62 lines
1.7 KiB
Python
62 lines
1.7 KiB
Python
import asyncio
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import json
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import matplotlib.pyplot as plt
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from robot_ble_connection import BleConnection
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class RobotDisplay:
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def __init__(self):
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self.ble_connection = BleConnection(self.handle_data)
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self.line = ""
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self.display_closed = False
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def handle_close(self, _):
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self.display_closed = True
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def handle_data(self, data):
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self.line += data.decode("utf-8")
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if not self.line.endswith("\n"):
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return
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print(f"Received data: {self.line}")
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message = json.loads(self.line)
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self.line = ""
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if "arena" in message:
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self.update_arena(message)
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def update_arena(self, arena):
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plt.gca().clear()
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for line in arena["arena"]:
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plt.gca().plot(
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[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="black"
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)
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for line in arena["target_zone"]:
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plt.gca().plot(
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[line[0][0], line[1][0]], [line[0][1], line[1][1]], color="red"
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)
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async def main(self):
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plt.ion()
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try:
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await self.ble_connection.connect()
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request = json.dumps({"command": "arena"}).encode()
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print(f"Sending request for arena: {request}")
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await self.ble_connection.send_uart_data(request)
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plt.gcf().canvas.mpl_connect("close_event", self.handle_close)
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while not self.display_closed:
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plt.pause(0.05)
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plt.draw()
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await asyncio.sleep(0.01)
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plt.show()
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finally:
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await self.ble_connection.close()
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robot_display = RobotDisplay()
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asyncio.run(robot_display.main())
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