from robomaster import robot
from time import sleep


def wait(event):
    if event is not None and not (event._event.isSet() and event.is_completed):
        sleep(1)


ep_robot = robot.Robot()
assert ep_robot.initialize(conn_type="ap"), "Could not initialize ep_robot"
assert ep_robot.camera.start_video_stream(display=False), "Could not start video stream"
ep_robot.gimbal.recenter().wait_for_completed()

from dora import Node

node = Node()

for dora_event in node:
    if dora_event["type"] == "INPUT":
        [x, y, z, xy_speed, z_speed, pitch, yaw] = dora_event["value"].to_numpy()
        print(dora_event["value"].to_numpy())
        event = ep_robot.gimbal.moveto(
            pitch=pitch, yaw=yaw, pitch_speed=50.0, yaw_speed=50.0
        )
        wait(event)
        sleep(4)
        event = ep_robot.chassis.move(x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed)
        wait(event)
        sleep(6)