dora-robomaster/operators/planning_op.py

import time
import numpy as np
import pyarrow as pa
from dora import DoraStatus

# front-back and left-right movement(float) with min: -1 and max: 1
POSITION_GOAL = [0, 0]
# pitch and yaw axis angle in degrees(int) with min: -55 and max: 55
GIMBAL_GOAL = [0, 0]

CAMERA_WIDTH = 960
CAMERA_HEIGHT = 540


class Operator:
    def __init__(self):
        self.bboxs = np.array([])
        self.time = time.time()
        self.position = [0, 0, 0]

    def on_event(
        self,
        dora_event: dict,
        send_output,
    ) -> DoraStatus:
        global POSITION_GOAL, GIMBAL_GOAL
        if dora_event["type"] == "INPUT":
            id = dora_event["id"]
            if id == "tick":
                self.time = time.time()
            elif id == "bbox":
                value = dora_event["value"].to_numpy()
                bboxs = value
                self.bboxs = np.reshape(
                    bboxs, (-1, 6)
                )  # min_x, min_y, max_x, max_y, confidence, label
            elif id == "position":
                value = dora_event["value"].to_numpy()
                [x, y, _pitch, _yaw] = value
                self.position = [x, y]
                direction = np.clip(
                    np.array(POSITION_GOAL) - np.array(self.position), -1, 1
                )

                send_output(
                    "control",
                    pa.array(direction),
                    dora_event["metadata"],
                )

                send_output(
                    "gimbal_control",
                    pa.array(GIMBAL_GOAL),
                    dora_event["metadata"],
                )

        return DoraStatus.CONTINUE