Wall following demo

ch-10/3-wall-follow/pc/live_graph.py

@@ -1,6 +1,4 @@
 """ Turn JSON data stream into graphs"""
-from itertools import count
-
 import requests
 
 import matplotlib.pyplot as plt
@@ -11,39 +9,40 @@ url = 'http://192.168.1.128'
 
 class SensorStream:
   def __init__(self) -> None:
-      self.index = count()
+      self.reset()
+
+  def reset(self):
       self.error_values = []
-      self.sensor_values = []
       self.pid_outputs = []
-      self.x_values = []
+      self.times = []
 
-      self.set_point = requests.get(f"{url}/set_point").json()
+  def sensor_stream(self, frame):
+    response = requests.get(url, timeout=1)
+    print(f"Content: {response.content}")
+    print(f"status: {response.status_code}")
 
-  def sensor_stream(self):
-    item = requests.get(url).json()
-    print(f"Received: {item.decode('utf-8')}")
-    self.x_vals.append(next(self.index))
-    self.error_values.append(item['error_value'])
-    self.sensor_values.append(item['sensor_value'])
+    item = response.json()
+    
+    print(f"Received: {item}")
+    if self.times and item['time'] < self.times[-1]:
+      self.reset()
+    self.times.append(item['time'])
+    self.error_values.append(item['last_value'])
     self.pid_outputs.append(item['pid_output'])
 
-    if len(self.x_vals) > 100:
-        self.x_vals = self.x_vals[-100:]
-        
+    if len(self.times) > 100:
+        self.times = self.times[-100:]
         self.error_values = self.error_values[-100:]
-        self.sensor_values = self.sensor_values[-100:]
         self.pid_outputs = self.pid_outputs[-100:]
 
     plt.cla() # clear axes.
     # plot the items
-    plt.plot(self.x_vals, self.error_values, label="error")
-    plt.plot(self.x_vals, self.sensor_values, label="sensor")
-    plt.plot(self.x_vals, self.pid_outputs, label="pid")
+    plt.plot(self.times, self.error_values, label="error")
+    plt.plot(self.times, self.pid_outputs, label="pid")
     
     plt.legend(loc='upper right')
 
   def start(self):
-    plt.style.use('fivethirtyeight')
     # Create the animation. GFC - get current figure. random_stream - callback func.
     self.ani = FuncAnimation(plt.gcf(), self.sensor_stream, interval=200)
     plt.tight_layout()