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Working UI and WSonly Python script

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This commit is contained in:
Lukas Droste
2021-08-10 00:03:55 +02:00
parent 3c76cb6583
commit af24c570b3
3 changed files with 368 additions and 69 deletions
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136
PointCloudWeb.Scanner/server.py
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@@ -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(">")]
@@ -40,44 +67,58 @@ def filterY(data):
def senddata(data,posy):
for x,y in data.items():
f.write(str(posy) + ", " + str(x) + ", " + str(y) + "\n")
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):"))