From 90ad9892440eb1c06ac05b124ae36265f5ec480b Mon Sep 17 00:00:00 2001 From: Lukas Droste Date: Sat, 21 Aug 2021 15:38:57 +0200 Subject: [PATCH] Cleanup and ignore null distance --- PointCloudWeb.Scanner/0yGrad-pc.csv | 2 - PointCloudWeb.Scanner/Esszimmer.txt | 32401 ---------------- .../__pycache__/lidar3.cpython-39.pyc | Bin 0 -> 11417 bytes PointCloudWeb.Scanner/datafile.csv | 6480 --- PointCloudWeb.Scanner/datafile.txt | 1 - .../datafileOhneNullDistance.txt | 17640 +++++++++ PointCloudWeb.Scanner/lidar.csv | 1 - PointCloudWeb.Scanner/lidar3.py | 390 + PointCloudWeb.Scanner/server.py | 19 +- .../test/__pycache__/lidar3.cpython-39.pyc | Bin 0 -> 11422 bytes PointCloudWeb.Scanner/test/lida.py | 24 +- 11 files changed, 18053 insertions(+), 38905 deletions(-) delete mode 100644 PointCloudWeb.Scanner/0yGrad-pc.csv delete mode 100644 PointCloudWeb.Scanner/Esszimmer.txt create mode 100644 PointCloudWeb.Scanner/__pycache__/lidar3.cpython-39.pyc delete mode 100644 PointCloudWeb.Scanner/datafile.csv delete mode 100644 PointCloudWeb.Scanner/datafile.txt create mode 100644 PointCloudWeb.Scanner/datafileOhneNullDistance.txt delete mode 100644 PointCloudWeb.Scanner/lidar.csv create mode 100644 PointCloudWeb.Scanner/lidar3.py create mode 100644 PointCloudWeb.Scanner/test/__pycache__/lidar3.cpython-39.pyc diff --git a/PointCloudWeb.Scanner/0yGrad-pc.csv b/PointCloudWeb.Scanner/0yGrad-pc.csv deleted file mode 100644 index 6a19c98..0000000 --- a/PointCloudWeb.Scanner/0yGrad-pc.csv +++ /dev/null @@ -1,2 +0,0 @@ -x,y,z -143, 1307, 2 \ No newline at end of file diff --git a/PointCloudWeb.Scanner/Esszimmer.txt b/PointCloudWeb.Scanner/Esszimmer.txt deleted file mode 100644 index 65774cd..0000000 --- a/PointCloudWeb.Scanner/Esszimmer.txt +++ /dev/null @@ -1,32401 +0,0 @@ -y, x, z -0, 0, 1908 -0, 1, 1908 -0, 2, 1908 -0, 3, 1908 -0, 4, 1911 -0, 5, 1915 -0, 6, 1919 -0, 7, 1922 -0, 8, 1929 -0, 9, 1852 -0, 10, 1790 -0, 11, 1824 -0, 12, 1865 -0, 13, 1840 -0, 14, 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b/PointCloudWeb.Scanner/lidar3.py new file mode 100644 index 0000000..92bcf99 --- /dev/null +++ b/PointCloudWeb.Scanner/lidar3.py @@ -0,0 +1,390 @@ +from serial import Serial +from time import sleep +from math import atan,pi,floor +from enum import Enum + +name = "PyLidar3" + +class FrequencyStep(Enum): + oneTenthHertz=1 + oneHertz=2 + +class YdLidarX4: + """Deals with X4 version of Ydlidar from http://www.ydlidar.com/""" + def __init__(self,port,chunk_size=6000,no_value=0): + """Initialize the connection and set port and baudrate.""" + self._port = port + self._baudrate = 128000 + self._is_scanning = False + self._is_connected = False + self.chunk_size=chunk_size + self._no_value = no_value + + def Connect(self): + """Begin serial connection with Lidar by opening serial port.\nReturn success status True/False.\n""" + try: + if(not self._is_connected): + self._s=Serial(self._port, self._baudrate) + self._is_connected = True + sleep(3) + self._s.reset_input_buffer() + if("YdLidarX4" in str(type(self))): + self._Stop_motor() + if(self.GetHealthStatus()): + return True + else: + raise Exception('Device status error.Try reconnecting device') + else: + raise Exception("Already connected") + except Exception as e: + print(e) + return False + + def _Start_motor(self): + self._s.setDTR(1) + sleep(0.5) + + def _Stop_motor(self): + self._s.setDTR(0) + sleep(0.5) + + @classmethod + def _AngleCorr(cls,dist): + if dist==0: + return 0 + else: + return (atan(21.8*((155.3-dist)/(155.3*dist)))*(180/pi)) + @classmethod + def _HexArrToDec(cls,data): + littleEndianVal = 0 + for i in range(0,len(data)): + littleEndianVal = littleEndianVal+(data[i]*(256**i)) + return littleEndianVal + + @classmethod + def _Calculate(cls,d): + ddict=[] + LSN=d[1] + Angle_fsa = ((YdLidarX4._HexArrToDec((d[2],d[3]))>>1)/64.0)#+YdLidarX4._AngleCorr(YdLidarX4._HexArrToDec((d[8],d[9]))/4) + Angle_lsa = ((YdLidarX4._HexArrToDec((d[4],d[5]))>>1)/64.0)#+YdLidarX4._AngleCorr(YdLidarX4._HexArrToDec((d[LSN+6],d[LSN+7]))/4) + if