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from robomaster import robot, blaster, led
from typing import Callable, Optional, Union
import numpy as np
import pyarrow as pa
from dora import DoraStatus
CONN = "ap"
class Operator:
def __init__(self):
self.ep_robot = robot.Robot()
print("Initializing robot...")
assert self.ep_robot.initialize(conn_type=CONN), "Could not initialize ep_robot"
assert self.ep_robot.camera.start_video_stream(
display=False
), "Could not start video stream"
self.ep_robot.gimbal.recenter().wait_for_completed()
self.position = [0, 0]
self.gimbal_position = [0, 0]
self.event = None
self.brightness = 0
self.rgb = [0, 0, 0]
def on_event(
self,
dora_event: str,
send_output: Callable[[str, Union[bytes, pa.UInt8Array], Optional[dict]], None],
) -> DoraStatus:
event_type = dora_event["type"]
if event_type == "INPUT":
if dora_event["id"] == "tick":
send_output(
"position",
pa.array(self.position + self.gimbal_position),
dora_event["metadata"],
)
elif dora_event["id"] == "control":
if not (
self.event is not None
and not (self.event._event.isSet() and self.event.is_completed)
):
[x, y] = dora_event["value"].to_numpy()
if any(abs(np.array([x, y])) > 0.1):
print("received command: ", x, y, flush=True)
self.event = self.ep_robot.chassis.move(
x=x, y=y, z=0.0, xy_speed=0.8, z_speed=0.8
)
self.position[0] += x
self.position[1] += y
else:
print("control not completed", flush=True)
print("Set: ", self.event._event.isSet(), flush=True)
print("Completed:", self.event.is_completed, flush=True)
elif dora_event["id"] == "gimbal_control":
if not (
self.event is not None
and not (self.event._event.isSet() and self.event.is_completed)
):
[
gimbal_pitch,
gimbal_yaw,
] = dora_event["value"].to_numpy()
if self.gimbal_position != [gimbal_pitch, gimbal_yaw]:
self.event = self.ep_robot.gimbal.moveto(
pitch=gimbal_pitch,
yaw=gimbal_yaw,
pitch_speed=50,
yaw_speed=50,
)
self.gimbal_position[0] = gimbal_pitch
self.gimbal_position[1] = gimbal_yaw
elif dora_event["id"] == "blaster":
[brightness] = dora_event["value"].to_numpy()
if brightness != self.brightness:
self.ep_robot.blaster.set_led(
brightness=brightness, effect=blaster.LED_ON
)
self.brightness = brightness
elif dora_event["id"] == "led":
[r, g, b] = dora_event["value"].to_numpy()
rgb = [r, g, b]
if rgb != self.rgb:
self.ep_robot.led.set_led(
comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON
)
self.rgb = rgb
return DoraStatus.CONTINUE
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