Move the computer folder up - a bit easier to manage.
Integrate fixes found in earlier examples.
This commit is contained in:
Danny Staple
@@ -1,89 +0,0 @@
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import asyncio
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import json
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import numpy as np
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import matplotlib.pyplot as plt
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from matplotlib.widgets import Button
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from robot_ble_connection import BleConnection
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class RobotDisplay:
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def __init__(self):
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self.ble_connection = BleConnection(self.handle_data)
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self.line = ""
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self.arena = {}
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self.display_closed = False
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self.fig, self.ax = plt.subplots()
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self.poses = np.zeros([200, 3], dtype=np.int16)
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self.motion = np.zeros([200, 3], dtype=float)
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def handle_close(self, _):
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self.display_closed = True
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def handle_data(self, data):
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self.line += data.decode("utf-8")
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# print(f"Received data: {data.decode('utf-8')}")
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# print(f"Line is now: {self.line}")
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while "\n" in self.line:
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line, self.line = self.line.split("\n", 1)
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print(f"Received line: {line}")
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try:
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message = json.loads(line)
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except ValueError:
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print("Error parsing JSON")
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return
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if "arena" in message:
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self.arena = message
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if "poses" in message:
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print(message)
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incoming_poses = np.array(message["poses"], dtype=np.int16)
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print("Incoming poses shape", incoming_poses.shape)
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print("Existing poses shape", self.poses.shape)
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self.poses[message["offset"]: message["offset"] + incoming_poses.shape[0]] = incoming_poses
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if "motion" in message:
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np.roll(self.motion, 1, axis=0)
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self.motion[0] = [message["motion"]["rot1"], message["motion"]["trans"], message["motion"]["rot2"]]
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def draw(self):
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self.ax.clear()
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if self.arena:
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for line in self.arena["arena"]:
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self.ax.plot(
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[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
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)
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self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
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async def send_command(self, command):
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#+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
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request = (json.dumps({"command": command}) ).encode()
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print(f"Sending request: {request}")
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await self.ble_connection.send_uart_data(request)
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def start(self, _):
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self.button_task = asyncio.create_task(self.send_command("start"))
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# def stop(self, _):
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# self.button_task = asyncio.create_task(self.send_command("stop"))
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async def main(self):
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plt.ion()
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await self.ble_connection.connect()
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try:
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await self.send_command("arena")
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self.fig.canvas.mpl_connect("close_event", self.handle_close)
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start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
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start_button.on_clicked(self.start)
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# stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
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# stop_button.on_clicked(self.stop)
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while not self.display_closed:
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self.draw()
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plt.draw()
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plt.pause(0.05)
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await asyncio.sleep(0.01)
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finally:
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await self.ble_connection.close()
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robot_display = RobotDisplay()
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asyncio.run(robot_display.main())
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@@ -1,24 +0,0 @@
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from unittest import TestCase
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import math
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import arena
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class TestArena(TestCase):
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def test_get_point_to_distance_segment_1(self):
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segment = ((0, 0), (0, 1500))
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for x in range(0, 1500):
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for y in (0, 500, 1000):
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self.assertEqual(arena.get_point_distance_to_segment(x, y, segment), x)
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def test_get_point_to_distance_segment_2(self):
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segment = ((0, 0), (1500, 0))
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for y in range(0, 1500):
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for x in (0, 500, 1000):
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self.assertEqual(arena.get_point_distance_to_segment(x, y, segment), y)
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def test_get_point_distance_to_nearest_segment(self):
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segments = [
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[(0, 1500), (1500, 1500)],
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]
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for y in range(1500):
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for x in (0, 500, 1000):
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self.assertEqual(arena.get_point_distance_to_nearest_segment(segments, x, y), 1500 - y)
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+9
-13
@@ -10,23 +10,21 @@ from robot_ble_connection import BleConnection
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class RobotDisplay:
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def __init__(self):
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self.ble_connection = BleConnection(self.handle_data)
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self.line = ""
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self.buffer = ""
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self.arena = {}
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self.display_closed = False
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self.closed = False
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self.fig, self.ax = plt.subplots()
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self.poses = np.zeros([200, 2], dtype=np.int16)
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self.poses = np.zeros([20, 2], dtype=np.int16)
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self.motion = np.zeros([200, 3], dtype=float)
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def handle_close(self, _):
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self.display_closed = True
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self.closed = True
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def handle_data(self, data):
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self.line += data.decode("utf-8")
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# print(f"Received data: {data.decode('utf-8')}")
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# print(f"Line is now: {self.line}")
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while "\n" in self.line:
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line, self.line = self.line.split("\n", 1)
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print(f"Received line: {line}")
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self.buffer += data.decode("utf-8")
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while "\n" in self.buffer:
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line, self.buffer = self.buffer.split("\n", 1)
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print(f"Received data: {line}")
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try:
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message = json.loads(line)
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except ValueError:
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@@ -47,9 +45,7 @@ class RobotDisplay:
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)
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self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
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async def send_command(self, command):
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#+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
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request = (json.dumps({"command": command}) ).encode()
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print(f"Sending request: {request}")
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await self.ble_connection.send_uart_data(request)
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@@ -70,7 +66,7 @@ class RobotDisplay:
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start_button.on_clicked(self.start)
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# stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
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# stop_button.on_clicked(self.stop)
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while not self.display_closed:
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while not self.closed:
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self.draw()
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plt.draw()
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plt.pause(0.05)
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+64
-138
@@ -8,7 +8,7 @@ python-versions = ">=3.6"
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[[package]]
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name = "black"
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version = "22.10.0"
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version = "22.12.0"
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description = "The uncompromising code formatter."
