Input Works!

It works in that input commands are being sent to window. However, inputs are sent too fast. I tried adding Sleep(), but program kept freezing... thanks to Komat and supric (http://forum.scssoft.com/viewtopic.php?f=41&t=228761)
ajchili · Feb 10, 2017 · b8746df · b8746df
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diff --git a/README.md b/README.md
@@ -1,40 +1,79 @@
 # ChosunTruck
 
 ## Introduction
-Chosun Truck is autonomous driving solution on Euro Truck Simulator 2(https://eurotrucksimulator2.com/).
+ChosunTruck is an autonomous driving solution for [Euro Truck Simulator 2](https://eurotrucksimulator2.com/).
 Recently, autonomous driving technology has become a big issue and we have studied the technology related to this.
-It is being develop in a simulator environment called Euro Truck Simulator 2 to study it with vehicles.
-Because this simulator provides a good test environment that is similar to the real road, we choose it.
+It is being developed in a simulator environment called Euro Truck Simulator 2 to study it with vehicles.
+Because this simulator provides a good test environment that is similar to the real road, we chose it.
 
 ## Features
-* You can drive a vehicle without handling.
+* You can drive a vehicle without handling it yourself.
 * You can understand the principle of autonomous driving.
-* This feature only works on the highway.
+* These features only work while driving on a highway.
+
+## How To Run It
+### Windows
+OS: Windows 7 64bits
+
+IDE: Visual Studio 2015
 
-## master
-OS: window 7 64bits
-Development Tool: Visual Studio 2015
 OpenCV version: 3.0
 
-Because mouse movements or keyboard input do not work in Windows to navigate the truck in Euro Truck Simulator 2, the master version is only available for lane detection.
+** **Go to C:\Users\YOURUSERNAME\Documents\Euro Truck Simulator 2\profiles and edit controls.sii from di8.keyboard/fusion.mouse to sys.keyboard/sys.mouse.** (thanks Komat!)
+
+**
+
+- Open the visual studio project and build it. 
+- Run ETS2 in windowed mode and set resolution to 1024 * 768.(It will work properly with 1920 * 1080 screen resolution and 1024 * 768 window mode ETS2.)
+
+### Linux
+OS: Ubuntu 16.04 LTS
 
-## linux
-OS: ubuntu
 OpenCV version: 3.0
+
+- Clone the linux branch.
+```
+git clone -b linux https://github.com/bethesirius/ChosunTruck.git
+```
+- Build the source code with below command.
 ```
 g++ -o auto_drive main2.cpp IPM.cpp lineinder.cpp uinput.c `pkg-config opencv --cflags --libs` -std=c++11 -lX11 -Wall -fopenmp -O3 -march=native
 ```
+- Run ETS2 in windowed mode and set the resolution to 1024 * 768. (It will work properly with 1920 * 1080 screen resolution and 1024 * 768 window mode ETS2)
+- It cannot find the ETS2 window automatically, you should move the ETS2 window to right-down corner to fix this.
+- In ETS2 Options, set controls to `Keyboard + Mouse Steering`.
+- Go to a highway and set truck's speed to 40~60km/h. (I recommend that you turn on cruise mode to set the speed easily)
+- Run this program as root!
+```
+sudo ./auto_drive
+```
+----
+If you have some problems to run this project, reference the demo video below. Or, open a issue to contact our team.
 
 ## Demo Video
-https://drive.google.com/open?id=0B0NMsYygQ6icMXUzcEJhS1RRT2M
+https://goo.gl/photos/aHQ5ZMKdTQJyMuaM9
 
-## Contributers
+## Contributors
 Chiwan Song, chi3236@gmail.com
 JaeCheol Sim, ssimpcp@gmail.com
 Seongjoon Chu, hs4393@gmail.com
 
-## How to Contribute
+## How To Contribute
 Anyone who is interest in this procject is welcome! Just Fork it and Pull Requests!
 
