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Python server gracefully shutdown and send scan data to converter

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This commit is contained in:
Lukas Droste
2021-08-16 20:52:35 +02:00
parent e45f0312e0
commit de049999ee
5 changed files with 200 additions and 118 deletions
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30
PointCloudWeb.Scanner/test/serverWSonly.py
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@@ -4,7 +4,6 @@ import time
import PyLidar3
import asyncio
import websockets
from concurrent.futures import ThreadPoolExecutor
import threading
import collections
@@ -20,7 +19,8 @@ lidar_port = "COM6"
lidar_chunk_size = 20000
lidar = None
scan_progress = 0
messageQeue = ['test', 'test1', 'abc']
scan_running = False
stop_scan = False
ws_message_queue = collections.deque(maxlen=100)
async def init():
@@ -40,6 +40,7 @@ async def init():
ws_message_queue.appendleft("lidar connected " + lidar_port)
except:
ws_message_queue.appendleft("can not connect to lidar! " + lidar_port)
ws_message_queue.appendleft("<connection>true")
def arduino_write_read(x):
data1 = x
@@ -47,7 +48,6 @@ def arduino_write_read(x):
def setY(y):
tmp = arduino_write_read("<set><"+str(y)+">")
print(tmp)
def filterY(data):
temp = data[data.find("<"):data.find(">")]
@@ -58,12 +58,14 @@ def senddata(data,posy):
f.write(str(posy) + ", " + str(x) + ", " + str(y) + "\n")
def startScaner(mode):
global scan_progress, lidar, messageQeue
global scan_progress, lidar, stop_scan
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):
if(stop_scan == True):
break
time.sleep(0.2)
setY( y*10)
scan_progress = round(y/18*100)
@@ -72,14 +74,19 @@ def startScaner(mode):
elif mode == "1":
ws_message_queue.appendleft("<scan>running")
for y in range(91):
if(stop_scan == True):
break
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):
if(stop_scan == True):
break
time.sleep(0.1)
setY(y*0.5)
scan_progress = round(y/360*100)
@@ -89,8 +96,13 @@ def startScaner(mode):
ws_message_queue.appendleft("mode error")
f.close()
ws_message_queue.appendleft("<scan>finished")
ws_message_queue.appendleft("scan finished")
if(stop_scan == True):
stop_scan = False
ws_message_queue.appendleft("<scan>canceld")
ws_message_queue.appendleft("scan canceld !")
else:
ws_message_queue.appendleft("<scan>finished")
ws_message_queue.appendleft("scan finished")
else:
ws_message_queue.appendleft("Error connecting to device")
@@ -100,7 +112,7 @@ async def wsfilter(message):
await wsaction(command,value)
async def wsaction(command, value):
global ws_message_queue
global ws_message_queue, stop_scan
if command == "start":
if value == "0":
ws_message_queue.appendleft("start scan on low resolution")
@@ -121,6 +133,8 @@ async def wsaction(command, value):
await init()
elif command == "status":
ws_message_queue.appendleft("progress: " + scan_progress)
elif command == "stop":
stop_scan = True
else:
ws_message_queue.appendleft("command error")
@@ -137,7 +151,7 @@ async def consumer_handler(websocket, path):
await wsfilter(message)
async def handler(websocket, path):
print("Start Websocket Connection")
print("Start Websocket Connection at ")
await init()
consumer_task = asyncio.ensure_future(consumer_handler(websocket, path))
producer_task = asyncio.ensure_future(producer_handler(websocket, path))