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category = "dev"
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optional = false
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@@ -99,7 +99,7 @@ python-versions = ">=3.6"
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[[package]]
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name = "dbus-fast"
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version = "1.64.0"
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version = "1.83.0"
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description = "A faster version of dbus-next"
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category = "main"
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optional = false
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@@ -158,14 +158,6 @@ pyparsing = ">=2.2.1"
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python-dateutil = ">=2.7"
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setuptools_scm = ">=7"
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[[package]]
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name = "msgpack"
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version = "1.0.4"
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description = "MessagePack serializer"
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category = "main"
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optional = false
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python-versions = "*"
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[[package]]
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name = "mypy-extensions"
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version = "0.4.3"
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@@ -184,18 +176,15 @@ python-versions = ">=3.8"
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[[package]]
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name = "packaging"
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version = "21.3"
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version = "22.0"
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description = "Core utilities for Python packages"
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category = "main"
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optional = false
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python-versions = ">=3.6"
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[package.dependencies]
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pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
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python-versions = ">=3.7"
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[[package]]
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name = "pathspec"
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version = "0.10.1"
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version = "0.10.3"
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description = "Utility library for gitignore style pattern matching of file paths."
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category = "dev"
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optional = false
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@@ -215,15 +204,15 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
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[[package]]
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name = "platformdirs"
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version = "2.5.2"
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description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
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version = "2.6.0"
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description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
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category = "dev"
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optional = false
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python-versions = ">=3.7"
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[package.extras]
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docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
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test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
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docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
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test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
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[[package]]
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name = "pyobjc-core"
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@@ -291,7 +280,7 @@ six = ">=1.5"
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[[package]]
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name = "setuptools"
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version = "65.5.0"
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version = "65.6.3"
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description = "Easily download, build, install, upgrade, and uninstall Python packages"
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category = "main"
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optional = false
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@@ -299,12 +288,12 @@ python-versions = ">=3.7"
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[package.extras]
