Making the numbers match topic numbers

ch-13/3.1-displaying-a-pose/robot/code.py

@@ -0,0 +1,59 @@
+import asyncio
+import json
+import random
+from ulab import numpy as np
+
+import arena
+import robot
+
+def send_json(data):
+    robot.uart.write((json.dumps(data) + "\n").encode())
+
+def read_json():
+    try:
+      data = robot.uart.readline()
+      decoded = data.decode()
+      return json.loads(decoded)
+    except (UnicodeError, ValueError):
+      print("Invalid data")
+      return None
+
+
+def send_poses(samples):
+    send_json({
+        "poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
+    })
+
+
+class Simulation:
+    def __init__(self):
+      self.population_size = 20
+      self.poses = np.array(
+          [(
+              int(random.uniform(0, arena.width)),
+              int(random.uniform(0, arena.height)),
+              int(random.uniform(0, 360))) for _ in range(self.population_size)],
+          dtype=np.float,
+      )
+
+
+
+async def command_handler(simulation):
+    print("Starting handler")
+    while True:
+        if robot.uart.in_waiting:
+            request = read_json()
+            if not request:
+                continue
+            print("Received: ", request)
+            if request["command"] == "arena":
+                send_json({
+                    "arena": arena.boundary_lines,
+                })
+                send_poses(simulation.poses)
+
+        await asyncio.sleep(0.1)
+
+
+simulation = Simulation()
+asyncio.run(command_handler(simulation))