x/PointCloudWeb
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Cleanup and ignore null distance

Browse Source
This commit is contained in:
Lukas Droste
2021-08-21 15:38:57 +02:00
parent d03acddb67
commit 90ad989244
11 changed files with 18053 additions and 38905 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
PointCloudWeb.Scanner/server.py
View File

@@ -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("<scan>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("<scan>canceld")