75 lines
2.5 KiB
Python
75 lines
2.5 KiB
Python
import asyncio
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import json
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import numpy as np
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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.arena = {}
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self.display_closed = False
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self.pose_coords = []
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self.pose_uv = []
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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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while "\n" in self.line:
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line, self.line = self.line.split("\n", 1)
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print(f"Received data: ```{line}```")
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try:
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message = json.loads(line)
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except ValueError:
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print("Error parsing JSON")
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return
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if "arena" in message:
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self.arena = message
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if "poses" in message:
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# the robot poses are an array of [x, y, theta] arrays.
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# matplotlib quiver plots wants an [x] ,[y] and [angle] arrays
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poses = np.array(message["poses"]).T
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self.pose_coords = poses[:2]
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angle_rads = np.deg2rad(poses[2])
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self.pose_uv = np.array([np.cos(angle_rads), np.sin(angle_rads)])
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def draw(self):
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plt.gca().clear()
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if self.arena:
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for line in self.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 self.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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if len(self.pose_coords) > 0:
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plt.quiver(self.pose_coords[0], self.pose_coords[1], self.pose_uv[0], self.pose_uv[1], color="blue")
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async def main(self):
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plt.ion()
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await self.ble_connection.connect()
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try:
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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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self.draw()
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plt.draw()
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plt.pause(0.05)
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await asyncio.sleep(0.01)
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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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