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from robomaster import robot
from typing import Callable, Optional, Union
from enum import Enum
from dora import DoraStatus
import pyarrow as pa
CONN = "ap"
class Command(Enum):
NOD_YES = [
{"action": "gimbal", "value": [20.0, 0.0]},
{"action": "gimbal", "value": [0.0, 0.0]},
]
NOD_NO = [
{"action": "gimbal", "value": [0.0, -20.0]},
{"action": "gimbal", "value": [0.0, 20.0]},
{"action": "gimbal", "value": [0.0, 0.0]},
]
FORWARD = [
{
"action": "control",
"value": [0.5, 0.0, 0.0, 0.6, 0],
}
]
BACKWARD = [
{
"action": "control",
"value": [-0.5, 0.0, 0.0, 0.6, 0],
}
]
TURN_LEFT = [
{"action": "gimbal", "value": [0.0, -45.0]},
{
"action": "control",
"value": [0.0, 0.0, 45.0, 0.0, 50],
},
]
TURN_RIGHT = [
{"action": "gimbal", "value": [0.0, 45.0]},
{
"value": [0.0, 0.0, -45.0, 0.0, 50],
"action": "control",
},
]
UNKNOWN = [
{
"value": [0.0, 0.0, 0.0, 0.0, 0],
"action": "control",
}
]
# STOP = [0, 0, 0, 0]
# COMPLETED = [0, 0, 0, 0]
@classmethod
def parse(cls, value):
for k, v in cls.__members__.items():
if k == value:
return v
return cls.UNKNOWN
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.backlog = []
self.event = None
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 not (
self.event is not None
and not (self.event._event.isSet() and self.event.is_completed)
):
if dora_event["id"] == "tick":
if len(self.backlog) > 0:
command = self.backlog.pop(0)
print(command, flush=True)
if command["action"] == "control":
[x, y, z, xy_speed, z_speed] = command["value"]
print(command, flush=True)
self.event = self.ep_robot.chassis.move(
x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed
)
elif command["action"] == "gimbal":
[pitch, yaw] = command["value"]
print(command, flush=True)
self.event = self.ep_robot.gimbal.moveto(
pitch=pitch, yaw=yaw, pitch_speed=0.0, yaw_speed=50.0
)
elif dora_event["id"] == "control":
raw_command = dora_event["value"][0].as_py()
print(raw_command, flush=True)
cmd = Command.parse(raw_command)
self.backlog += cmd.value
return DoraStatus.CONTINUE
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