Make robust

ch-13/3-moving-poses-with-sensors/robot/code.py

@@ -14,7 +14,8 @@ class Simulation:
       self.poses[n] = random.uniform(0, arena.width), random.uniform(0, arena.height), random.uniform(0, 360)
   
   async def run(self):
-    for n in range(3):
+    try:
+      for _ in range(3):
         encoder_left = robot.left_encoder.read()
         encoder_right = robot.right_encoder.read()
         robot.set_left(0.5)
@@ -26,8 +27,7 @@ class Simulation:
         for pose in self.poses:
           pose[0] += speed_in_mm * np.cos(np.radians(pose[2]))
           pose[1] += speed_in_mm * np.sin(np.radians(pose[2]))
-        # pose[2] += robot.ticks_to_degrees(left_movement - right_movement) / robot.wheel_separation_mm
-        # pose[2] = pose[2] % 360
+    finally:
       robot.stop()
 
 async def command_handler(simulation):
@@ -55,11 +55,11 @@ async def command_handler(simulation):
          robot.uart.write((json.dumps(response)+"\n").encode())
       elif request["command"] == "start":
         print("Starting simulation")
-        if simulation_task is None:
+        if simulation_task is None or simulation_task.done():
           simulation_task = asyncio.create_task(simulation.run())
       elif request["command"] == "stop":
         robot.stop()
-        if simulation_task:
+        if simulation_task and not simulation_task.done():
           simulation_task.cancel()
           simulation_task = None
     else: