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This commit is contained in:
Lukas Droste
2021-08-05 09:54:31 +02:00
parent 768bc6f5cb
commit d15a0ff9ab
11 changed files with 39171 additions and 6595 deletions
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2
PointCloudWeb.Scanner/0yGrad-pc.csv Normal file
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@@ -0,0 +1,2 @@
x,y,z
143, 1307, 2
1 x y z
2 143 1307 2

32401
PointCloudWeb.Scanner/Esszimmer.txt Normal file
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6480
PointCloudWeb.Scanner/datafile.csv Normal file
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6481
PointCloudWeb.Scanner/datafile.txt
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1
PointCloudWeb.Scanner/lidar.csv Normal file
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@@ -0,0 +1 @@
1,0.109375001,1315.000057
1 1 0.109375001 1315.000057

61
PointCloudWeb.Scanner/server.py
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@@ -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)

20
PointCloudWeb.Scanner/test/index.html Normal file
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@@ -0,0 +1,20 @@
<!DOCTYPE html>
<html>
<head>
<title>WebSocket demo</title>
</head>
<body>
<script>
var ws = new WebSocket("ws://127.0.0.1:5678/"),
messages = document.createElement('ul');
ws.onmessage = function (event) {
var messages = document.getElementsByTagName('ul')[0],
message = document.createElement('li'),
content = document.createTextNode(event.data);
message.appendChild(content);
messages.appendChild(message);
};
document.body.appendChild(messages);
</script>
</body>
</html>

40
PointCloudWeb.Scanner/lida.py → PointCloudWeb.Scanner/test/lida.py
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@@ -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")

69
PointCloudWeb.Scanner/test/ws.py Normal file
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@@ -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()