ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Simplify a little

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This commit is contained in:
Danny Staple 2022-11-03 16:24:51 +00:00
parent 601d0de7dd
commit d03c48bf8d
6 changed files with 144 additions and 34 deletions
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33
ch-13/1-modelling-space/computer/display_arena_from_robot.py
View File

@ -7,15 +7,14 @@ from robot_ble_connection import BleConnection
class RobotDisplay:
def __init__(self, ble_connection: BleConnection):
def __init__(self):
self.fig, self.ax = plt.subplots()
self.ble_connection = ble_connection
self.ble_connection = BleConnection(self.handle_data, self.connected)
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, _):
@ -49,20 +48,16 @@ class RobotDisplay:
print(f"Sending request for arena: {request}")
self.ble_connection.send_uart_data(request)
async def main(self):
plt.ion()
async def main():
plt.ion()
asyncio.create_task(self.ble_connection.connect())
while not self.display_closed:
plt.pause(0.05)
plt.draw()
await asyncio.sleep(0.01)
plt.show()
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())
robot_display = RobotDisplay()
asyncio.run(robot_display.main())

11
ch-13/1-modelling-space/computer/find_devices.py
View File

@ -1,8 +1,13 @@
import asyncio
from robot_ble_connection import BleConnection
import bleak
async def run():
ble_connection = BleConnection()
await ble_connection.connect()
ble_uuid = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
ble_name = "Adafruit Bluefruit LE"
devices = await bleak.BleakScanner.discover(service_uuids=[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==ble_name][0]
print("Found robot {}...".format(ble_device_info.name))
asyncio.run(run())

114
ch-13/1-modelling-space/computer/poetry.lock generated
View File

@ -6,6 +6,28 @@ category = "main"
optional = false
python-versions = ">=3.6"
[[package]]
name = "black"
version = "22.10.0"
description = "The uncompromising code formatter."
category = "dev"
optional = false
python-versions = ">=3.7"
[package.dependencies]
click = ">=8.0.0"
mypy-extensions = ">=0.4.3"
pathspec = ">=0.9.0"
platformdirs = ">=2"
tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
[package.extras]
colorama = ["colorama (>=0.4.3)"]
d = ["aiohttp (>=3.7.4)"]
jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
uvloop = ["uvloop (>=0.15.2)"]
[[package]]
name = "bleak"
version = "0.19.0"
@ -30,6 +52,25 @@ category = "main"
optional = false
python-versions = "*"
[[package]]
name = "click"
version = "8.1.3"
description = "Composable command line interface toolkit"
category = "dev"
optional = false
python-versions = ">=3.7"
[package.dependencies]
colorama = {version = "*", markers = "platform_system == \"Windows\""}
[[package]]
name = "colorama"
version = "0.4.6"
description = "Cross-platform colored terminal text."
category = "dev"
optional = false
python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
[[package]]
name = "contourpy"
version = "1.0.6"
@ -117,6 +158,14 @@ pyparsing = ">=2.2.1"
python-dateutil = ">=2.7"
setuptools_scm = ">=7"
[[package]]
name = "mypy-extensions"
version = "0.4.3"
description = "Experimental type system extensions for programs checked with the mypy typechecker."
category = "dev"
optional = false
python-versions = "*"
[[package]]
name = "numpy"
version = "1.23.4"
@ -136,6 +185,14 @@ python-versions = ">=3.6"
[package.dependencies]
pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
[[package]]
name = "pathspec"
version = "0.10.1"
description = "Utility library for gitignore style pattern matching of file paths."
category = "dev"
optional = false
python-versions = ">=3.7"
[[package]]
name = "Pillow"
version = "9.3.0"
@ -148,6 +205,18 @@ python-versions = ">=3.7"
docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
[[package]]
name = "platformdirs"
version = "2.5.2"
description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
category = "dev"
optional = false
python-versions = ">=3.7"
[package.extras]
docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
[[package]]
name = "pyobjc-core"
version = "8.5.1"
@ -270,13 +339,36 @@ python-versions = ">=3.7"
[metadata]
lock-version = "1.1"
python-versions = "^3.9"
content-hash = "727473570c922b0886d57e696aae6126808af34ee62e8a011dbddb4da4991b9d"
content-hash = "4ec6eb3464cbb49afad347e67bdf7c353d7ea4030fd8ed4257098a5df334eb99"
[metadata.files]
async-timeout = [
{file = "async-timeout-4.0.2.tar.gz", hash = "sha256:2163e1640ddb52b7a8c80d0a67a08587e5d245cc9c553a74a847056bc2976b15"},
{file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
]
black = [
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{file = "black-22.10.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:fba8a281e570adafb79f7755ac8721b6cf1bbf691186a287e990c7929c7692ff"},
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{file = "black-22.10.0-cp38-cp38-win_amd64.whl", hash = "sha256:444ebfb4e441254e87bad00c661fe32df9969b2bf224373a448d8aca2132b395"},
{file = "black-22.10.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:974308c58d057a651d182208a484ce80a26dac0caef2895836a92dd6ebd725e0"},
{file = "black-22.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72ef3925f30e12a184889aac03d77d031056860ccae8a1e519f6cbb742736383"},
{file = "black-22.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:432247333090c8c5366e69627ccb363bc58514ae3e63f7fc75c54b1ea80fa7de"},
{file = "black-22.10.0-py3-none-any.whl", hash = "sha256:c957b2b4ea88587b46cf49d1dc17681c1e672864fd7af32fc1e9664d572b3458"},
{file = "black-22.10.0.tar.gz", hash = "sha256:f513588da599943e0cde4e32cc9879e825d58720d6557062d1098c5ad80080e1"},
]
bleak = [
{file = "bleak-0.19.0-py3-none-any.whl", hash = "sha256:ccdba0d17dcceb1326e4e46600b37e9019cd52ce01948e2a3dbd6c94d1e4de01"},
{file = "bleak-0.19.0.tar.gz", hash = "sha256:cce5200ca9bac7daaa74dd009c867c8c2b161a124e234c74307462e86caf50e6"},
@ -294,6 +386,14 @@ bleak-winrt = [
{file = "bleak_winrt-1.2.0-cp39-cp39-win32.whl", hash = "sha256:dd740047a08925bde54bec357391fcee595d7b8ca0c74c87170a5cbc3f97aa0a"},
{file = "bleak_winrt-1.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:63130c11acfe75c504a79c01f9919e87f009f5e742bfc7b7a5c2a9c72bf591a7"},
]
click = [
{file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
{file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
]
colorama = [
{file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
{file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
]
contourpy = [
{file = "contourpy-1.0.6-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:613c665529899b5d9fade7e5d1760111a0b011231277a0d36c49f0d3d6914bd6"},
{file = "contourpy-1.0.6-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:78ced51807ccb2f45d4ea73aca339756d75d021069604c2fccd05390dc3c28eb"},
@ -516,6 +616,10 @@ matplotlib = [
{file = "matplotlib-3.6.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:5f97141e05baf160c3ec125f06ceb2a44c9bb62f42fcb8ee1c05313c73e99432"},
{file = "matplotlib-3.6.1.tar.gz", hash = "sha256:e2d1b7225666f7e1bcc94c0bc9c587a82e3e8691da4757e357e5c2515222ee37"},
]
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"},
]
numpy = [
{file = "numpy-1.23.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:95d79ada05005f6f4f337d3bb9de8a7774f259341c70bc88047a1f7b96a4bcb2"},
{file = "numpy-1.23.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:926db372bc4ac1edf81cfb6c59e2a881606b409ddc0d0920b988174b2e2a767f"},
@ -550,6 +654,10 @@ packaging = [
{file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
{file = "packaging-21.3.tar.gz", hash = "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb"},
]
pathspec = [
{file = "pathspec-0.10.1-py3-none-any.whl", hash = "sha256:46846318467efc4556ccfd27816e004270a9eeeeb4d062ce5e6fc7a87c573f93"},
{file = "pathspec-0.10.1.tar.gz", hash = "sha256:7ace6161b621d31e7902eb6b5ae148d12cfd23f4a249b9ffb6b9fee12084323d"},
]
Pillow = [
{file = "Pillow-9.3.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:0b7257127d646ff8676ec8a15520013a698d1fdc48bc2a79ba4e53df792526f2"},
{file = "Pillow-9.3.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b90f7616ea170e92820775ed47e136208e04c967271c9ef615b6fbd08d9af0e3"},
@ -611,6 +719,10 @@ Pillow = [
{file = "Pillow-9.3.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:073adb2ae23431d3b9bcbcff3fe698b62ed47211d0716b067385538a1b0f28b8"},
{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"},
]
pyobjc-core = [
{file = "pyobjc-core-8.5.1.tar.gz", hash = "sha256:f8592a12de076c27006700c4a46164478564fa33d7da41e7cbdd0a3bf9ddbccf"},
{file = "pyobjc_core-8.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:b62dcf987cc511188fc2aa5b4d3b9fd895361ea4984380463497ce4b0752ddf4"},

