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-y:170x:357d:1311 -y:170x:358d:1312 -y:170x:359d:1314 +y, x, z diff --git a/PointCloudWeb.Scanner/lidar.csv b/PointCloudWeb.Scanner/lidar.csv new file mode 100644 index 0000000..2ec490b --- /dev/null +++ b/PointCloudWeb.Scanner/lidar.csv @@ -0,0 +1 @@ +1,0.109375001,1315.000057 \ No newline at end of file diff --git a/PointCloudWeb.Scanner/server.py b/PointCloudWeb.Scanner/server.py index df2867e..6bdc9cd 100644 --- a/PointCloudWeb.Scanner/server.py +++ b/PointCloudWeb.Scanner/server.py @@ -2,11 +2,16 @@ import serial import time import PyLidar3 +import asyncio +import websockets -arduino = serial.Serial(port='COM8', baudrate=9600) -lidar = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) +#arduino = serial.Serial(port='COM5', baudrate=9600) +#lidar = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) -f = open("PoinCloudWeb.Scanner\datafile.txt","wt") +f = open("PointCloudWeb.Scanner\datafile.txt","wt") +f.write("y, x, z\n") + +progress = 0 print("Start ...") time.sleep(2) @@ -35,7 +40,7 @@ def filterY(data): def senddata(data,posy): for x,y in data.items(): - f.write("y:" + str(posy) + "x:" + str(x) + "d:" + str(y) + "\n") + f.write(str(posy) + ", " + str(x) + ", " + str(y) + "\n") def startScaner(mode): if(lidar.Connect()): @@ -68,21 +73,53 @@ def startScaner(mode): setY(0) else: - print("Mode Error") + print("mode error") - # data = next(gen) - # #print(data) - # for x,y in data.items(): - # f.write("a:" + str(x) + " d:" + str(y) + "\n") f.close() lidar.StopScanning() lidar.Disconnect() - print("Scaner gestoppt") + print("scan stoped") else: print("Error connecting to device") -while True: - startScaner(input("Scan Modus(0,1,2):")) +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"): + await websocket.send("start scan resolution 0") + elif(value =="1"): + await websocket.send("start scan resolution 1") + elif(value =="2"): + await websocket.send("start scan resolution 2") + else: + await websocket.send("mode error") + elif(command == "status"): + await websocket.send("Status ...") + else: + await websocket.send("command error") + #muss noch was passieren + +async def wscom(websocket, path): + print("connected") + while True: + data = await websocket.recv() + await wsfilter(websocket, data) + print({data}) + #await websocket.send(data) + +async def main(): + server = await websockets.serve(wscom, 'localhost', 6789) + await server.wait_closed() +asyncio.run(main()) + +#while True: +# startScaner(input("Scan Modus(0,1,2):")) + #wsfilter(input("Befehlt Eingeben:")) # for x in range(18): # setY(x*10) # time.sleep(1) \ No newline at end of file diff --git a/PointCloudWeb.Scanner/test/index.html b/PointCloudWeb.Scanner/test/index.html new file mode 100644 index 0000000..46c745e --- /dev/null +++ b/PointCloudWeb.Scanner/test/index.html @@ -0,0 +1,20 @@ + + + + WebSocket demo + + + + + \ No newline at end of file diff --git a/PointCloudWeb.Scanner/lida.py b/PointCloudWeb.Scanner/test/lida.py similarity index 97% rename from PointCloudWeb.Scanner/lida.py rename to PointCloudWeb.Scanner/test/lida.py index 4836f82..3229c57 100644 --- a/PointCloudWeb.Scanner/lida.py +++ b/PointCloudWeb.Scanner/test/lida.py @@ -1,21 +1,21 @@ -import PyLidar3 -import time # Time module -#Serial port to which lidar connected, Get it from device manager windows -#In linux type 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) -if(Obj.Connect()): - 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() - Obj.Disconnect() -else: +import PyLidar3 +import time # Time module +#Serial port to which lidar connected, Get it from device manager windows +#In linux type 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) +if(Obj.Connect()): + 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() + Obj.Disconnect() +else: print("Error connecting to device") \ No newline at end of file diff --git a/PointCloudWeb.Scanner/test/ws.py b/PointCloudWeb.Scanner/test/ws.py new file mode 100644 index 0000000..2eabe6c --- /dev/null +++ b/PointCloudWeb.Scanner/test/ws.