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docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
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testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mock", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
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testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
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testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
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[[package]]
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name = "setuptools-scm"
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version = "7.0.5"
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version = "7.1.0"
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description = "the blessed package to manage your versions by scm tags"
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category = "main"
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optional = false
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@@ -313,7 +302,7 @@ python-versions = ">=3.7"
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[package.dependencies]
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packaging = ">=20.0"
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setuptools = "*"
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tomli = ">=1.0.0"
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tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
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typing-extensions = "*"
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[package.extras]
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@@ -347,7 +336,7 @@ python-versions = ">=3.7"
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[metadata]
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lock-version = "1.1"
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python-versions = "^3.9"
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content-hash = "a2ae390fc260b23b2aea772611acac3c8626867abcb0e477875407c9f24a5fa6"
|
||||
content-hash = "4ec6eb3464cbb49afad347e67bdf7c353d7ea4030fd8ed4257098a5df334eb99"
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[metadata.files]
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async-timeout = [
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||||
@@ -355,27 +344,18 @@ async-timeout = [
|
||||
{file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
|
||||
]
|
||||
black = [
|
||||
{file = "black-22.10.0-1fixedarch-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:5cc42ca67989e9c3cf859e84c2bf014f6633db63d1cbdf8fdb666dcd9e77e3fa"},
|
||||
{file = "black-22.10.0-1fixedarch-cp311-cp311-macosx_11_0_x86_64.whl", hash = "sha256:5d8f74030e67087b219b032aa33a919fae8806d49c867846bfacde57f43972ef"},
|
||||
{file = "black-22.10.0-1fixedarch-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:197df8509263b0b8614e1df1756b1dd41be6738eed2ba9e9769f3880c2b9d7b6"},
|
||||
{file = "black-22.10.0-1fixedarch-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:2644b5d63633702bc2c5f3754b1b475378fbbfb481f62319388235d0cd104c2d"},
|
||||
{file = "black-22.10.0-1fixedarch-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:e41a86c6c650bcecc6633ee3180d80a025db041a8e2398dcc059b3afa8382cd4"},
|
||||
{file = "black-22.10.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2039230db3c6c639bd84efe3292ec7b06e9214a2992cd9beb293d639c6402edb"},
|
||||
{file = "black-22.10.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:14ff67aec0a47c424bc99b71005202045dc09270da44a27848d534600ac64fc7"},
|
||||
{file = "black-22.10.0-cp310-cp310-win_amd64.whl", hash = "sha256:819dc789f4498ecc91438a7de64427c73b45035e2e3680c92e18795a839ebb66"},
|
||||
{file = "black-22.10.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:5b9b29da4f564ba8787c119f37d174f2b69cdfdf9015b7d8c5c16121ddc054ae"},
|
||||
{file = "black-22.10.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8b49776299fece66bffaafe357d929ca9451450f5466e997a7285ab0fe28e3b"},
|
||||
{file = "black-22.10.0-cp311-cp311-win_amd64.whl", hash = "sha256:21199526696b8f09c3997e2b4db8d0b108d801a348414264d2eb8eb2532e540d"},
|
||||
{file = "black-22.10.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1e464456d24e23d11fced2bc8c47ef66d471f845c7b7a42f3bd77bf3d1789650"},
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||||
{file = "black-22.10.0-cp37-cp37m-win_amd64.whl", hash = "sha256:9311e99228ae10023300ecac05be5a296f60d2fd10fff31cf5c1fa4ca4b1988d"},
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||||
{file = "black-22.10.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:fba8a281e570adafb79f7755ac8721b6cf1bbf691186a287e990c7929c7692ff"},
|
||||
{file = "black-22.10.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:915ace4ff03fdfff953962fa672d44be269deb2eaf88499a0f8805221bc68c87"},
|
||||
{file = "black-22.10.0-cp38-cp38-win_amd64.whl", hash = "sha256:444ebfb4e441254e87bad00c661fe32df9969b2bf224373a448d8aca2132b395"},
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||||
{file = "black-22.10.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:974308c58d057a651d182208a484ce80a26dac0caef2895836a92dd6ebd725e0"},
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||||
{file = "black-22.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72ef3925f30e12a184889aac03d77d031056860ccae8a1e519f6cbb742736383"},
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||||
{file = "black-22.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:432247333090c8c5366e69627ccb363bc58514ae3e63f7fc75c54b1ea80fa7de"},
