Making the numbers match topic numbers

ch-13/3.2-collision-avoidance/robot/code.py

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+import asyncio
+import json
+import random
+from ulab import numpy as np
+
+import arena
+import robot
+
+class DistanceSensorTracker:
+    def __init__(self):
+        robot.left_distance.distance_mode = 2
+        robot.right_distance.distance_mode = 2
+        robot.left_distance.timing_budget = 50
+        robot.right_distance.timing_budget = 50
+        self.left = 300
+        self.right = 300
+
+    async def main(self):
+        robot.left_distance.start_ranging()
+        robot.right_distance.start_ranging()
+        while True:
+            if robot.left_distance.data_ready and robot.left_distance.distance:
+                self.left = robot.left_distance.distance * 10  # convert to mm
+                robot.left_distance.clear_interrupt()
+            if robot.right_distance.data_ready and robot.right_distance.distance:
+                self.right = robot.right_distance.distance * 10
+                robot.right_distance.clear_interrupt()
+            await asyncio.sleep(0.01)
+
+
+class CollisionAvoid:
+    def __init__(self, distance_sensors):
+        self.speed = 0.6
+        self.distance_sensors = distance_sensors
+
+    async def main(self):
+        while True:
+            robot.set_right(self.speed)
+            while self.distance_sensors.left < 300 or \
+                    self.distance_sensors.right < 300:
+                robot.set_left(-self.speed)
+                await asyncio.sleep(0.3)
+            robot.set_left(self.speed)
+            await asyncio.sleep(0)
+
+
+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,
+      )
+      self.distance_sensors = DistanceSensorTracker()
+      self.collision_avoider = CollisionAvoid(self.distance_sensors)
+
+    async def main(self):
+        asyncio.create_task(self.distance_sensors.main())
+        collision_avoider = asyncio.create_task(self.collision_avoider.main())
+        try:
+            while True:
+                await asyncio.sleep(0.1)
+                send_poses(self.poses)
+        finally:
+            collision_avoider.cancel()
+            robot.stop()
+
+
+async def command_handler(simulation):
+    print("Starting handler")
+    simulation_task = None
+    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,
+                })
+            elif request["command"] == "start":
+                if not simulation_task:
+                    simulation_task = asyncio.create_task(simulation.main())
+
+        await asyncio.sleep(0.1)
+
+
+simulation = Simulation()
+asyncio.run(command_handler(simulation))