Angle_fsa 360: + Angle_i = Angle_i_tmp-360 + elif Angle_i_tmp < 0: + Angle_i = Angle_i_tmp+360 + else: + Angle_i = Angle_i_tmp + ddict.append((dist_i,Angle_i)) + return ddict + + @classmethod + def _CheckSum(cls,data): + try: + ocs = YdLidarX4._HexArrToDec((data[6],data[7])) + LSN = data[1] + cs = 0x55AA^YdLidarX4._HexArrToDec((data[0],data[1]))^YdLidarX4._HexArrToDec((data[2],data[3]))^YdLidarX4._HexArrToDec((data[4],data[5])) + for i in range(0,2*LSN,2): + cs = cs^YdLidarX4._HexArrToDec((data[8+i],data[8+i+1])) + if(cs==ocs): + return True + else: + return False + except Exception as e: + return False + @classmethod + def _Mean(cls,data): + if(len(data)>0): + return int(sum(data)/len(data)) + return 0 + + def StartScanning(self): + """Begin the lidar and returns a generator which returns a dictionary consisting angle(degrees) and distance(meters).\nReturn Format : {angle(1):distance, angle(2):distance,....................,angle(360):distance}.""" + if(self._is_connected): + if(not self._is_scanning): + self._is_scanning = True + self._s.reset_input_buffer() + if("YdLidarX4" in str(type(self))): + self._Start_motor() + self._s.write(b"\xA5\x60") + sleep(0.5) + self._s.read(7) + distdict = {} + countdict = {} + lastChunk = None + while self._is_scanning == True: + for i in range(0,360): + distdict.update({i:[]}) + data = self._s.read(self.chunk_size).split(b"\xaa\x55") + if lastChunk is not None: + data[0] = lastChunk + data[0] + lastChunk = data.pop() + for e in data: + try: + if(e[0]==0): + if(YdLidarX4._CheckSum(e)): + d = YdLidarX4._Calculate(e) + for ele in d: + angle = floor(ele[1]) + if(angle>=0 and angle<360): + distdict[angle].append(ele[0]) + except Exception as e: + pass + for i in distdict.keys(): + if len(distdict[i]) > 0: + distdict[i]=self._Mean(distdict[i]) + else: + distdict[i]=self._no_value + yield distdict + else: + raise Exception("Device is currently in scanning mode.") + else: + raise Exception("Device is not connected") + + def StopScanning(self): + """Stops scanning but keeps serial connection alive.""" + if(self._is_connected): + if(self._is_scanning): + self._is_scanning = False + self._s.write(b"\xA5\x65") + sleep(1) + self._s.reset_input_buffer() + if("YdLidarX4" in str(type(self))): + self._Stop_motor() + else: + raise Exception("Device is not set to scanning mode") + else: + raise Exception("Device is not connected") + + + def GetHealthStatus(self): + """Returns Health status of lidar\nTrue: good\nFalse: Not good""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.reset_input_buffer() + sleep(0.5) + self._s.write(b"\xA5\x91") + sleep(0.5) + data = self._s.read(10) + if data[9]==0 and data[8]==0 and (data[7]==0 or data[7]==1): + return True + else: + return False + else: + raise Exception("Device is not connected") + + def GetDeviceInfo(self): + """Return device information of lidar in form of dictonary\n{"model_number":model_number,"firmware_version":firmware_version,"hardware_version":hardware_version,"serial_number":serial_number}""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.reset_input_buffer() + sleep(0.5) + self._s.write(b"\xA5\x90") + sleep(0.5) + data = self._s.read(27) + model_number = str(data[7]) + firmware_version = str(data[9])+"."+str(data[8]) + hardware_version = str(data[10]) + serial_number = "" + for i in range(11,20): + serial_number = serial_number+str(data[i]) + return {"model_number":model_number,"firmware_version":firmware_version,"hardware_version":hardware_version,"serial_number":serial_number} + else: + raise Exception("Device is not connected") + + def Reset(self): + """Reboots the Lidar.""" + if(self._is_connected): + self._s.write(b"\xA5\x80") + sleep(0.5) + self.Disconnect() + self.Connect() + else: + raise Exception("Device is not connected") + + def Disconnect(self): + """Stop scanning and close serial communication with Lidar.""" + if(self._is_connected): + if(self._is_scanning == True): + self.StopScanning() + self._s.close() + self._is_connected=False + else: + raise Exception("Device is not connected") + +class YdLidarG4(YdLidarX4): + """Deals with G4 version of Ydlidar from http://www.ydlidar.com/""" + def __init__(self,port,chunk_size=6000): + """Initialize the connection and set port and baudrate.""" + YdLidarX4.