| from robomaster import robot | |
| 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 | |
| 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() | |
| return DoraStatus.CONTINUE | |