from robomaster import robot, blaster, led from typing import Callable, Optional, Union import numpy as np import pyarrow as pa from dora import DoraStatus CONN = "ap" 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.position = [0, 0] self.gimbal_position = [0, 0] self.event = None self.brightness = 0 self.rgb = [0, 0, 0] def on_event( self, dora_event: str, send_output: Callable[[str, Union[bytes, pa.UInt8Array], Optional[dict]], None], ) -> DoraStatus: event_type = dora_event["type"] if event_type == "INPUT": if dora_event["id"] == "tick": send_output( "position", pa.array(self.position + self.gimbal_position), dora_event["metadata"], ) elif dora_event["id"] == "control": if not ( self.event is not None and not (self.event._event.isSet() and self.event.is_completed) ): [x, y] = dora_event["value"].to_numpy() if any(abs(np.array([x, y])) > 0.1): print("received command: ", x, y, flush=True) self.event = self.ep_robot.chassis.move( x=x, y=y, z=0.0, xy_speed=0.8, z_speed=0.8 ) self.position[0] += x self.position[1] += y else: print("control not completed", flush=True) print("Set: ", self.event._event.isSet(), flush=True) print("Completed:", self.event.is_completed, flush=True) elif dora_event["id"] == "gimbal_control": if not ( self.event is not None and not (self.event._event.isSet() and self.event.is_completed) ): [ gimbal_pitch, gimbal_yaw, ] = dora_event["value"].to_numpy() if self.gimbal_position != [gimbal_pitch, gimbal_yaw]: self.event = self.ep_robot.gimbal.moveto( pitch=gimbal_pitch, yaw=gimbal_yaw, pitch_speed=50, yaw_speed=50, ) self.gimbal_position[0] = gimbal_pitch self.gimbal_position[1] = gimbal_yaw elif dora_event["id"] == "blaster": [brightness] = dora_event["value"].to_numpy() if brightness != self.brightness: self.ep_robot.blaster.set_led( brightness=brightness, effect=blaster.LED_ON ) self.brightness = brightness elif dora_event["id"] == "led": [r, g, b] = dora_event["value"].to_numpy() rgb = [r, g, b] if rgb != self.rgb: self.ep_robot.led.set_led( comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON ) self.rgb = rgb return DoraStatus.CONTINUE