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cleanup Code

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This commit is contained in:
Lukas Droste
2021-09-05 11:31:09 +02:00
parent c2ac30ac2c
commit 5c98948af5
3 changed files with 21 additions and 37 deletions
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42
PointCloudWeb.Scanner/server.py
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@@ -1,7 +1,7 @@
# Importing Libraries
import serial
import time
import lidar3
import PyLidar3
import asyncio
import websockets
import threading
@@ -37,7 +37,7 @@ async def init():
ws_message_queue.appendleft("can not connect to arduino! " + arduino_port)
arduino_status = False
try:
lidar = lidar3.YdLidarX4(port=lidar_port,chunk_size=lidar_chunk_size) #PyLidar3.your_version_of_lidar(port,chunk_size)
lidar = PyLidar3.YdLidarX4(port=lidar_port,chunk_size=lidar_chunk_size) #PyLidar3.your_version_of_lidar(port,chunk_size)
if(lidar.Connect()):
lidar_status = True
ws_message_queue.appendleft("lidar connected " + lidar_port)
@@ -51,19 +51,16 @@ async def init():
else:
ws_message_queue.appendleft("<connection>false")
def arduino_write_read(x):
arduino.write(bytes(x, 'utf-8'))
def setY(y):
arduino.write(bytes("<set><"+str(y)+">", 'utf-8'))
data1 = arduino.readline()
return filterY(str(data1))
def setY(y):
tmp = arduino_write_read("<set><"+str(y)+">")
def filterY(data):
temp = data[data.find("<"):data.find(">")]
return temp + data[data.find("><"):data.find(">", data.find("><")+2)+1]
def senddata(data,posy):
def sendData(data,posy):
global scan_id
temp ="{\"Id\": \""+scan_id+"\",\"ScanPoints\":["
for x,y in data.items():
@@ -72,14 +69,14 @@ def senddata(data,posy):
# f.write("{\"RAY\":" + str(posy) + ",\"RAX\":" + str(x) + ",\"DistanceMM\":" + str(y) + "},")
l = len(temp)
temp = temp[:l-1] + "]}"
f.write(temp)
#f.write(temp)
r = requests.put(url='http://localhost:35588/scandata', data=temp, headers={'content-type': 'application/json'})
#print(r.status_code)
def startScaner(mode):
global scan_progress, lidar, stop_scan, scan_id
if lidar_status == True:
def startScanner(mode):
global scan_progress, lidar, stop_scan, scan_id, arduino_status
if lidar_status == True and arduino_status == True:
ws_message_queue.appendleft(str(lidar.GetDeviceInfo()))
scan_id = str(uuid.uuid4())
ws_message_queue.appendleft("Scan ID: " + scan_id)
@@ -90,10 +87,9 @@ def startScaner(mode):
for y in range(19):
if(stop_scan == True):
break
print("send data")
senddata(next(gen),y*10)
sendData(next(gen),y*10)
time.sleep(2)
setY( y*10)
setY(y*10)
time.sleep(2)
scan_progress = round(y/18*100)
ws_message_queue.appendleft("<progress>" + str(scan_progress))
@@ -105,7 +101,7 @@ def startScaner(mode):
for y in range(91):
if(stop_scan == True):
break
senddata(next(gen),y*2)
sendData(next(gen),y*2)
time.sleep(1)
setY(y*2)
time.sleep(1)
@@ -119,7 +115,7 @@ def startScaner(mode):
for y in range(361):
if(stop_scan == True):
break
senddata(next(gen),y*0.5)
sendData(next(gen),y*0.5)
time.sleep(1)
setY(y*0.5)
time.sleep(1)
@@ -151,21 +147,21 @@ async def wsaction(command, value):
if command == "start":
if value == "0":
ws_message_queue.appendleft("start scan on low resolution")
x = threading.Thread(target=startScaner, args=(value))
x = threading.Thread(target=startScanner, args=(value))
x.start()
elif value =="1":
ws_message_queue.appendleft("start scan on medium resolution")
x = threading.Thread(target=startScaner, args=(value))
x = threading.Thread(target=startScanner, args=(value))
x.start()
elif value =="2":
ws_message_queue.appendleft("start scan on high resolution")
x = threading.Thread(target=startScaner, args=(value))
x = threading.Thread(target=startScanner, args=(value))
x.start()
else:
ws_message_queue.appendleft("mode error")
elif command == "connect" and arduino and lidar != None:
ws_message_queue.appendleft("try to connect to Adruino and LIDAR")
await init()
# elif command == "connect" and arduino and lidar != None:
# ws_message_queue.appendleft("try to connect to Adruino and LIDAR")
# await init()
elif command == "status":
ws_message_queue.appendleft("progress: " + scan_progress)
elif command == "stop":