77 lines
2.5 KiB
Python
77 lines
2.5 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 move_poses(self, speed_in_mm, heading_change):
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for pose in self.poses:
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pose[2] += heading_change
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pose[2] = pose[2] % 360
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pose[0] += speed_in_mm * np.cos(np.radians(pose[2]))
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pose[1] += speed_in_mm * np.sin(np.radians(pose[2]))
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async def run(self):
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try:
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for _ in range(5):
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starting_heading = robot.imu.euler[0]
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encoder_left = robot.left_encoder.read()
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encoder_right = robot.right_encoder.read()
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robot.set_left(1)
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robot.set_right(0.5)
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await asyncio.sleep(0.1)
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left_movement = robot.left_encoder.read() - encoder_left
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right_movement = robot.right_encoder.read() - encoder_right
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speed_in_mm = robot.ticks_to_m * ((left_movement + right_movement) / 2) * 1000
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new_heading = robot.imu.euler[0]
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heading_change = starting_heading - new_heading
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self.move_poses(speed_in_mm, heading_change)
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finally:
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robot.stop()
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async def command_handler(simulation):
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simulation_task = None
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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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response = {
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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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robot.uart.write((json.dumps(response)+"\n").encode())
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elif request["command"] == "start":
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print("Starting simulation")
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if simulation_task is None or simulation_task.done():
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simulation_task = asyncio.create_task(simulation.run())
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elif request["command"] == "stop":
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robot.stop()
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if simulation_task and not simulation_task.done():
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simulation_task.cancel()
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simulation_task = None
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else:
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response = {
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"poses": simulation.poses.tolist(),
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}
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robot.uart.write((json.dumps(response)+"\n").encode())
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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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