__init__(self,port,chunk_size) + self._baudrate= 230400 + + def EnableLowPowerMode(self): + """Enable Low Power Consumption Mode(Turn motor and distance-measuring unit off in StopScanning)\n""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.write(b"\xA5\x01") + while(self._s.inWaiting()==0): + sleep(0.5) + self._s.reset_input_buffer() + else: + raise Exception("Device is not connected") + + def DisableLowPowerMode(self): + """Disable Low Power Consumption Mode(Turn motor and distance-measuring unit on StopScanning)\n""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.write(b"\xA5\x02") + while(self._s.inWaiting()==0): + sleep(0.5) + self._s.reset_input_buffer() + else: + raise Exception("Device is not connected") + + def GetLowPowerModeStatus(self): + """Return True if Low Power Consumption Mode is Enable else return False""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.reset_input_buffer() + sleep(0.5) + self._s.write(b"\xA5\x05") + sleep(1) + data = self._s.read(8) + if(data[7]!=1): + return True + return False + else: + raise Exception("Device is not connected") + + def IncreaseCurrentFrequency(self,frequencyStep): + """Increase current frequency by oneTenth or one depends on enum FrequencyStep""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + if(frequencyStep.value==1): + self._s.write(b"\xA5\x09") + elif(frequencyStep.value==2): + self._s.write(b"\xA5\x0B") + while(self._s.inWaiting()==0): + sleep(0.5) + self._s.reset_input_buffer() + else: + raise Exception("Device is not connected") + + def DecreaseCurrentFrequency(self,frequencyStep): + """Decrease current frequency by oneTenth or one depends on enum FrequencyStep""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + if(frequencyStep.value==1): + self._s.write(b"\xA5\x0A") + elif(frequencyStep.value==2): + self._s.write(b"\xA5\x0C") + while(self._s.inWaiting()==0): + sleep(0.5) + self._s.reset_input_buffer() + else: + raise Exception("Device is not connected") + + def GetCurrentFrequency(self): + """Returns current frequency in hertz""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.reset_input_buffer() + sleep(0.5) + self._s.write(b"\xA5\x0D") + sleep(0.5) + data = self._s.read(11) + if(data[0]==165): + return (self._HexArrToDec(data[-4:]))/100.0 + else: + return (self._HexArrToDec(data[:4]))/100.0 + else: + raise Exception("Device is not connected") + + def EnableConstantFrequency(self): + """Enables constant frequency \n default:Enable""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.write(b"\xA5\x0E") + while(self._s.inWaiting()==0): + sleep(0.5) + self._s.reset_input_buffer() + else: + raise Exception("Device is not connected") + + def DisableConstantFrequency(self): + """Disable constant frequency \n default:Enable""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.write(b"\xA5\x0F") + while(self._s.inWaiting()==0): + sleep(0.5) + self._s.reset_input_buffer() + else: + raise Exception("Device is not connected") + + def SwitchRangingFrequency(self): + """Switch between ranging frequencies 4khz, 8khz and 9khz.\ndefault:9khz""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.write(b"\xA5\xD0") + while(self._s.inWaiting()==0): + sleep(0.5) + self._s.reset_input_buffer() + else: + raise Exception("Device is not connected") + + def GetCurrentRangingFrequency(self): + """Returns current Ranging Frequency in khz""" + if(self._is_connected): + if self._is_scanning == True: + self.StopScanning() + self._s.reset_input_buffer() + sleep(0.5) + self._s.write(b"\xA5\xD1") + sleep(1) + data = self._s.read(8) + if(data[-1]==0): + return 4 + elif(data[-1]==1): + return 8 + elif(data[-1]==2): + return 9 + else: + raise Exception("Device