Danny Staple
60 lines
1.3 KiB
Python
60 lines
1.3 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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def send_json(data):
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robot.uart.write((json.dumps(data) + "\n").encode())
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def read_json():
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try:
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data = robot.uart.readline()
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decoded = data.decode()
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return json.loads(decoded)
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except (UnicodeError, ValueError):
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print("Invalid data")
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return None
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def send_poses(samples):
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send_json({
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"poses": np.array(samples[:,:2], dtype=np.int16).tolist(),
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})
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class Simulation:
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def __init__(self):
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self.population_size = 20
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self.poses = np.array(
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[(
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int(random.uniform(0, arena.width)),
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int(random.uniform(0, arena.height)),
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int(random.uniform(0, 360))) for _ in range(self.population_size)],
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dtype=np.float,
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)
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async def command_handler(simulation):
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print("Starting handler")
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while True:
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if robot.uart.in_waiting:
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request = read_json()
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if not request:
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continue
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print("Received: ", request)
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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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})
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send_poses(simulation.poses)
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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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