Using GCA and GCF causes weird stuff to happen when buttons are added.

ch-13/4-moving-poses-with-sensors-turning/robot/code.py

@@ -38,6 +38,9 @@ class Simulation:
     finally:
       robot.stop()
 
+def send_json(data):
+  robot.uart.write((json.dumps(data)+"\n").encode())
+
 async def command_handler(simulation):
   simulation_task = None
   while True:
@@ -51,11 +54,10 @@ async def command_handler(simulation):
         continue
       # {"command": "arena"}
       if request["command"] == "arena":
-         response = {
+         send_json({
             "arena": arena.boundary_lines,
             "target_zone": arena.target_zone,
-         }
-         robot.uart.write((json.dumps(response)+"\n").encode())
+         })
       elif request["command"] == "start":
         print("Starting simulation")
         if simulation_task is None or simulation_task.done():
@@ -66,10 +68,18 @@ async def command_handler(simulation):
           simulation_task.cancel()
           simulation_task = None
     else:
-      response = {
-        "poses": simulation.poses.tolist(),
-      }
-      robot.uart.write((json.dumps(response)+"\n").encode())
+      sys_status, gyro, accel, mag = robot.imu.calibration_status
+      if sys_status != 3:
+        send_json({"imu_calibration": {
+          "gyro": gyro,
+          "accel": accel,
+          "mag": mag,
+          "sys": sys_status,
+        }})
+      else:
+        send_json({
+          "poses": simulation.poses.tolist(),
+        })
     await asyncio.sleep(0.1)
 
 simulation= Simulation()