from robomaster import robot
from time import sleep
from dora import Node
import numpy as np
import pyarrow as pa


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()


node = Node()

current_location = "HOME"
LOCATION = {
    "HOME": {
        "KITCHEN": np.array([[0.5, 0.0, 0.0, 0.8, 0.0, 0.0, 0.0]]),
        "OFFICE": np.array([[0.5, 0.0, 0.0, 0.8, 0.0, 0.0, 0.0]]),
    },
    "KITCHEN": {
        "OFFICE": np.array([[-0.5, 0.0, 0.0, 0.8, 0.0, 0.0, -180.0]]),
    },
    "OFFICE": {
        "KITCHEN": np.array([[-0.5, 0.0, 0.0, 0.8, 0.0, 0.0, -180.0]]),
    },
}

for dora_event in node:
    if dora_event["type"] == "INPUT" and dora_event["id"] == "control":
        [x, y, z, xy_speed, z_speed, pitch, yaw] = dora_event["value"].to_numpy()
        print(dora_event["value"].to_numpy(), flush=True)

        if any([pitch, yaw]):
            event = ep_robot.gimbal.moveto(
                pitch=pitch, yaw=yaw, pitch_speed=60.0, yaw_speed=50.0
            )
            wait(event)
            sleep(2)
        if any([x, y, z]):
            event = ep_robot.chassis.move(
                x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed
            )
            wait(event)
            sleep(6)
    if dora_event["type"] == "INPUT" and dora_event["id"] == "go_to":
        destination = dora_event["value"][0].as_py()
        commands = LOCATION[current_location][destination]
        for command in commands:

            [x, y, z, xy_speed, z_speed, pitch, yaw] = command

            if any([pitch, yaw]):
                event = ep_robot.gimbal.moveto(
                    pitch=pitch, yaw=yaw, pitch_speed=60.0, yaw_speed=50.0
                )
                wait(event)
                sleep(2)
            if any([x, y, z]):
                event = ep_robot.chassis.move(
                    x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed
                )
                wait(event)
                sleep(3)
        node.send_output(f"reached_{destination.lower()}", pa.array([]))
        current_location = destination