drive_value: float = 1.0
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) -> None:
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if self.session is None:
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return
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packet = make_control_packet(self.seq_id, event_code, drive_value)
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payload = packet.encode()
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self.seq_id += 1
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self.session.send(to=self.target_peer, data=payload)
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print(
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f"sent seq={packet.seq_id} event={event_code} key={key_name} "
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f"bytes={len(payload)}"
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)
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if event_code == "session_quit":
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self.running = False
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def _handle_ctrl_c(self) -> None:
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self.running = False
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if self.original_terminal_settings is not None:
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try:
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termios.tcsetattr(
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sys.stdin, termios.TCSADRAIN, self.original_terminal_settings
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)
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except termios.error:
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pass
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self.original_terminal_settings = None
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os.kill(os.getpid(), signal.SIGINT)
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def main() -> None:
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sender = OmniSocketKeyboardSender()
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sender.start()
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try:
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while sender.running:
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if sender.input_thread is not None:
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sender.input_thread.join(timeout=0.2)
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except KeyboardInterrupt:
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pass
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finally:
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sender.stop()
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if __name__ == "__main__":
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main()
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