is not connected") + + def Disconnect(self): + """Stop scanning and close serial communication with Lidar.""" + if(self._is_connected): + if(self._is_scanning == True): + self.StopScanning() + if(self.GetLowPowerModeStatus()==False): + self.EnableLowPowerMode() + sleep(2) + self._s.close() + self._is_connected=False + else: + raise Exception("Device is not connected") \ No newline at end of file diff --git a/PointCloudWeb.Scanner/server.py b/PointCloudWeb.Scanner/server.py index 93eed13..5d842fe 100644 --- a/PointCloudWeb.Scanner/server.py +++ b/PointCloudWeb.Scanner/server.py @@ -1,7 +1,7 @@ # Importing Libraries import serial import time -import PyLidar3 +import lidar3 import asyncio import websockets import threading @@ -9,11 +9,10 @@ import collections import requests import uuid -# f = open("PointCloudWeb.Scanner\datafile.txt","wt") -# f.write("y, x, z\n") +f = open("PointCloudWeb.Scanner\datafile.txt","wt") arduino_status = False -arduino_port = "COM9" +arduino_port = "COM10" arduino_baud = 9600 arduino = None lidar_status = False @@ -38,7 +37,7 @@ async def init(): ws_message_queue.appendleft("can not connect to arduino! " + arduino_port) arduino_status = False try: - lidar = PyLidar3.YdLidarX4(port=lidar_port,chunk_size=lidar_chunk_size) #PyLidar3.your_version_of_lidar(port,chunk_size) + lidar = lidar3.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) @@ -68,10 +67,12 @@ def senddata(data,posy): global scan_id temp ="{\"Id\": \""+scan_id+"\",\"ScanPoints\":[" for x,y in data.items(): - temp += ("{\"RAY\":" + str(posy) + ",\"RAX\":" + str(x) + ",\"DistanceMM\":" + str(y) + "},") - # f.write("{\"RAY\":" + str(posy) + ",\"RAX\":" + str(x) + ",\"DistanceMM\":" + str(y) + "},") + if y != 0: + temp += ("{\"RAY\":" + str(posy) + ",\"RAX\":" + str(x) + ",\"DistanceMM\":" + str(y) + "},") + # f.write("{\"RAY\":" + str(posy) + ",\"RAX\":" + str(x) + ",\"DistanceMM\":" + str(y) + "},") l = len(temp) temp = temp[:l-1] + "]}" + f.write(temp) r = requests.put(url='http://localhost:35588/scandata', data=temp, headers={'content-type': 'application/json'}) #print(r.status_code) @@ -86,7 +87,7 @@ def startScaner(mode): if mode == "0": print("Mode 0") ws_message_queue.appendleft("running") - for y in range(1): + for y in range(19): if(stop_scan == True): break print("send data") @@ -129,7 +130,7 @@ def startScaner(mode): lidar.StopScanning() else: ws_message_queue.appendleft("mode error") - #f.close() + f.close() if(stop_scan == True): stop_scan = False ws_message_queue.appendleft("canceld") diff --git a/PointCloudWeb.Scanner/test/__pycache__/lidar3.cpython-39.pyc b/PointCloudWeb.Scanner/test/__pycache__/lidar3.cpython-39.pyc new file mode 100644 index 0000000000000000000000000000000000000000..be91d4cd49f2ed3f27c27d31093a0decdcecdb48 GIT binary patch literal 11422 zcmd5?O>7)TcJAMqp5_cmQ4~p8lHI1XUX87#WLx&yin5k0O0w57BZ#zRjb)8SQ%!QD z`5~)&q~*Bj1fde-um=UmAqkQNdDtK_5MU2`2$CR2pAsNHw?+^INU{kJx%rS70i5r> z>iH!pD8U+=8FY1Zb#-_3d#}Fty;ohz^ 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in terminal -- ls /dev/tty* #port = input("Enter port name which lidar is connected:") #windows #port = "/dev/ttyUSB0" #linux -f = open("PoinCloudWeb.Scanner\datafile.txt","wt") -Obj = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) +#f = open("PoinCloudWeb.Scanner\datafile.txt","wt") +Obj = lidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) if(Obj.Connect()): + # gen = Obj.StartScanning() + # t = time.time() # start time + # data = next(gen) + # #print(data) + # for x,y in data.items(): + # f.write(str(x) + " / " + str(y) + "\n") + # f.close() + # Obj.StopScanning() + Obj.Reset print(Obj.GetDeviceInfo()) - gen = Obj.StartScanning() - t = time.time() # start time - data = next(gen) - #print(data) - for x,y in data.items(): - f.write(str(x) + " / " + str(y) + "\n") - f.close() - Obj.StopScanning() + print(Obj.GetHealthStatus()) Obj.Disconnect() else: print("Error connecting to device") \ No 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