Adding pie chart at given coordinates to cartopy projection

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I am a beginner in data visualization, and even more with cartopy, I know for most of people my question would be obvious. I am trying to get familiar with cartopy and I successfully plot text and point. But I couldn't achieve it for pie chart.

I just want to plot pie chart on a particular projection. But I am really confuse, despite the documentation of cartopy. I have first try this:

import cartopy.crs as ccrs
import matplotlib.pyplot as plt

ax = plt.axes(projection=ccrs.Robinson())
ax.coastlines(resolution='110m')  # 110, 50, 10
ax.stock_img() 

lat, long = 30, 30 # the latitude longitude
ax.pie(long, lat, [0.25, 0.75], transform=ccrs.PlateCarree())

That do not work, So I have checked and I found this Cartopy coastlines hidden by inset_axes use of Axes.pie but I do not understand what happend under the hood and furthermore it seems limited to PlateCarre(). I have try to modified it but I do not managed to get it work properly.

So my very simple question is How can I add several pie chart to a specific projection given latitude and longitude? If you can develop your answer you will be really welcome.

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