Working UI and WSonly Python script

PointCloudWeb.Scanner/test/serverWSonly.py

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+# 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()