43 lines
1.1 KiB
Python
43 lines
1.1 KiB
Python
import asyncio
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import json
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import random
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from ulab import numpy as np
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import arena
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import robot
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class Simulation:
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def __init__(self):
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population_size = 10
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self.poses = np.empty((population_size, 3), dtype=np.float)
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for n in range(population_size):
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self.poses[n] = random.uniform(0, arena.width), random.uniform(0, arena.height), random.uniform(0, 360)
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def send_json(data):
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robot.uart.write((json.dumps(data)+"\n").encode())
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async def command_handler(simulation):
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while True:
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if robot.uart.in_waiting:
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print("Receiving data...")
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try:
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data = robot.uart.readline().decode()
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request = json.loads(data)
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except (UnicodeError, ValueError):
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print("Invalid data")
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continue
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# {"command": "arena"}
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if request["command"] == "arena":
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send_json({
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"arena": arena.boundary_lines,
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"target_zone": arena.target_zone,
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})
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else:
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send_json({
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"poses": simulation.poses.tolist(),
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})
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await asyncio.sleep(0.1)
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simulation= Simulation()
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asyncio.run(command_handler(simulation))
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