Refinements - ensure gca/gcf are gone.

ch-13/1-modelling-space/computer/display_from_robot.py

@@ -11,6 +11,7 @@ class RobotDisplay:
         self.line = ""
         self.arena = {}
         self.display_closed = False
+        self.fig, self.ax = plt.subplots()
 
     def handle_close(self, _):
         self.display_closed = True
@@ -43,12 +44,11 @@ class RobotDisplay:
     async def main(self):
         plt.ion()
         await self.ble_connection.connect()
-        self.fig, self.ax = plt.subplots()
         try:
             request = json.dumps({"command": "arena"}).encode()
             print(f"Sending request for arena: {request}")
             await self.ble_connection.send_uart_data(request)
-            plt.gcf().canvas.mpl_connect("close_event", self.handle_close)
+            self.fig.canvas.mpl_connect("close_event", self.handle_close)
 
             while not self.display_closed:
                 self.draw()

ch-13/1-modelling-space/computer/robot_ble_connection.py

@@ -19,7 +19,9 @@ class BleConnection:
 
     async def connect(self):
         print("Scanning for devices...")
-        devices = await bleak.BleakScanner.discover(service_uuids=[self.ble_uuid])
+        devices = await bleak.BleakScanner.discover(
+            service_uuids=[self.ble_uuid]
+        )
         print(f"Found {len(devices)} devices")
         print([device.name for device in devices])        
         ble_device_info = [device for device in devices if device.name==self.ble_name][0]

ch-13/1-modelling-space/robot/code.py

@@ -4,6 +4,9 @@ import json
 import arena
 import robot
 
+def send_json(data):
+  robot.uart.write((json.dumps(data)+"\n").encode())
+
 
 async def command_handler():
   while True:
@@ -17,11 +20,10 @@ async def command_handler():
         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())
     await asyncio.sleep(0.1)
 
 asyncio.run(command_handler())

ch-13/2-displaying-a-pose/computer/display_from_robot.py

@@ -12,6 +12,7 @@ class RobotDisplay:
         self.line = ""
         self.arena = {}
         self.display_closed = False
+        self.fig, self.ax = plt.subplots()
         self.pose_coords = []
         self.pose_uv = []
 
@@ -55,12 +56,11 @@ class RobotDisplay:
     async def main(self):
         plt.ion()
         await self.ble_connection.connect()
-        self.fig, self.ax = plt.subplots()
         try:
             request = json.dumps({"command": "arena"}).encode()
             print(f"Sending request for arena: {request}")
             await self.ble_connection.send_uart_data(request)
-            plt.gcf().canvas.mpl_connect("close_event", self.handle_close)
+            self.fig.canvas.mpl_connect("close_event", self.handle_close)
 
             while not self.display_closed:
                 self.draw()

ch-13/3-moving-poses-with-sensors/computer/display_from_robot.py

@@ -13,6 +13,7 @@ class RobotDisplay:
         self.line = ""
         self.arena = {}
         self.display_closed = False
+        self.fig, self.ax = plt.subplots()
         self.pose_coords = []
         self.pose_uv = []
 
@@ -67,7 +68,6 @@ class RobotDisplay:
     async def main(self):
         plt.ion()
         await self.ble_connection.connect()
-        self.fig, self.ax = plt.subplots()
         try:
             await self.send_command("arena")
             self.fig.canvas.mpl_connect("close_event", self.handle_close)

ch-13/4-moving-poses-with-sensors-turning/computer/display_from_robot.py

@@ -13,6 +13,7 @@ class RobotDisplay:
         self.line = ""
         self.arena = {}
         self.display_closed = False
+        self.fig, self.ax = plt.subplots()
         self.pose_coords = []
         self.pose_uv = []
 
@@ -67,7 +68,6 @@ class RobotDisplay:
     async def main(self):
         plt.ion()
         await self.ble_connection.connect()
-        self.fig, self.ax = plt.subplots()
         try:
             await self.send_command("arena")
             self.fig.canvas.mpl_connect("close_event", self.handle_close)

ch-13/5-eliminating-poses/computer/display_from_robot.py

@@ -13,6 +13,7 @@ class RobotDisplay:
         self.line = ""
         self.arena = {}
         self.display_closed = False
+        self.fig, self.ax = plt.subplots()
         self.pose_coords = []
         self.pose_uv = []
 
@@ -67,7 +68,6 @@ class RobotDisplay:
     async def main(self):
         plt.ion()
         await self.ble_connection.connect()
-        self.fig, self.ax = plt.subplots()
         try:
             await self.send_command("arena")
             self.fig.canvas.mpl_connect("close_event", self.handle_close)