File size: 3,131 Bytes
8852f54 c641eb7 034b730 fe79d42 034b730 c641eb7 034b730 c641eb7 034b730 357c750 c641eb7 fe79d42 c641eb7 8852f54 357c750 c641eb7 357c750 c641eb7 357c750 fe79d42 357c750 034b730 357c750 034b730 357c750 fe79d42 357c750 034b730 357c750 c641eb7 fe79d42 c641eb7 fe79d42 8852f54 034b730 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 |
from robomaster import robot, led
from typing import Callable, Optional
from dora import DoraStatus
import numpy as np
import pyarrow as pa
CONN = "ap"
print("Initialization...", flush=True)
class Operator:
def __init__(self):
self.ep_robot = robot.Robot()
print("Initializing robot...", flush=True)
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.backlog = []
self.last_control = ""
self.position = np.array([0.0, 0.0, 0.0])
self.count = -1
self.event = None
self.rgb = [0, 0, 0]
def execute_backlog(self):
if len(self.backlog) > 0:
command = self.backlog.pop(0)
print(command, flush=True)
if command["action"] == "control":
[x, y, z, xy_speed, z_speed] = command["value"]
self.position += np.array([x, y, z])
self.event = self.ep_robot.chassis.move(
x=x, y=y, z=z, xy_speed=xy_speed, z_speed=z_speed
)
elif command["action"] == "gimbal":
[pitch, yaw] = command["value"]
self.event = self.ep_robot.gimbal.moveto(
pitch=pitch, yaw=yaw, pitch_speed=50.0, yaw_speed=50.0
)
def on_event(
self,
dora_event: str,
send_output: Callable[[str, pa.Array, Optional[dict]], None],
) -> DoraStatus:
event_type = dora_event["type"]
if event_type == "INPUT":
if dora_event["id"] == "tick":
if not (
self.event is not None
and not (self.event._event.isSet() and self.event.is_completed)
):
if len(self.backlog) > 0:
self.execute_backlog()
else:
print(f"sending control reply: {self.count}", flush=True)
send_output("position", pa.array(self.position))
send_output("control_reply", pa.array([self.count]))
return DoraStatus.CONTINUE
print("sending position", flush=True)
send_output("position", pa.array(self.position))
elif dora_event["id"] == "planning_control":
command = dora_event["value"].to_pylist()
self.count = command[0]["count"]
if len(self.backlog) == 0:
self.backlog += command
self.execute_backlog()
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
|