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||||
{file = "black-22.10.0-py3-none-any.whl", hash = "sha256:c957b2b4ea88587b46cf49d1dc17681c1e672864fd7af32fc1e9664d572b3458"},
|
||||
{file = "black-22.10.0.tar.gz", hash = "sha256:f513588da599943e0cde4e32cc9879e825d58720d6557062d1098c5ad80080e1"},
|
||||
{file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
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||||
{file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
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@@ -478,34 +458,34 @@ cycler = [
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]
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@@ -624,60 +604,6 @@ matplotlib = [
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|
||||
{file = "msgpack-1.0.4-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:e83f80a7fec1a62cf4e6c9a660e39c7f878f603737a0cdac8c13131d11d97f52"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3c11a48cf5e59026ad7cb0dc29e29a01b5a66a3e333dc11c04f7e991fc5510a9"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1276e8f34e139aeff1c77a3cefb295598b504ac5314d32c8c3d54d24fadb94c9"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6c9566f2c39ccced0a38d37c26cc3570983b97833c365a6044edef3574a00c08"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:fcb8a47f43acc113e24e910399376f7277cf8508b27e5b88499f053de6b115a8"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:76ee788122de3a68a02ed6f3a16bbcd97bc7c2e39bd4d94be2f1821e7c4a64e6"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:0a68d3ac0104e2d3510de90a1091720157c319ceeb90d74f7b5295a6bee51bae"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-win32.whl", hash = "sha256:85f279d88d8e833ec015650fd15ae5eddce0791e1e8a59165318f371158efec6"},
|
||||
{file = "msgpack-1.0.4-cp36-cp36m-win_amd64.whl", hash = "sha256:c1683841cd4fa45ac427c18854c3ec3cd9b681694caf5bff04edb9387602d661"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:a75dfb03f8b06f4ab093dafe3ddcc2d633259e6c3f74bb1b01996f5d8aa5868c"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9667bdfdf523c40d2511f0e98a6c9d3603be6b371ae9a238b7ef2dc4e7a427b0"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11184bc7e56fd74c00ead4f9cc9a3091d62ecb96e97653add7a879a14b003227"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ac5bd7901487c4a1dd51a8c58f2632b15d838d07ceedaa5e4c080f7190925bff"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:1e91d641d2bfe91ba4c52039adc5bccf27c335356055825c7f88742c8bb900dd"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:2a2df1b55a78eb5f5b7d2a4bb221cd8363913830145fad05374a80bf0877cb1e"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:545e3cf0cf74f3e48b470f68ed19551ae6f9722814ea969305794645da091236"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-win32.whl", hash = "sha256:2cc5ca2712ac0003bcb625c96368fd08a0f86bbc1a5578802512d87bc592fe44"},
|
||||
{file = "msgpack-1.0.4-cp37-cp37m-win_amd64.whl", hash = "sha256:eba96145051ccec0ec86611fe9cf693ce55f2a3ce89c06ed307de0e085730ec1"},
|
||||
{file = "msgpack-1.0.4-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:7760f85956c415578c17edb39eed99f9181a48375b0d4a94076d84148cf67b2d"},
|
||||
{file = "msgpack-1.0.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:449e57cc1ff18d3b444eb554e44613cffcccb32805d16726a5494038c3b93dab"},
|
||||
{file = "msgpack-1.0.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:d603de2b8d2ea3f3bcb2efe286849aa7a81531abc52d8454da12f46235092bcb"},
|
||||
{file = "msgpack-1.0.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:48f5d88c99f64c456413d74a975bd605a9b0526293218a3b77220a2c15458ba9"},
|
||||
{file = "msgpack-1.0.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6916c78f33602ecf0509cc40379271ba0f9ab572b066bd4bdafd7434dee4bc6e"},
|
||||
{file = "msgpack-1.0.4-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:81fc7ba725464651190b196f3cd848e8553d4d510114a954681fd0b9c479d7e1"},
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||||
{file = "msgpack-1.0.4-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:d5b5b962221fa2c5d3a7f8133f9abffc114fe218eb4365e40f17732ade576c8e"},
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{file = "msgpack-1.0.4-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:77ccd2af37f3db0ea59fb280fa2165bf1b096510ba9fe0cc2bf8fa92a22fdb43"},
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{file = "msgpack-1.0.4-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:b17be2478b622939e39b816e0aa8242611cc8d3583d1cd8ec31b249f04623243"},
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||||
{file = "msgpack-1.0.4-cp38-cp38-win32.whl", hash = "sha256:2bb8cdf50dd623392fa75525cce44a65a12a00c98e1e37bf0fb08ddce2ff60d2"},
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{file = "msgpack-1.0.4-cp38-cp38-win_amd64.whl", hash = "sha256:26b8feaca40a90cbe031b03d82b2898bf560027160d3eae1423f4a67654ec5d6"},
|
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{file = "msgpack-1.0.4-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:462497af5fd4e0edbb1559c352ad84f6c577ffbbb708566a0abaaa84acd9f3ae"},
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{file = "msgpack-1.0.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:2999623886c5c02deefe156e8f869c3b0aaeba14bfc50aa2486a0415178fce55"},
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{file = "msgpack-1.0.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f0029245c51fd9473dc1aede1160b0a29f4a912e6b1dd353fa6d317085b219da"},
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{file = "msgpack-1.0.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ed6f7b854a823ea44cf94919ba3f727e230da29feb4a99711433f25800cf747f"},
