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Merge remote-tracking branch 'origin/main' into main

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This commit is contained in:
Tim Wundenberg
2021-08-10 19:22:56 +02:00
parent f57782587b af24c570b3
commit 97c84bbd23
3 changed files with 368 additions and 69 deletions
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134
PointCloudWeb.Scanner/server.py
View File

@@ -4,35 +4,62 @@ import time
import PyLidar3
import asyncio
import websockets
#arduino = serial.Serial(port='COM5', baudrate=9600)
#lidar = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size)
from concurrent.futures import ThreadPoolExecutor
f = open("PointCloudWeb.Scanner\datafile.txt","wt")
f.write("y, x, z\n")
progress = 0
arduino_status = False
arduino_port = "COM9"
arduino_baud = 9600
arduino = None
lidar_status = False
lidar_port = "COM6"
lidar_chunk_size = 20000
lidar = None
scan_progress = 0
_executor = ThreadPoolExecutor(1)
newMessage = ""
lastMessage = ""
print("Start ...")
time.sleep(2)
print("Ready:")
async def init(websocket):
global arduino
arduino = serial.Serial(port=arduino_port, baudrate=arduino_baud)
try:
await websocket.send("arduino connected " + arduino_port)
global arduino_status
arduino_status = True
except:
await websocket.send("can not connect to arduino! " + arduino_port)
try:
global lidar
lidar = PyLidar3.YdLidarX4(port=lidar_port,chunk_size=lidar_chunk_size) #PyLidar3.your_version_of_lidar(port,chunk_size)
if(lidar.Connect()):
global lidar_status
lidar_status = True
await websocket.send("lidar connected " + lidar_port)
else:
raise ValueError
except:
await websocket.send("can not connect to lidar! " + lidar_port)
def arduino_write_read(x):
arduino.write(bytes(x, 'utf-8'))
data = arduino.readline()
return filterY(str(data))
data1 = arduino.readline()
return filterY(str(data1))
def setY(y):
print(arduino_write_read("<set><"+str(y)+">"))
tmp = arduino_write_read("<set><"+str(y)+">")
print(tmp)
def getY():
print(arduino_write_read("<get>"))
# def getY():
# print(arduino_write_read("<get>"))
def resetY():
print(arduino_write_read("<reset>"))
# def resetY():
# print(arduino_write_read("<reset>"))
def zerotY():
print(arduino_write_read("<zero>"))
# def zerotY():
# print(arduino_write_read("<zero>"))
def filterY(data):
temp = data[data.find("<"):data.find(">")]
@@ -42,42 +69,56 @@ def senddata(data,posy):
for x,y in data.items():
f.write(str(posy) + ", " + str(x) + ", " + str(y) + "\n")
def startScaner(mode):
if(lidar.Connect()):
def startScaner(websocket, mode):
global scan_progress
global lidar
if lidar_status == True:
print(lidar.GetDeviceInfo())
gen = lidar.StartScanning()
t = time.time() # start time
if(mode == "0"):
if mode == "0":
print("Mode 0")
for y in range(18):
senddata(next(gen),y*10)
time.sleep(2)
setY(y*10)
setY( y*10)
time.sleep(2)
scan_progress = y/18*100
print(str(scan_progress) + " %")
setY(0)
elif(mode == "1"):
lidar.StopScanning()
lidar.Disconnect()
elif mode == "1":
print("Mode 1")
for y in range(90):
senddata(next(gen),y*2)
time.sleep(1)
setY(y*2)
time.sleep(1)
scan_progress = y/90*100
print(str(scan_progress) + " %")
setY(0)
elif(mode == "2"):
lidar.StopScanning()
lidar.Disconnect()
elif mode == "2":
print("Mode 2")
for y in range(360):
senddata(next(gen),y*0.5)
time.sleep(1)
setY(y*0.5)
time.sleep(1)
scan_progress = y/360*100
print(str(scan_progress) + " %")
setY(0)
lidar.StopScanning()
lidar.Disconnect()
elif mode == "3":
print(scan_progress)
scan_progress += 1
print(scan_progress)
else:
print("mode error")
f.close()
lidar.StopScanning()
lidar.Disconnect()
print("scan stoped")
else:
print("Error connecting to device")
@@ -85,37 +126,50 @@ def startScaner(mode):
async def wsfilter(websocket, message):
command = message[message.find("<")+1:message.find(">")]
value = message[message.find("><")+2:message.find(">", message.find("><")+2)]
#print(command + " / " + value)
await wsaction(websocket, command,value)
async def wsaction(websocket, command, value):
if(command == "start"):
if(value == "0"):
if command == "start":
if value == "0":
await websocket.send("start scan resolution 0")
elif(value =="1"):
await loop.run_in_executor(_executor, startScaner(websocket, value))
elif value =="1":
await websocket.send("start scan resolution 1")
elif(value =="2"):
await loop.run_in_executor(_executor, startScaner(websocket, value))
elif value =="2":
await websocket.send("start scan resolution 2")
await loop.run_in_executor(_executor, startScaner(websocket, value))
elif value =="3":
await websocket.send("start scan test")
await loop.run_in_executor(_executor, startScaner(websocket, value))
else:
await websocket.send("mode error")
elif(command == "status"):
await websocket.send("Status ...")
elif command == "connect" and arduino and lidar != None:
await websocket.send("try to connect to Adruino and LIDAR")
await init(websocket)
elif command == "status":
await websocket.send("progress: " + scan_progress)
else:
await websocket.send("command error")
#muss noch was passieren
async def wscom(websocket, path):
print("connected")
await websocket.send("Websocket connected")
await init(websocket)
while True:
data = await websocket.recv()
await wsfilter(websocket, data)
print({data})
#await websocket.send(data)
data2 = await websocket.recv()
await wsfilter(websocket, data2)
print({data2})
if scan_progress != lastMessage:
await websocket.send(scan_progress)
lastMessage = scan_progress
async def main():
server = await websockets.serve(wscom, 'localhost', 6789)
await server.wait_closed()
asyncio.run(main())
loop = asyncio.get_event_loop()
loop.run_until_complete(main())
#asyncio.run(main())
#while True:
# startScaner(input("Scan Modus(0,1,2):"))