3
ch-13/1-modelling-space/computer/pyproject.toml
View File

@ -13,6 +13,9 @@ numpy = "1.23.4"
bleak = "0.19.0"
[tool.poetry.group.dev.dependencies]
black = "^22.10.0"
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"

17
ch-13/1-modelling-space/computer/robot_ble_connection.py
View File

@ -11,30 +11,25 @@ class BleConnection:
adafruit_tx_uuid = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
ble_name = "Adafruit Bluefruit LE"
def __init__(self, receive_handler: typing.Callable[[bytes], None] = None,
connected_handler: typing.Callable[[], None] = None):
def __init__(self, receive_handler: typing.Callable[[bytes], None],
connected_handler: typing.Callable[[], None]):
self.ble_client : bleak.BleakClient = None
# receive_handler(bytes) -> None
self.receive_handler = receive_handler
# connected_handler() -> None
self.connected_handler = connected_handler
def _uart_handler(self, _, data: bytes):
# hmm - not receiving the whole message, only parts of it...
if self.receive_handler:
self.receive_handler(data)
self.receive_handler(data)
async def connect(self):
print("Scanning for devices...")
devices = await bleak.BleakScanner.discover(service_uuids=[self.ble_uuid])
print("Found {} devices".format(len(devices)))
print([device.name for device in devices])
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]
print("Connecting to {}...".format(ble_device_info.name))
async with bleak.BleakClient(ble_device_info.address) as ble_client:
self.ble_client = ble_client
if self.connected_handler:
self.connected_handler()
self.connected_handler()
print("Connected to {}".format(ble_device_info.name))
asyncio.create_task(
self.ble_client.start_notify(self.adafruit_rx_uuid, self._uart_handler)

BIN
ch-13/arena.FCStd
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