90 lines
3.3 KiB
Python
90 lines
3.3 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 matplotlib.widgets import Button
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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.fig, self.ax = plt.subplots()
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self.poses = np.zeros([200, 3], dtype=np.int16)
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self.motion = np.zeros([200, 3], dtype=float)
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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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# print(f"Received data: {data.decode('utf-8')}")
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# print(f"Line is now: {self.line}")
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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 line: {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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print(message)
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incoming_poses = np.array(message["poses"], dtype=np.int16)
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print("Incoming poses shape", incoming_poses.shape)
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print("Existing poses shape", self.poses.shape)
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self.poses[message["offset"]: message["offset"] + incoming_poses.shape[0]] = incoming_poses
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if "motion" in message:
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np.roll(self.motion, 1, axis=0)
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self.motion[0] = [message["motion"]["rot1"], message["motion"]["trans"], message["motion"]["rot2"]]
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def draw(self):
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self.ax.clear()
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if self.arena:
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for line in self.arena["arena"]:
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self.ax.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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self.ax.scatter(self.poses[:,0], self.poses[:,1], color="blue")
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async def send_command(self, command):
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#+ "\n" - why does adding this (which sounds right) cause the ble stack (on the robot or computer? ) not to work any more?
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request = (json.dumps({"command": command}) ).encode()
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print(f"Sending request: {request}")
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await self.ble_connection.send_uart_data(request)
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def start(self, _):
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self.button_task = asyncio.create_task(self.send_command("start"))
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# def stop(self, _):
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# self.button_task = asyncio.create_task(self.send_command("stop"))
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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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await self.send_command("arena")
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self.fig.canvas.mpl_connect("close_event", self.handle_close)
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start_button = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Start")
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start_button.on_clicked(self.start)
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# stop_button = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Stop")
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# stop_button.on_clicked(self.stop)
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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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