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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": [-5.0, 0.0]},
]
NOD_NO = [
{"action": "gimbal", "value": [-5, -55.0]},
{"action": "gimbal", "value": [-5, 55.0]},
{"action": "gimbal", "value": [-5.0, 0.0]},
]
FORWARD = [
{
"action": "control",
"value": [0.5, 0.0, 0.0, 0.6, 0],
}
]
BACKWARD = [
{
"action": "control",
"value": [-0.5, 0, 180.0, 0.6, 30],
},
]
LEFT = [
{"action": "gimbal", "value": [-5, -30.0]},
{
"action": "control",
"value": [0.2, -0.2, 30.0, 0.6, 30],
},
]
SLIGHT_LEFT = [
{"action": "gimbal", "value": [-0.0, -15.0]},
{
"action": "control",
"value": [0.3, -0.1, 15.0, 0.6, 50],
},
]
RIGHT = [
{"action": "gimbal", "value": [-5, 30.0]},
{
"value": [0.2, 0.2, -30.0, 0.6, 30],
"action": "control",
},
]
SLIGHT_RIGHT = [
{"action": "gimbal", "value": [-20.0, 15.0]},
{
"value": [0.3, 0.1, -15.0, 0.6, 50],
"action": "control",
},
]
UNKNOWN = []
# 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.event = self.ep_robot.gimbal.moveto(
pitch=-5, yaw=0, pitch_speed=50.0, yaw_speed=50.0
)
self.backlog = []
self.last_control = ""
def execute_backlog(self):
if len(self.backlog) > 0:
command = self.backlog.pop(0)
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=50.0, yaw_speed=50.0
)
def on_event(
self,
dora_event: str,
send_output: Callable[[str, pa.Array, Optional[dict]], None],
) -> DoraStatus:
event_type = dora_event["type"]
if event_type == "INPUT":
if dora_event["id"] == "tick":
if not (
self.event is not None
and not (self.event._event.isSet() and self.event.is_completed)
):
if len(self.backlog) > 0:
self.execute_backlog()
else:
print(f"sending control reply: {self.last_control}", flush=True)
send_output("control_reply", pa.array([self.last_control]))
elif dora_event["id"] == "control":
raw_command = dora_event["value"][0].as_py()
print(raw_command, flush=True)
self.last_control = raw_command
if "but" in raw_command:
cmd = Command.NOD_NO
elif "right" in raw_command:
cmd = Command.RIGHT
elif "left" in raw_command:
cmd = Command.LEFT
elif "forward" in raw_command:
cmd = Command.FORWARD
elif "behind" in raw_command:
cmd = Command.BACKWARD
else:
cmd = Command.UNKNOWN
if len(self.backlog) == 0:
self.backlog += cmd.value
self.execute_backlog()
return DoraStatus.CONTINUE
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