151
PointCloudWeb.Scanner/test/serverWSonly.py Normal file
View File

@@ -0,0 +1,151 @@
# Importing Libraries
import serial
import time
import PyLidar3
import asyncio
import websockets
from concurrent.futures import ThreadPoolExecutor
import threading
import collections
f = open("PointCloudWeb.Scanner\datafile.txt","wt")
f.write("y, x, z\n")
arduino_status = False
arduino_port = "COM9"
arduino_baud = 9600
arduino = None
lidar_status = False
lidar_port = "COM6"
lidar_chunk_size = 20000
lidar = None
scan_progress = 0
messageQeue = ['test', 'test1', 'abc']
ws_message_queue = collections.deque(maxlen=100)
async def init():
global arduino, ws_message_queue
arduino = "Arduino"
try:
ws_message_queue.appendleft("arduino connected " + arduino_port)
global arduino_status
arduino_status = True
except:
ws_message_queue.appendleft("can not connect to arduino! " + arduino_port)
try:
global lidar
lidar = "lidar 1"
global lidar_status
lidar_status = True
ws_message_queue.appendleft("lidar connected " + lidar_port)
except:
ws_message_queue.appendleft("can not connect to lidar! " + lidar_port)
def arduino_write_read(x):
data1 = x
return filterY(str(data1))
def setY(y):
tmp = arduino_write_read("<set><"+str(y)+">")
print(tmp)
def filterY(data):
temp = data[data.find("<"):data.find(">")]
return temp + data[data.find("><"):data.find(">", data.find("><")+2)+1]
def senddata(data,posy):
for x,y in data.items():
f.write(str(posy) + ", " + str(x) + ", " + str(y) + "\n")
def startScaner(mode):
global scan_progress, lidar, messageQeue
if lidar_status == True:
ws_message_queue.appendleft("start scan mode: " + mode)
if mode == "0":
ws_message_queue.appendleft("<scan>running")
for y in range(19):
time.sleep(0.2)
setY( y*10)
scan_progress = round(y/18*100)
ws_message_queue.appendleft("<progress>" + str(scan_progress))
setY(0)
elif mode == "1":
ws_message_queue.appendleft("<scan>running")
for y in range(91):
time.sleep(0.2)
setY(y*2)
scan_progress = round(y/90*100)
ws_message_queue.appendleft("<progress>" + str(scan_progress))
setY(0)
elif mode == "2":
ws_message_queue.appendleft("<scan>running")
for y in range(361):
time.sleep(0.1)
setY(y*0.5)
scan_progress = round(y/360*100)
ws_message_queue.appendleft("<progress>" + str(scan_progress))
setY(0)
else:
ws_message_queue.appendleft("mode error")
f.close()
ws_message_queue.appendleft("<scan>finished")
ws_message_queue.appendleft("scan finished")
else:
ws_message_queue.appendleft("Error connecting to device")
async def wsfilter(message):
command = message[message.find("<")+1:message.find(">")]
value = message[message.find("><")+2:message.find(">", message.find("><")+2)]
await wsaction(command,value)
async def wsaction(command, value):
global ws_message_queue
if command == "start":
if value == "0":
ws_message_queue.appendleft("start scan on low resolution")
x = threading.Thread(target=startScaner, args=(value))
x.start()
elif value =="1":
ws_message_queue.appendleft("start scan on medium resolution")
x = threading.Thread(target=startScaner, args=(value))
x.start()
elif value =="2":
ws_message_queue.appendleft("start scan on high resolution")
x = threading.Thread(target=startScaner, 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 == "status":
ws_message_queue.appendleft("progress: " + scan_progress)
else:
ws_message_queue.appendleft("command error")
async def producer_handler(websocket, path):
while True:
global ws_message_queue
if len(ws_message_queue) > 0:
message = ws_message_queue.pop()
await websocket.send(message)
await asyncio.sleep(0.01)
async def consumer_handler(websocket, path):
async for message in websocket:
await wsfilter(message)
async def handler(websocket, path):
print("Start Websocket Connection")
await init()
consumer_task = asyncio.ensure_future(consumer_handler(websocket, path))
producer_task = asyncio.ensure_future(producer_handler(websocket, path))
done, pending = await asyncio.wait([consumer_task, producer_task], return_when=asyncio.FIRST_COMPLETED)
for task in pending:
task.cancel()
ws_server = websockets.serve(handler, 'localhost', 6789)
loop = asyncio.get_event_loop()
loop.run_until_complete(ws_server)
loop.run_forever()

