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from robomaster import robot |
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from typing import Callable, Optional, Union |
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from enum import Enum |
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from dora import DoraStatus |
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import pyarrow as pa |
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CONN = "ap" |
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class Command(Enum): |
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NOD_YES = [ |
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{"action": "gimbal", "value": [20.0, 0.0]}, |
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{"action": "gimbal", "value": [-5.0, 0.0]}, |
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] |
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NOD_NO = [ |
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{"action": "gimbal", "value": [-5, -55.0]}, |
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{"action": "gimbal", "value": [-5, 55.0]}, |
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{"action": "gimbal", "value": [-5.0, 0.0]}, |
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] |
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FORWARD = [ |
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{ |
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"action": "control", |
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"value": [0.5, 0.0, 0.0, 0.6, 0], |
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} |
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] |
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BACKWARD = [ |
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{ |
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"action": "control", |
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"value": [-0.5, 0, 180.0, 0.6, 30], |
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}, |
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] |
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LEFT = [ |
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{"action": "gimbal", "value": [-5, -30.0]}, |
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{ |
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"action": "control", |
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"value": [0.2, -0.2, 30.0, 0.6, 30], |
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}, |
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] |
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SLIGHT_LEFT = [ |
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{"action": "gimbal", "value": [-0.0, -15.0]}, |
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{ |
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"action": "control", |
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"value": [0.3, -0.1, 15.0, 0.6, 50], |
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}, |
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] |
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RIGHT = [ |
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{"action": "gimbal", "value": [-5, 30.0]}, |
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{ |
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"value": [0.2, 0.2, -30.0, 0.6, 30], |
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"action": "control", |
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}, |
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] |
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SLIGHT_RIGHT = [ |
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{"action": "gimbal", "value": [-20.0, 15.0]}, |
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{ |
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"value": [0.3, 0.1, -15.0, 0.6, 50], |
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"action": "control", |
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}, |
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] |
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UNKNOWN = [] |
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@classmethod |
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def parse(cls, value): |
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for k, v in cls.__members__.items(): |
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if k == value: |
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return v |
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return cls.UNKNOWN |
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class Operator: |
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def __init__(self): |
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self.ep_robot = robot.Robot() |
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print("Initializing robot...") |
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assert self.ep_robot.initialize(conn_type=CONN), "Could not initialize ep_robot" |
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assert self.ep_robot.camera.start_video_stream( |
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display=False |
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), "Could not start video stream" |
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self.ep_robot.gimbal.recenter().wait_for_completed() |
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self.event = self.ep_robot.gimbal.moveto( |
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pitch=-5, yaw=0, pitch_speed=50.0, yaw_speed=50.0 |
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) |
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self.backlog = [] |
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self.last_control = "" |
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def execute_backlog(self): |
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if len(self.backlog) > 0: |
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command = self.backlog.pop(0) |
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if command["action"] == "control": |
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[x, y, z, xy_speed, z_speed] = command["value"] |
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print(command, flush=True) |
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self.event = self.ep_robot.chassis.move( |
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x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed |
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) |
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elif command["action"] == "gimbal": |
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[pitch, yaw] = command["value"] |
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print(command, flush=True) |
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self.event = self.ep_robot.gimbal.moveto( |
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pitch=pitch, yaw=yaw, pitch_speed=50.0, yaw_speed=50.0 |
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) |
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def on_event( |
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self, |
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dora_event: str, |
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send_output: Callable[[str, pa.Array, Optional[dict]], None], |
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) -> DoraStatus: |
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event_type = dora_event["type"] |
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if event_type == "INPUT": |
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if dora_event["id"] == "tick": |
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if not ( |
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self.event is not None |
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and not (self.event._event.isSet() and self.event.is_completed) |
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): |
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if len(self.backlog) > 0: |
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self.execute_backlog() |
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else: |
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print(f"sending control reply: {self.last_control}", flush=True) |
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send_output("control_reply", pa.array([self.last_control])) |
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elif dora_event["id"] == "control": |
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raw_command = dora_event["value"][0].as_py() |
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print(raw_command, flush=True) |
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self.last_control = raw_command |
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if "but" in raw_command: |
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cmd = Command.NOD_NO |
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elif "right" in raw_command: |
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cmd = Command.RIGHT |
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elif "left" in raw_command: |
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cmd = Command.LEFT |
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elif "forward" in raw_command: |
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cmd = Command.FORWARD |
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elif "behind" in raw_command: |
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cmd = Command.BACKWARD |
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else: |
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cmd = Command.UNKNOWN |
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if len(self.backlog) == 0: |
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self.backlog += cmd.value |
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self.execute_backlog() |
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return DoraStatus.CONTINUE |
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