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from robomaster import robot
import robomaster
from time import sleep
from dora import Node
import numpy as np
import pyarrow as pa
# import robomaster
def wait(event):
if event is not None and not (event._event.isSet() and event.is_completed):
sleep(1)
# robomaster.config.LOCAL_IP_STR = "192.168.2.1"
# ep_robot = robot.Robot()
# ep_robot.initialize(conn_type="ap")
# assert ep_robot.initialize(conn_type="sta")
# 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"
CONN = "ap"
ep_robot = robot.Robot()
robomaster.config.LOCAL_IP_STR=""
robomaster.config.ROBOT_IP_STR="192.168.2.1"
ep_robot.initialize(conn_type="ap")
print(ep_robot.get_sn())
print(ep_robot.camera.audio_stream_addr)
ep_robot.camera.start_video_stream(display=False)
node = Node()
ep_robot.gimbal.recenter().wait_for_completed()
TCP_STREAM_URL = "tcp://192.168.2.1:40922"
# cap = cv2.VideoCapture(TCP_STREAM_URL)
# Check if the VideoCapture object opened successfully
# assert cap.isOpened(), "Error: Could not open video capture."
# print(cap.isOpened())
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
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