| 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 | |