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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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PointCloudWeb.Scanner/0yGrad-pc.csv
+2
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@@ -0,0 +1,2 @@
x,y,z
143, 1307, 2
1 x y z
2 143 1307 2
PointCloudWeb.Scanner/Esszimmer.txt
+32401
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File diff suppressed because it is too large Load Diff
PointCloudWeb.Scanner/datafile.csv
+6480
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File diff suppressed because it is too large Load Diff
PointCloudWeb.Scanner/datafile.txt
+1 -6480
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File diff suppressed because it is too large Load Diff
PointCloudWeb.Scanner/lidar.csv
+1
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@@ -0,0 +1 @@
1,0.109375001,1315.000057
1 1 0.109375001 1315.000057
PointCloudWeb.Scanner/server.py
+49 -12
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@@ -2,11 +2,16 @@
import serial import serial
import time import time
import PyLidar3 import PyLidar3
import asyncio
import websockets
arduino = serial.Serial(port='COM8', baudrate=9600) #arduino = serial.Serial(port='COM5', baudrate=9600)
lidar = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) #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 ...") print("Start ...")
time.sleep(2) time.sleep(2)
@@ -35,7 +40,7 @@ def filterY(data):
def senddata(data,posy): def senddata(data,posy):
for x,y in data.items(): 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): def startScaner(mode):
if(lidar.Connect()): if(lidar.Connect()):
@@ -68,21 +73,53 @@ def startScaner(mode):
setY(0) setY(0)
else: 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() f.close()
lidar.StopScanning() lidar.StopScanning()
lidar.Disconnect() lidar.Disconnect()
print("Scaner gestoppt") print("scan stoped")
else: else:
print("Error connecting to device") print("Error connecting to device")
while True: async def wsfilter(websocket, message):
startScaner(input("Scan Modus(0,1,2):")) 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): # for x in range(18):
# setY(x*10) # setY(x*10)
# time.sleep(1) # time.sleep(1)
PointCloudWeb.Scanner/test/index.html
+20
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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>
PointCloudWeb.Scanner/lida.py → PointCloudWeb.Scanner/test/lida.py
+20 -20
View File
@@ -1,21 +1,21 @@
import PyLidar3 import PyLidar3
import time # Time module import time # Time module
#Serial port to which lidar connected, Get it from device manager windows #Serial port to which lidar connected, Get it from device manager windows
#In linux type in terminal -- ls /dev/tty* #In linux type in terminal -- ls /dev/tty*
#port = input("Enter port name which lidar is connected:") #windows #port = input("Enter port name which lidar is connected:") #windows
#port = "/dev/ttyUSB0" #linux #port = "/dev/ttyUSB0" #linux
f = open("PoinCloudWeb.Scanner\datafile.txt","wt") f = open("PoinCloudWeb.Scanner\datafile.txt","wt")
Obj = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size) Obj = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size)
if(Obj.Connect()): if(Obj.Connect()):
print(Obj.GetDeviceInfo()) print(Obj.GetDeviceInfo())
gen = Obj.StartScanning() gen = Obj.StartScanning()
t = time.time() # start time t = time.time() # start time
data = next(gen) data = next(gen)
#print(data) #print(data)
for x,y in data.items(): for x,y in data.items():
f.write(str(x) + " / " + str(y) + "\n") f.write(str(x) + " / " + str(y) + "\n")
f.close() f.close()
Obj.StopScanning() Obj.StopScanning()
Obj.Disconnect() Obj.Disconnect()
else: else:
print("Error connecting to device") print("Error connecting to device")
PointCloudWeb.Scanner/test/ws.py
+69
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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()
PointCloudWeb.Web/package-lock.json
Generated
+79 -81
View File
@@ -1781,6 +1781,63 @@
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"dev": true "dev": true
}, },
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"version": "4.3.0",
"resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz",
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"dev": true,
"optional": true,
"requires": {
"color-convert": "^2.0.1"
}
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"chalk": {
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"resolved": "https://registry.npmjs.org/chalk/-/chalk-4.1.2.tgz",
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"dev": true,
"optional": true,
"requires": {
"ansi-styles": "^4.1.0",
"supports-color": "^7.1.0"
}
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"color-convert": {
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"dev": true,
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"dev": true,
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"has-flag": {
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"resolved": "https://registry.npmjs.org/has-flag/-/has-flag-4.0.0.tgz",
"integrity": "sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==",
"dev": true,
"optional": true
},
"loader-utils": {
"version": "2.0.0",
"resolved": "https://registry.npmjs.org/loader-utils/-/loader-utils-2.0.0.tgz",
"integrity": "sha512-rP4F0h2RaWSvPEkD7BLDFQnvSf+nK+wr3ESUjNTyAGobqrijmW92zc+SO6d4p4B1wh7+B/Jg1mkQe5NYUEHtHQ==",
"dev": true,
"optional": true,
"requires": {
"big.js": "^5.2.2",
"emojis-list": "^3.0.0",
"json5": "^2.1.2"
}
},
"ssri": { "ssri": {
"version": "8.0.1", "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", "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": { "requires": {
"minipass": "^3.1.1" "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==",
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"chalk": "^4.1.0",
"hash-sum": "^2.0.0",
"loader-utils": "^2.0.0"
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"ansi-styles": {
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"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": "sha512-diHzdDKxcU+bAsUboHLPEDQiw0qEe0qd7SYUn3HgcFlWgbDcfLGswOHYeGrHKzG9z6UYf01d9VFMfZxPM1xZSg==",
"dev": true,
"optional": true,
"requires": {
"ansi-styles": "^4.1.0",
"supports-color": "^7.1.0"
}
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"color-convert": {
"version": "2.0.1",
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"dev": true,
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"dev": true,
"optional": true,
"requires": {
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"emojis-list": "^3.0.0",
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"dev": true,
"optional": true,
"requires": {
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"vue-router": { "vue-router": {
"version": "4.0.10", "version": "4.0.10",
"resolved": "https://registry.nlark.com/vue-router/download/vue-router-4.0.10.tgz", "resolved": "https://registry.nlark.com/vue-router/download/vue-router-4.0.10.tgz",
PointCloudWeb.Web/src/views/Scanner.vue
+49 -2
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@@ -1,6 +1,53 @@
<template> <template>
<div> <div>
<h1>Welcome to PointCloudWeb</h1> <h1>Welcome to PointCloudWeb</h1>
<h1>Scanner</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>
<div class="scanresolution">
<h1>status: {{status}}</h1>
<div class="value" v-for="(item, index) in logs" :key="item.id">
{{logs[index]}}
</div>
</div>
</div> </div>
</template> </template>
<script>
export default {
data() {
return {
logs: [],
status: "disconnected"
};
},
methods: {
sendMessage: function(message) {
this.connection.send(message);
}
},
created: function() {
this.connection = 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.connection.onmessage = function(event){
console.log(event)
that.logs.push(event.data);
}
}
};
</script>
<style scoped>
</style>