Reviewer comment - Extend ax into axes.

ch-13/2.3-bluetooth/display_arena.py

@@ -4,12 +4,4 @@ from robot import arena
 
 for line in arena.boundary_lines:
     plt.plot([line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black")
-overscan_size = arena.overscan * arena.grid_cell_size
-plt.imshow(
-    arena.distance_grid.T,
-    extent = [-overscan_size, arena.width + overscan_size, -overscan_size, arena.height + overscan_size], 
-    origin="lower",
-    cmap="gray"
-)
-
 plt.show()

ch-13/2.3-bluetooth/display_from_robot.py

@@ -11,7 +11,7 @@ class RobotDisplay:
         self.buffer = ""
         self.arena = {}
         self.closed = False
-        self.fig, self.ax = plt.subplots()
+        self.fig, self.axes = plt.subplots()
 
     def handle_close(self, _):
         self.closed = True
@@ -30,10 +30,10 @@ class RobotDisplay:
                 self.arena = message
 
     def draw(self):
-        self.ax.clear()
+        self.axes.clear()
         if self.arena:
             for line in self.arena["arena"]:
-                self.ax.plot(
+                self.axes.plot(
                     [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
                 )
 

ch-13/3.1-displaying-a-pose/display_from_robot.py

@@ -12,7 +12,7 @@ class RobotDisplay:
         self.buffer = ""
         self.arena = {}
         self.closed = False
-        self.fig, self.ax = plt.subplots()
+        self.fig, self.axes = plt.subplots()
         self.poses = None
 
     def handle_close(self, _):
@@ -34,14 +34,14 @@ class RobotDisplay:
                 self.poses = np.array(message["poses"], dtype=np.int16)
 
     def draw(self):
-        self.ax.clear()
+        self.axes.clear()
         if self.arena:
             for line in self.arena["arena"]:
-                self.ax.plot(
+                self.axes.plot(
                     [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
                 )
         if self.poses is not None:
-            self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
+            self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
 
     async def main(self):
         plt.ion()

ch-13/3.2-collision-avoidance/display_from_robot.py

@@ -0,0 +1,65 @@
+import asyncio
+import json
+import numpy as np
+import matplotlib.pyplot as plt
+
+from robot_ble_connection import BleConnection
+
+
+class RobotDisplay:
+    def __init__(self):
+        self.ble_connection = BleConnection(self.handle_data)
+        self.buffer = ""
+        self.arena = {}
+        self.closed = False
+        self.fig, self.axes = plt.subplots()
+        self.poses = None
+
+    def handle_close(self, _):
+        self.closed = True
+
+    def handle_data(self, data):
+        self.buffer += data.decode("utf-8")
+        while "\n" in self.buffer:
+            line, self.buffer = self.buffer.split("\n", 1)
+            print(f"Received data: {line}")
+            try:
+                message = json.loads(line)
+            except ValueError:
+                print("Error parsing JSON")
+                return
+            if "arena" in message:
+                self.arena = message
+            if "poses" in message:
+                self.poses = np.array(message["poses"], dtype=np.int16)
+
+    def draw(self):
+        self.axes.clear()
+        if self.arena:
+            for line in self.arena["arena"]:
+                self.axes.plot(
+                    [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
+                )
+        if self.poses is not None:
+            self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
+
+    async def main(self):
+        plt.ion()
+        await self.ble_connection.connect()
+        try:
+            request = json.dumps({"command": "arena"}).encode()
+            print(f"Sending request for arena: {request}")
+            await self.ble_connection.send_uart_data(request)
+            self.fig.canvas.mpl_connect("close_event", self.handle_close)
+
+            while not self.closed:
+                self.draw()
+                plt.draw()
+                plt.pause(0.05)
+                await asyncio.sleep(0.01)
+        finally:
+            await self.ble_connection.close()
+
+
+robot_display = RobotDisplay()
+asyncio.run(robot_display.main())

ch-13/3.3-moving-with-encoders/display_from_robot.py

@@ -13,7 +13,7 @@ class RobotDisplay:
         self.buffer = ""
         self.arena = {}
         self.closed = False
-        self.fig, self.ax = plt.subplots()
+        self.fig, self.axes = plt.subplots()
         self.poses = None
 
     def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
                 self.poses = np.array(message["poses"], dtype=np.int16)
 
     def draw(self):
-        self.ax.clear()
+        self.axes.clear()
         if self.arena:
             for line in self.arena["arena"]:
-                self.ax.plot(
+                self.axes.plot(
                     [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
                 )
         if self.poses is not None:
-            self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
+            self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
 
     async def send_command(self, command):
         request = (json.dumps({"command": command})  ).encode()

ch-13/3.4-movement-uncertainty/display_from_robot.py

@@ -13,7 +13,7 @@ class RobotDisplay:
         self.buffer = ""
         self.arena = {}
         self.closed = False
-        self.fig, self.ax = plt.subplots()
+        self.fig, self.axes = plt.subplots()
         self.poses = None
 
     def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
                 self.poses = np.array(message["poses"], dtype=np.int16)
 
     def draw(self):
-        self.ax.clear()
+        self.axes.clear()
         if self.arena:
             for line in self.arena["arena"]:
-                self.ax.plot(
+                self.axes.plot(
                     [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
                 )
         if self.poses is not None:
-            self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
+            self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
 
     async def send_command(self, command):
         request = (json.dumps({"command": command})  ).encode()

ch-13/4.1-generating-weights/display_from_robot.py

@@ -13,7 +13,7 @@ class RobotDisplay:
         self.buffer = ""
         self.arena = {}
         self.closed = False
-        self.fig, self.ax = plt.subplots()
+        self.fig, self.axes = plt.subplots()
         self.poses = None
 
     def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
                 self.poses = np.array(message["poses"], dtype=np.int16)
 
     def draw(self):
-        self.ax.clear()
+        self.axes.clear()
         if self.arena:
             for line in self.arena["arena"]:
-                self.ax.plot(
+                self.axes.plot(
                     [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
                 )
         if self.poses is not None:
-            self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
+            self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
 
     async def send_command(self, command):
         request = (json.dumps({"command": command})  ).encode()

ch-13/4.3-monte-carlo/display_from_robot.py

@@ -13,7 +13,7 @@ class RobotDisplay:
         self.buffer = ""
         self.arena = {}
         self.closed = False
-        self.fig, self.ax = plt.subplots()
+        self.fig, self.axes = plt.subplots()
         self.poses = None
 
     def handle_close(self, _):
@@ -35,14 +35,14 @@ class RobotDisplay:
                 self.poses = np.array(message["poses"], dtype=np.int16)
 
     def draw(self):
-        self.ax.clear()
+        self.axes.clear()
         if self.arena:
             for line in self.arena["arena"]:
-                self.ax.plot(
+                self.axes.plot(
                     [line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
                 )
         if self.poses is not None:
-            self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
+            self.axes.scatter(self.poses[:,0], self.poses[:,1], color="blue")
 
     async def send_command(self, command):
         request = (json.dumps({"command": command})  ).encode()