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{file = "msgpack-1.0.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0df96d6eaf45ceca04b3f3b4b111b86b33785683d682c655063ef8057d61fd92"},
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||||
{file = "msgpack-1.0.4-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6a4192b1ab40f8dca3f2877b70e63799d95c62c068c84dc028b40a6cb03ccd0f"},
|
||||
{file = "msgpack-1.0.4-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:0e3590f9fb9f7fbc36df366267870e77269c03172d086fa76bb4eba8b2b46624"},
|
||||
{file = "msgpack-1.0.4-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:1576bd97527a93c44fa856770197dec00d223b0b9f36ef03f65bac60197cedf8"},
|
||||
{file = "msgpack-1.0.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:63e29d6e8c9ca22b21846234913c3466b7e4ee6e422f205a2988083de3b08cae"},
|
||||
{file = "msgpack-1.0.4-cp39-cp39-win32.whl", hash = "sha256:fb62ea4b62bfcb0b380d5680f9a4b3f9a2d166d9394e9bbd9666c0ee09a3645c"},
|
||||
{file = "msgpack-1.0.4-cp39-cp39-win_amd64.whl", hash = "sha256:4d5834a2a48965a349da1c5a79760d94a1a0172fbb5ab6b5b33cbf8447e109ce"},
|
||||
{file = "msgpack-1.0.4.tar.gz", hash = "sha256:f5d869c18f030202eb412f08b28d2afeea553d6613aee89e200d7aca7ef01f5f"},
|
||||
]
|
||||
mypy-extensions = [
|
||||
{file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
|
||||
{file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
|
||||
@@ -713,12 +639,12 @@ numpy = [
|
||||
{file = "numpy-1.23.4.tar.gz", hash = "sha256:ed2cc92af0efad20198638c69bb0fc2870a58dabfba6eb722c933b48556c686c"},
|
||||
]
|
||||
packaging = [
|
||||
{file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
|
||||
{file = "packaging-21.3.tar.gz", hash = "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb"},
|
||||
{file = "packaging-22.0-py3-none-any.whl", hash = "sha256:957e2148ba0e1a3b282772e791ef1d8083648bc131c8ab0c1feba110ce1146c3"},
|
||||
{file = "packaging-22.0.tar.gz", hash = "sha256:2198ec20bd4c017b8f9717e00f0c8714076fc2fd93816750ab48e2c41de2cfd3"},
|
||||
]
|
||||
pathspec = [
|
||||
{file = "pathspec-0.10.1-py3-none-any.whl", hash = "sha256:46846318467efc4556ccfd27816e004270a9eeeeb4d062ce5e6fc7a87c573f93"},
|
||||
{file = "pathspec-0.10.1.tar.gz", hash = "sha256:7ace6161b621d31e7902eb6b5ae148d12cfd23f4a249b9ffb6b9fee12084323d"},
|
||||
{file = "pathspec-0.10.3-py3-none-any.whl", hash = "sha256:3c95343af8b756205e2aba76e843ba9520a24dd84f68c22b9f93251507509dd6"},
|
||||
{file = "pathspec-0.10.3.tar.gz", hash = "sha256:56200de4077d9d0791465aa9095a01d421861e405b5096955051deefd697d6f6"},
|
||||
]
|
||||
Pillow = [
|
||||
{file = "Pillow-9.3.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:0b7257127d646ff8676ec8a15520013a698d1fdc48bc2a79ba4e53df792526f2"},
|
||||
@@ -782,8 +708,8 @@ Pillow = [
|
||||
{file = "Pillow-9.3.0.tar.gz", hash = "sha256:c935a22a557a560108d780f9a0fc426dd7459940dc54faa49d83249c8d3e760f"},
|
||||
]
|
||||
platformdirs = [
|
||||
{file = "platformdirs-2.5.2-py3-none-any.whl", hash = "sha256:027d8e83a2d7de06bbac4e5ef7e023c02b863d7ea5d079477e722bb41ab25788"},
|
||||
{file = "platformdirs-2.5.2.tar.gz", hash = "sha256:58c8abb07dcb441e6ee4b11d8df0ac856038f944ab98b7be6b27b2a3c7feef19"},
|
||||
{file = "platformdirs-2.6.0-py3-none-any.whl", hash = "sha256:1a89a12377800c81983db6be069ec068eee989748799b946cce2a6e80dcc54ca"},
|
||||
{file = "platformdirs-2.6.0.tar.gz", hash = "sha256:b46ffafa316e6b83b47489d240ce17173f123a9b9c83282141c3daf26ad9ac2e"},
|
||||
]
|
||||
pyobjc-core = [
|
||||
{file = "pyobjc-core-8.5.1.tar.gz", hash = "sha256:f8592a12de076c27006700c4a46164478564fa33d7da41e7cbdd0a3bf9ddbccf"},
|
||||
@@ -830,12 +756,12 @@ python-dateutil = [
|
||||
{file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
|
||||
]
|
||||
setuptools = [
|
||||
{file = "setuptools-65.5.0-py3-none-any.whl", hash = "sha256:f62ea9da9ed6289bfe868cd6845968a2c854d1427f8548d52cae02a42b4f0356"},
|
||||
{file = "setuptools-65.5.0.tar.gz", hash = "sha256:512e5536220e38146176efb833d4a62aa726b7bbff82cfbc8ba9eaa3996e0b17"},
|
||||
{file = "setuptools-65.6.3-py3-none-any.whl", hash = "sha256:57f6f22bde4e042978bcd50176fdb381d7c21a9efa4041202288d3737a0c6a54"},
|
||||
{file = "setuptools-65.6.3.tar.gz", hash = "sha256:a7620757bf984b58deaf32fc8a4577a9bbc0850cf92c20e1ce41c38c19e5fb75"},
|
||||
]
|
||||
setuptools-scm = [
|
||||
{file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
|
||||
{file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
|
||||
{file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
|
||||
{file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
|
||||
]
|
||||
six = [
|
||||
{file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
|
||||
@@ -11,7 +11,6 @@ python = "^3.9"
|
||||
matplotlib = "3.6.1"
|
||||
numpy = "1.23.4"
|
||||
bleak = "0.19.0"
|
||||
msgpack = "^1.0.4"
|
||||
|
||||
|
||||
[tool.poetry.group.dev.dependencies]
|
||||
@@ -1,4 +1,4 @@
|
||||
"""Represent the lines and target zone of the arena"""
|
||||
"""Represent the lines of the arena"""
|
||||
try:
|
||||
from ulab import numpy as np
|
||||
except ImportError:
|
||||
@@ -16,8 +16,7 @@ boundary_lines = [
|
||||
width = 1500
|
||||
height = 1500
|
||||
|
||||
# need to state clearly the orientation of the heading
|
||||
# if coordinates 0, 0 is bottom left, then heading 0 is right, with heading increasing anticlockwise.
|
||||
# 0, 0 is bottom left. Heading 0 is right, with heading increasing anticlockwise. Standard position angles.
|
||||
|
||||
def point_is_inside_arena(x, y):
|
||||
"""Return True if the point is inside the arena.
