Chapter 13 modelling space initial.

2022-11-03 14:16:08 +00:00
parent 1b8533b459
commit be368a6644
11 changed files with 398 additions and 0 deletions
@@ -0,0 +1,68 @@
+import asyncio
+import json
+
+import matplotlib.pyplot as plt
+
+from robot_ble_connection import BleConnection
+
+
+class RobotDisplay:
+    def __init__(self, ble_connection: BleConnection):
+        self.fig, self.ax = plt.subplots()
+        self.ble_connection = ble_connection
+        self.arena = None
+        self.display_closed = False
+        # handle closed event
+        self.fig.canvas.mpl_connect("close_event", self.handle_close)
+        ble_connection.receive_handler = self.handle_data
+        ble_connection.connected_handler = self.connected
+        self.line = ""
+
+    def handle_close(self, _):
+        self.display_closed = True
+
+    def handle_data(self, data):
+        line_part = data.decode("utf-8")
+        self.line += line_part
+        if not self.line.endswith("\n"):
+          return
+        print(f"Received data: {self.line}")
+        data = json.loads(self.line)
+        self.line = ""
+        if "arena" in data:
+            self.update(data)
+
+    def update(self, arena):
+        self.arena = arena
+        self.ax.clear()
+        for line in arena["arena"]:
+            self.ax.plot([line[0][0], line[1][0]],
+                         [line[0][1], line[1][1]],
+                         color='black')
+        for line in arena["target_zone"]:
+            self.ax.plot([line[0][0], line[1][0]],
+                         [line[0][1], line[1][1]],
+                         color="red")
+
+    def connected(self):
+        request = json.dumps({"command": "arena"}).encode()
+        print(f"Sending request for arena: {request}")
+        self.ble_connection.send_uart_data(request)
+
+
+async def main():
+    
+    plt.ion()
+
+    ble_connection = BleConnection()
+    robot_display = RobotDisplay(ble_connection)
+    asyncio.create_task(ble_connection.connect())
+    while not robot_display.display_closed:
+        plt.pause(0.05)
+        plt.draw()
+        await asyncio.sleep(0.01)
+    
+    plt.show()
+
+
+asyncio.run(main())