138
PointCloudWeb.Web/src/views/Scanner.vue
View File

@@ -1,18 +1,27 @@
<template>
<div>
<div class="ui">
<h1>Welcome to PointCloudWeb</h1>
<div class="scanresolution">
<button v-on:click="sendMessage('<start><0>')" >Start Scan: low</button>
<button v-on:click="sendMessage('<start><1>')" >Start Scan: medium</button>
<button v-on:click="sendMessage('<start><2>')" >Start Scan: high</button>
<button v-on:click="sendMessage('Connect')" >Connect</button>
<div v-if="connection_status && !scan_status">
<button class="button" v-on:click="sendMessage('<start><0>')" >Start Scan: low</button>
<button class="button button2" v-on:click="sendMessage('<start><1>')" >Start Scan: medium</button>
<button class="button button3" v-on:click="sendMessage('<start><2>')" >Start Scan: high</button>
</div>
<div class="scanresolution">
<h1>status: {{status}}</h1>
<div class="progressbar" v-if="connection_status">
<div :style="{width: progress + '%'}"></div>
</div>
<p v-if="connection_status">{{progress}} %</p>
<div>
<h1 v-if="!connection_status">status: disconnected</h1>
<h1 v-if="connection_status">status: connected</h1>
<button v-if="!connection_status" v-on:click="connectWS" >Connect</button>
<ul>
<div class="value" v-for="(item, index) in logs" :key="item.id">
{{logs[index]}}
<li>{{logs[index]}}</li>
</div>
</ul>
</div>
<!--<button v-on:click="connection_status = !connection_status" >test</button>-->
<button v-on:click="logs = []" >clear logs</button>
</div>
</template>
@@ -20,34 +29,119 @@
export default {
data() {
return {
wsConnection: null,
logs: [],
status: "disconnected"
connection_status: false,
scan_status: false,
progress: 0,
command: "",
value: ""
};
},
methods: {
sendMessage: function(message) {
this.connection.send(message);
}
sendMessage(message) {
this.wsConnection.send(message);
},
created: function() {
this.connection = new WebSocket("ws://127.0.0.1:6789/")
connectWS(){
this.wsConnection = new WebSocket("ws://127.0.0.1:6789/")
let that = this
this.connection.onopen = function(){
that.status = "connected"
that.logs.push("successfully connected to scanserver")
this.wsConnection.onopen = function(){
that.connection_status = true
}
this.connection.onmessage = function(event){
console.log(event)
that.logs.push(event.data);
this.wsConnection.onmessage = function(event){
if(event.data)
that.msgFilter(event.data)
}
},
msgFilter(message){
let that = this
if(message.search("<") != -1){
that.command = message.substr(message.search("<")+1, message.search(">")-1)
that.value = message.substr(message.search(">")+1)
console.log("command: " + that.command + " / value: " + that.value)
this.action(that.command, that.value)
}
else{
that.command = "log"
that.value = message
this.action(that.command, that.value)
}
},
action(command, value){
let that = this
if(command == "progress"){
that.progress = parseInt(value, 10)
}
else if(command == "log"){
that.logs.push(value);
}
else if(command == "scan"){
if(value == "running")
that.scan_status = true
else
that.scan_status = false
}
else
that.logs.push("Unknow command: " + value);
}
},
created() {
this.connectWS();
}
};
</script>
<style scoped>
.ui {
width: 600px;
margin: auto;
}
ul {
overflow: scroll;
background: lightgray;
height: 200px;
}
li {
list-style-type: none;
margin: 0;
padding: 0;
}
.progressbar {
background-color: grey;
border-radius: 7px;
/* (height of inner div) / 2 + padding */
padding: 3px;
margin: auto;
}
.progressbar>div {
background-color: greenyellow;
/* Adjust with JavaScript */
height: 20px;
border-radius: 4px;
}
.button {
background-color: #4CAF50; /* Green */
border: none;
color: white;
padding: 15px 32px;
text-align: center;
text-decoration: none;
display: inline-block;
font-size: 16px;
margin: 4px 2px;
cursor: pointer;
}
.button2 {background-color: #008CBA;} /* Blue */
.button3 {background-color: #f44336;} /* Red */
</style>