|
||||
@@ -67,11 +66,12 @@ def make_distance_grid():
|
||||
"""Take the boundary lines. With and overscan of 10 cells, and grid cell size of 5cm (50mm),
|
||||
make a grid of the distance to the nearest boundary line.
|
||||
"""
|
||||
grid = np.zeros((width // grid_cell_size + 2 * overscan, height // grid_cell_size + 2 * overscan), dtype=np.float)
|
||||
grid = np.zeros((width // grid_cell_size + 2 * overscan, height // grid_cell_size + 2 * overscan), dtype=np.uint8)
|
||||
# 4kb as floats, 1 kb as uint8s.
|
||||
for x in range(grid.shape[0]):
|
||||
column_x = x * grid_cell_size - (overscan * grid_cell_size)
|
||||
for y in range(grid.shape[1]):
|
||||
value = get_point_decay_from_nearest_segment(boundary_lines, column_x, y * grid_cell_size - (overscan * grid_cell_size))
|
||||
value = int(get_point_decay_from_nearest_segment(boundary_lines, column_x, y * grid_cell_size - (overscan * grid_cell_size)) * 255)
|
||||
grid[x, y] = value
|
||||
return grid
|
||||
|
||||
|
||||
@@ -2,34 +2,49 @@ import asyncio
|
||||
import json
|
||||
import random
|
||||
from ulab import numpy as np
|
||||
|
||||
import arena
|
||||
import robot
|
||||
|
||||
class CollisionAvoid:
|
||||
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.left_distance = 300
|
||||
self.right_distance = 300
|
||||
self.distance_sensors = distance_sensors
|
||||
|
||||
def update(self, left_distance, right_distance):
|
||||
self.left_distance = left_distance
|
||||
self.right_distance = right_distance
|
||||
|
||||
async def run(self):
|
||||
async def main(self):
|
||||
while True:
|
||||
robot.set_right(self.speed)
|
||||
while self.left_distance < 300 or self.right_distance < 300:
|
||||
robot.set_left(-0.6)
|
||||
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)
|
||||
|
||||
|
||||
triangular_proportion = np.sqrt(6) / 2
|
||||
def get_triangular_sample(mean, standard_deviation):
|
||||
base = triangular_proportion * (random.uniform(-standard_deviation, standard_deviation) + random.uniform(-standard_deviation, standard_deviation))
|
||||
return mean + base
|
||||
|
||||
def get_scaled_sample_around_mean(mean, scale):
|
||||
return mean + (random.uniform(-scale, scale) + random.uniform(-scale, scale)) / 2
|
||||
|
||||
def convert_to_standard_position(true_bearing):
|
||||
standard_position = 90 - true_bearing
|
||||
@@ -43,22 +58,29 @@ def convert_to_standard_position(true_bearing):
|
||||
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": samples[:,:2].tolist(),
|
||||
"poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
|
||||
})
|
||||
|
||||
|
||||
class Simulation:
|
||||
def __init__(self):
|
||||
self.population_size = 300
|
||||
self.left_distance = 100
|
||||
self.right_distance = 100
|
||||
self.population_size = 200
|
||||
self.imu_mix = 0.3 * 0.5
|
||||
self.encoder_mix = 0.7
|
||||
self.rotation_standard_dev = 2 # degrees
|
||||
self.speed_standard_dev = 5 # mm
|
||||
self.rotation_scale = 0.5 # degrees
|
||||
self.speed_scale = 3 # mm
|
||||
|
||||
# Poses - each an array of [x, y, heading]
|
||||
self.poses = np.array(
|
||||
@@ -66,9 +88,12 @@ class Simulation:
|
||||
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.int16,
|
||||
dtype=np.float,
|
||||
)
|
||||
self.collision_avoider = CollisionAvoid()
|
||||
self.distance_sensors = DistanceSensorTracker()
|
||||
self.collision_avoider = CollisionAvoid(self.distance_sensors)
|
||||
self.last_encoder_left = robot.left_encoder.read()
|
||||
self.last_encoder_right = robot.right_encoder.read()
|
||||
|
||||
async def apply_sensor_model(self):