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python + +# WS server example that synchronizes state across clients + +import asyncio +import json +import logging +import websockets + +logging.basicConfig() + +STATE = {"value": 0} + +USERS = set() + + +def state_event(): + return json.dumps({"type": "state", **STATE}) + + +def users_event(): + return json.dumps({"type": "users", "count": len(USERS)}) + + +async def notify_state(): + if USERS: # asyncio.wait doesn't accept an empty list + message = state_event() + await asyncio.wait([user.send(message) for user in USERS]) + + +async def notify_users(): + if USERS: # asyncio.wait doesn't accept an empty list + message = users_event() + await asyncio.wait([user.send(message) for user in USERS]) + + +async def register(websocket): + USERS.add(websocket) + await notify_users() + + +async def unregister(websocket): + USERS.remove(websocket) + await notify_users() + + +async def counter(websocket, path): + # register(websocket) sends user_event() to websocket + await register(websocket) + try: + await websocket.send(state_event()) + async for message in websocket: + data = json.loads(message) + if data["action"] == "minus": + STATE["value"] -= 1 + await notify_state() + elif data["action"] == "plus": + STATE["value"] += 1 + await notify_state() + else: + logging.error("unsupported event: %s", data) + finally: + await unregister(websocket) + + +start_server = websockets.serve(counter, "localhost", 6789) + +asyncio.get_event_loop().run_until_complete(start_server) +asyncio.get_event_loop().run_forever() \ No newline at end of file diff --git a/PointCloudWeb.Web/package-lock.json b/PointCloudWeb.Web/package-lock.json index 0aea349..e0d7a67 100644 --- a/PointCloudWeb.Web/package-lock.json +++ b/PointCloudWeb.Web/package-lock.json @@ -1781,6 +1781,63 @@ "integrity": "sha1-/q7SVZc9LndVW4PbwIhRpsY1IPo=", "dev": true }, + "ansi-styles": { + "version": "4.3.0", + "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz", + "integrity": "sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==", + "dev": true, + "optional": true, + "requires": { + "color-convert": "^2.0.1" + } + }, + "chalk": { + "version": "4.1.2", + "resolved": "https://registry.npmjs.org/chalk/-/chalk-4.1.2.tgz", + "integrity": "sha512-oKnbhFyRIXpUuez8iBMmyEa4nbj4IOQyuhc/wy9kY7/WVPcwIO9VA668Pu8RkO7+0G76SLROeyw9CpQ061i4mA==", + "dev": true, + "optional": true, + "requires": { + "ansi-styles": "^4.1.0", + "supports-color": "^7.1.0" + } + }, + "color-convert": { + "version": "2.0.1", + "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-2.0.1.tgz", + "integrity": 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"requires": { + "big.js": "^5.2.2", + "emojis-list": "^3.0.0", + "json5": "^2.1.2" + } + }, "ssri": { "version": "8.0.1", "resolved": "https://registry.nlark.com/ssri/download/ssri-8.0.1.tgz?cache=0&other_urls=https%3A%2F%2Fregistry.nlark.com%2Fssri%2Fdownload%2Fssri-8.0.1.tgz", @@ -1789,6 +1846,28 @@ "requires": { "minipass": "^3.1.1" } + }, + "supports-color": { + "version": "7.2.0", + "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz", + "integrity": "sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==", + "dev": true, + "optional": true, + "requires": { + "has-flag": "^4.0.0" + } + }, + "vue-loader-v16": { + "version": "npm:vue-loader@16.4.0", + "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.4.0.tgz", + "integrity": "sha512-oySoEgEedGw0jz2czEOdb6sycQ2PPyzUmF8Yclj1NTpoTVHGCYCQaGf+jsvxhdDVfhOnDLjkRzT2fLpGOrVPjg==", + "dev": true, + "optional": true, + "requires": { + "chalk": "^4.1.0", + "hash-sum": "^2.0.0", + "loader-utils": "^2.0.0" + } } } }, @@ -11287,87 +11366,6 @@ } } }, - "vue-loader-v16": { - "version": "npm:vue-loader@16.3.3", - "resolved": "https://registry.npmjs.org/vue-loader/-/vue-loader-16.3.3.tgz", - "integrity": "sha512-/1GzCuQ6MRORbC+leKTKoTGtpQt60bYe0gDGEextSteA2OM+v201FPha5jzmjQzVhRcwieZeUvezAtG5a/e5cw==", - "dev": true, - "optional": true, - "requires": { - "chalk": "^4.1.0", - "hash-sum": "^2.0.0", - "loader-utils": "^2.0.0" - }, - "dependencies": { - "ansi-styles": { - "version": "4.3.0", - "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz", - "integrity": "sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==", - "dev": true, - "optional": true, - "requires": { - "color-convert": "^2.0.1" - } - }, - "chalk": { - "version": "4.1.1", - "resolved": "https://registry.npmjs.org/chalk/-/chalk-4.1.1.tgz", - "integrity": 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a/PointCloudWeb.Web/src/views/Scanner.vue b/PointCloudWeb.Web/src/views/Scanner.vue index beebec2..c573a45 100644 --- a/PointCloudWeb.Web/src/views/Scanner.vue +++ b/PointCloudWeb.Web/src/views/Scanner.vue @@ -1,6 +1,53 @@ \ No newline at end of file + + + + + \ No newline at end of file