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from robomaster import robot, blaster, led |
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from typing import Callable, Optional, Union |
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import pyarrow as pa |
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from dora import DoraStatus |
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FREQ = 20 |
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CONN = "ap" |
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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.position = [0, 0, 0] |
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self.gimbal_position = [0, 0] |
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self.event = None |
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self.brightness = 0 |
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self.rgb = [0, 0, 0] |
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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, Union[bytes, pa.UInt8Array], 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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send_output( |
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"position", |
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pa.array(self.position + self.gimbal_position), |
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dora_event["metadata"], |
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) |
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elif dora_event["id"] == "control": |
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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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[x, y, z] = dora_event["value"].to_numpy() |
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self.event = self.ep_robot.chassis.move( |
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x=x, y=y, z=z, xy_speed=0.8, z_speed=0.8 |
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) |
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self.position[0] += x |
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self.position[1] += y |
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self.position[2] += z |
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else: |
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print("control not completed", flush=True) |
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print("Set: ", self.event._event.isSet(), flush=True) |
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print("Completed:", self.event.is_completed, flush=True) |
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elif dora_event["id"] == "gimbal_control": |
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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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[ |
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gimbal_pitch, |
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gimbal_yaw, |
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] = dora_event["value"].to_numpy() |
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if self.gimbal_position != [gimbal_pitch, gimbal_yaw]: |
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self.event = self.ep_robot.gimbal.moveto( |
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pitch=gimbal_pitch, |
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yaw=gimbal_yaw, |
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pitch_speed=20, |
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yaw_speed=20, |
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) |
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self.gimbal_position[0] = gimbal_pitch |
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self.gimbal_position[1] = gimbal_yaw |
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elif dora_event["id"] == "blaster": |
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[brightness] = dora_event["value"].to_numpy() |
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if brightness != self.brightness: |
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self.ep_robot.blaster.set_led( |
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brightness=brightness, effect=blaster.LED_ON |
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) |
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self.brightness = brightness |
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elif dora_event["id"] == "led": |
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[r, g, b] = dora_event["value"].to_numpy() |
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rgb = [r, g, b] |
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if rgb != self.rgb: |
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self.ep_robot.led.set_led( |
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comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON |
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) |
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self.rgb = rgb |
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return DoraStatus.CONTINUE |
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