|
||||
# Based on vl53l1x sensor readings, create weight for each pose.
|
||||
@@ -90,15 +115,15 @@ class Simulation:
|
||||
distance_sensor_left[:, 0] = self.poses[:, 0] + np.cos(poses_left_90) * robot.distance_sensor_from_middle
|
||||
distance_sensor_left[:, 1] = self.poses[:, 1] + np.sin(poses_left_90) * robot.distance_sensor_from_middle
|
||||
# now project forward by distance sensor range
|
||||
distance_sensor_left[:, 0] += np.cos(self.poses[:, 2]) * self.left_distance
|
||||
distance_sensor_left[:, 1] += np.sin(self.poses[:, 2]) * self.left_distance
|
||||
distance_sensor_left[:, 0] += np.cos(self.poses[:, 2]) * self.distance_sensors.left
|
||||
distance_sensor_left[:, 1] += np.sin(self.poses[:, 2]) * self.distance_sensors.left
|
||||
# right sensor
|
||||
poses_right_90 = np.radians(self.poses[:, 2] - 90)
|
||||
distance_sensor_right[:, 0] = self.poses[:, 0] + np.cos(poses_right_90) * robot.distance_sensor_from_middle
|
||||
distance_sensor_right[:, 1] = self.poses[:, 1] + np.sin(poses_right_90) * robot.distance_sensor_from_middle
|
||||
# now project forward by distance sensor range
|
||||
distance_sensor_right[:, 0] += np.cos(self.poses[:, 2]) * self.left_distance
|
||||
distance_sensor_right[:, 1] += np.sin(self.poses[:, 2]) * self.left_distance
|
||||
distance_sensor_right[:, 0] += np.cos(self.poses[:, 2]) * self.distance_sensors.right
|
||||
distance_sensor_right[:, 1] += np.sin(self.poses[:, 2]) * self.distance_sensors.right
|
||||
|
||||
await asyncio.sleep(0)
|
||||
# weighted poses a numpy array of weights for each pose
|
||||
@@ -134,15 +159,14 @@ class Simulation:
|
||||
return np.array([self.poses[n] for n in samples])
|
||||
|
||||
def convert_odometry_to_motion(self, left_encoder_delta, right_encoder_delta):
|
||||
# convert odometry to motion
|
||||
# left_encoder is the change in the left encoder
|
||||
# right_encoder is the change in the right encoder
|
||||
# returns rot1, trans, rot2
|
||||
# rot1 is the rotation of the robot in radians before the translation
|
||||
# trans is the distance the robot has moved in mm
|
||||
# rot2 is the rotation of the robot in radians
|
||||
|
||||
# convert encoder counts to mm
|
||||
"""
|
||||
left_encoder is the change in the left encoder
|
||||
right_encoder is the change in the right encoder
|
||||
returns rot1, trans, rot2
|
||||
rot1 is the rotation of the robot in degrees before the translation
|
||||
trans is the distance the robot has moved in mm
|
||||
rot2 is the rotation of the robot in degrees
|
||||
"""
|
||||
left_mm = left_encoder_delta * robot.ticks_to_mm
|
||||
right_mm = right_encoder_delta * robot.ticks_to_mm
|
||||
|
||||
@@ -150,13 +174,13 @@ class Simulation:
|
||||
# no rotation
|
||||
return 0, left_mm, 0
|
||||
|
||||
# calculate the ICC
|
||||
# calculate the radius of the arc
|
||||
radius = (robot.wheelbase_mm / 2) * (left_mm + right_mm) / (right_mm - left_mm)
|
||||
## arc length/radius = angle
|
||||
theta = (right_mm - left_mm) / robot.wheelbase_mm
|
||||
## angle = difference in steps / wheelbase
|
||||
d_theta = (right_mm - left_mm) / robot.wheelbase_mm
|
||||
# For a small enough motion, assume that the chord length = arc length
|
||||
arc_length = theta * radius
|
||||
rot1 = np.degrees(theta/2)
|
||||
arc_length = d_theta * radius
|
||||
rot1 = np.degrees(d_theta/2)
|
||||
rot2 = rot1
|
||||
return rot1, arc_length, rot2
|
||||
|
||||
@@ -166,7 +190,6 @@ class Simulation:
|
||||
new_encoder_left = robot.left_encoder.read()
|
||||
new_encoder_right = robot.right_encoder.read()
|
||||
|
||||
await asyncio.sleep(0)
|
||||
rot1, trans, rot2 = self.convert_odometry_to_motion(
|
||||
new_encoder_left - self.last_encoder_left,
|
||||
new_encoder_right - self.last_encoder_right)
|
||||
@@ -187,66 +210,31 @@ class Simulation:
|
||||
else:
|
||||
print("Failed to get heading")
|
||||
await asyncio.sleep(0)
|
||||
rot1_model = np.array([get_triangular_sample(rot1, self.rotation_standard_dev) for _ in range(self.poses.shape[0])])
|
||||
trans_model = np.array([get_triangular_sample(trans, self.speed_standard_dev) for _ in range(self.poses.shape[0])])
|
||||
rot2_model = np.array([get_triangular_sample(rot2, self.rotation_standard_dev) for _ in range(self.poses.shape[0])])
|
||||
rot1_model = np.array([get_scaled_sample_around_mean(rot1, self.rotation_scale) for _ in range(self.poses.shape[0])])
|
