from robomaster import robot, led

from dora import Node
from time import sleep
import numpy as np
import pyarrow as pa


CONN = "ap"


ep_robot = robot.Robot()
print("Initializing robot...", flush=True)
assert ep_robot.initialize(conn_type=CONN), "Could not initialize ep_robot"
assert ep_robot.camera.start_video_stream(display=False), "Could not start video stream"

node = Node()
ep_robot.gimbal.recenter().wait_for_completed()
backlog = []
last_control = ""
position = np.array([0.0, 0.0, 0.0])
count = -1
event = None
rgb = [0, 0, 0]


def wait(event):
    if event is not None and not (event._event.isSet() and event.is_completed):
        sleep(1)


for dora_event in node:
    event_type = dora_event["type"]
    if event_type == "INPUT":
        if dora_event["id"] == "tick":
            node.send_output("position", pa.array(position))
            node.send_output("control_reply", pa.array([count]))

        elif dora_event["id"] == "planning_control":
            [x, y, z, xy_speed, z_speed, pitch, yaw, count] = dora_event[
                "value"
            ].to_numpy()
            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
                )
                position = position + np.array([x, y, z])
                wait(event)
                sleep(6)

        elif dora_event["id"] == "led":
            [r, g, b] = dora_event["value"].to_numpy()
            rgb = [r, g, b]
            if rgb != rgb:
                ep_robot.led.set_led(
                    comp=led.COMP_ALL, r=r, g=g, b=b, effect=led.EFFECT_ON
                )
                rgb = rgb