 ## License
-GNU GENERAL PUBLIC LICENSE v3.0
+ChosunTruck, Euro Truck Simulator 2 auto driving solution
+Copyright (C) 2017 chi3236, bethesirius, uoyssim
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
diff --git a/ets2_auto_driving.sdf b/ets2_auto_driving.sdf
diff --git a/ets2_auto_driving.v12.suo b/ets2_auto_driving.v12.suo
diff --git a/ets2_auto_driving/main.cpp b/ets2_auto_driving/main.cpp
@@ -136,37 +136,55 @@ int main() {
 
 		}
 		SetActiveWindow(hWnd);
+
 		int average = (left == -150 || right == 150) ? 0 : left + right;
 		if (left + right < -50)
 		{
 			cout << "go left ";
 
-			PostMessage(hWnd, WM_KEYUP, 0x44, 0);
-			Sleep(500);
-			PostMessage(hWnd, WM_KEYDOWN, 0x41, 0);
-			Sleep(500);
-			PostMessage(hWnd, WM_KEYUP, 0x41, 0);
+			INPUT input[2];
+			::ZeroMemory(input, sizeof(input));
+			input[0].type = INPUT_KEYBOARD;
+			// Translating 'A' to Scan Code, then pressing down
+			input[0].ki.wScan = MapVirtualKey(0x41, MAPVK_VK_TO_VSC);
+			input[0].ki.dwFlags = KEYEVENTF_SCANCODE;
+			// Translating 'A' to Scan Code, then releasing key
+			input[1].ki.wScan = MapVirtualKey(0x41, MAPVK_VK_TO_VSC);
+			input[1].ki.dwFlags = KEYEVENTF_SCANCODE | KEYEVENTF_KEYUP;
+			SendInput(2, input, sizeof(INPUT));
 		}
 		else if (left + right > -50 && left + right < 50){
 			cout << "go straight ";
 			for (int x = 0, y = 0; x < 700 && y < 700; x += 10, y += 10)
 			{
-				// PostMessage(hWnd, WM_MOUSEMOVE, 0, MAKELPARAM(x, y));
-				// Sleep(500);
-				// PostMessage(hWnd, WM_KEYDOWN, 0x44, 0);
-				// Sleep(500);
-				// PostMessage(hWnd, WM_KEYDOWN, 0x41, 0);
+				//INPUT ip; // Using SendInput to send input commands
+				//ip.type = INPUT_KEYBOARD;
+				//ip.ki.time = 0;
+				//ip.ki.wVk = 0;
+				//ip.ki.dwExtraInfo = 0;
+				//ip.ki.wScan = 'D';
+				//ip.ki.dwFlags = KEYEVENTF_KEYUP; // Releases 'D';
+				//SendInput(1, &ip, sizeof(ip));
+				//Sleep(100);
+
+				//ip.ki.wScan = 'A';
+				//ip.ki.dwFlags = KEYEVENTF_KEYUP; // Releases 'A'
+				//SendInput(1, &ip, sizeof(ip));
 			}
 		}
 		else{
 			cout << "go right ";
 			{
-				PostMessage(hWnd, WM_KEYUP, 0x41, 0);
-				Sleep(500);
-				PostMessage(hWnd, WM_KEYDOWN, 0x44, 0);
-				Sleep(500);
-				PostMessage(hWnd, WM_KEYUP, 0x44, 0);
-				// keybd_event(VK_RIGHT, 0, KEYEVENTF_KEYUP, 0);
+				INPUT input[2];
+				::ZeroMemory(input, sizeof(input));
+				input[0].type = INPUT_KEYBOARD;
+				// Translating 'D' to Scan Code, then pressing down
+				input[0].ki.wScan = MapVirtualKey(0x44, MAPVK_VK_TO_VSC);
+				input[0].ki.dwFlags = KEYEVENTF_SCANCODE;
+				// Translating 'D' to Scan Code, then releasing key
+				input[1].ki.wScan = MapVirtualKey(0x44, MAPVK_VK_TO_VSC);
+				input[1].ki.dwFlags = KEYEVENTF_SCANCODE | KEYEVENTF_KEYUP;
+				SendInput(2, input, sizeof(INPUT));
 			}
 		}
 		cout << "left: " << left << ", right: " << right << ", average: " << average << endl;

diff --git a/ets2_auto_driving/vc120.pdb b/ets2_auto_driving/vc120.pdb