||||
trans_model = np.array([get_scaled_sample_around_mean(trans, self.speed_scale) for _ in range(self.poses.shape[0])])
|
||||
rot2_model = np.array([get_scaled_sample_around_mean(rot2, self.rotation_scale) for _ in range(self.poses.shape[0])])
|
||||
self.poses[:,2] += rot1_model
|
||||
rot1_radians = np.radians(self.poses[:,2])
|
||||
self.poses[:,0] += trans_model * np.cos(rot1_radians)
|
||||
self.poses[:,1] += trans_model * np.sin(rot1_radians)
|
||||
self.poses[:,2] += rot2_model
|
||||
self.poses[:,2] = np.vectorize(lambda n: float(n % 360))(self.poses[:,2])
|
||||
self.poses = np.array(self.poses, dtype=np.int16)
|
||||
self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
|
||||
|
||||
async def distance_sensor_updater(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
|
||||
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_distance = 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_distance = robot.right_distance.distance * 10
|
||||
robot.right_distance.clear_interrupt()
|
||||
self.collision_avoider.update(self.left_distance, self.right_distance)
|
||||
await asyncio.sleep(0.01)
|
||||
|
||||
async def run(self):
|
||||
asyncio.create_task(self.distance_sensor_updater())
|
||||
asyncio.create_task(self.collision_avoider.run())
|
||||
async def main(self):
|
||||
asyncio.create_task(self.distance_sensors.main())
|
||||
asyncio.create_task(self.collision_avoider.main())
|
||||
self.last_heading = robot.imu.euler[0]
|
||||
self.last_encoder_left = robot.left_encoder.read()
|
||||
self.last_encoder_right = robot.right_encoder.read()
|
||||
|
||||
try:
|
||||
while True:
|
||||
weights = await self.apply_sensor_model()
|
||||
send_poses(self.resample(weights, 20))
|
||||
self.poses = self.resample(weights, self.population_size)
|
||||
await asyncio.sleep(0)
|
||||
await self.motion_model()
|
||||
finally:
|
||||
robot.stop()
|
||||
|
||||
|
||||
def read_command():
|
||||
data = robot.uart.readline()
|
||||
try:
|
||||
decoded = data.decode()
|
||||
except UnicodeError:
|
||||
print("UnicodeError decoding :")
|
||||
print(data)
|
||||
return None
|
||||
try:
|
||||
request = json.loads(decoded)
|
||||
except ValueError:
|
||||
print("ValueError reading json from:")
|
||||
print(decoded)
|
||||
return None
|
||||
return request
|
||||
|
||||
|
||||
async def updater(simulation):
|
||||
@@ -274,21 +262,20 @@ async def command_handler(simulation):
|
||||
while True:
|
||||
if robot.uart.in_waiting:
|
||||
print("Receiving data...")
|
||||
request = read_command()
|
||||
request = read_json()
|
||||
if not request:
|
||||
print("no request")
|
||||
continue
|
||||
print("Received: ", request)
|
||||
if request["command"] == "arena":
|
||||
send_json(
|
||||
{
|
||||
"arena": arena.boundary_lines
|
||||
}
|
||||
)
|
||||
send_json({
|
||||
"arena": arena.boundary_lines,
|
||||
})
|
||||
if not update_task:
|
||||
update_task = asyncio.create_task(updater(simulation))
|
||||
elif request["command"] == "start":
|
||||
if not simulation_task:
|
||||
simulation_task = asyncio.create_task(simulation.run())
|
||||
simulation_task = asyncio.create_task(simulation.main())
|
||||
|
||||
await asyncio.sleep(0.1)
|
||||
|
||||
|
||||
@@ -4,7 +4,6 @@ import pio_encoder
|
||||
import busio
|
||||
import adafruit_vl53l1x
|
||||
import math
|
||||
import busio
|
||||
import adafruit_bno055
|
||||
|
||||
uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
|
||||
@@ -18,6 +17,7 @@ ticks_to_mm = wheel_circumference_mm / ticks_per_revolution
|
||||
ticks_to_m = ticks_to_mm / 1000
|
||||
m_to_ticks = 1 / ticks_to_m
|
||||
wheelbase_mm = 170
|
||||
distance_sensor_from_middle = 40 # approx mm
|
||||
|
||||
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
|
||||
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)
|
||||
@@ -36,10 +36,7 @@ i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
|
||||
left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
|
||||
right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
|
||||
|
||||
distance_sensor_from_middle = 40 # approx mm
|
||||
|
||||
imu = adafruit_bno055.BNO055_I2C(i2c0)
|
||||
imu.mode = adafruit_bno055.NDOF_MODE # should be in chapter 12!
|
||||
|
||||
def stop():
|
||||
motor_A1.duty_cycle = 0
|
||||
|
||||
+3
-1
@@ -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]
|
||||
Reference in New Issue
Block a user