Python server gracefully shutdown and send scan data to converter
This commit is contained in:
Lukas Droste
@@ -4,10 +4,12 @@ import time
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import PyLidar3
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import asyncio
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import websockets
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from concurrent.futures import ThreadPoolExecutor
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import threading
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import collections
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import requests
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f = open("PointCloudWeb.Scanner\datafile.txt","wt")
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f.write("y, x, z\n")
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# f = open("PointCloudWeb.Scanner\datafile.txt","wt")
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# f.write("y, x, z\n")
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arduino_status = False
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arduino_port = "COM9"
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@@ -18,30 +20,34 @@ lidar_port = "COM6"
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lidar_chunk_size = 20000
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lidar = None
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scan_progress = 0
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_executor = ThreadPoolExecutor(1)
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newMessage = ""
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lastMessage = ""
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scan_running = False
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stop_scan = False
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ws_message_queue = collections.deque(maxlen=100)
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scan_id = "32a3acd0-4d67-4281-bf9c-3eefc093eca4"
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async def init(websocket):
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global arduino
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arduino = serial.Serial(port=arduino_port, baudrate=arduino_baud)
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async def init():
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global arduino, ws_message_queue, arduino_status, lidar, lidar_status
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try:
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await websocket.send("arduino connected " + arduino_port)
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global arduino_status
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arduino = serial.Serial(port=arduino_port, baudrate=arduino_baud)
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ws_message_queue.appendleft("arduino connected " + arduino_port)
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arduino_status = True
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except:
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await websocket.send("can not connect to arduino! " + arduino_port)
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ws_message_queue.appendleft("can not connect to arduino! " + arduino_port)
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arduino_status = False
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try:
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global lidar
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lidar = PyLidar3.YdLidarX4(port=lidar_port,chunk_size=lidar_chunk_size) #PyLidar3.your_version_of_lidar(port,chunk_size)
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if(lidar.Connect()):
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global lidar_status
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lidar_status = True
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await websocket.send("lidar connected " + lidar_port)
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ws_message_queue.appendleft("lidar connected " + lidar_port)
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else:
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raise ValueError
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except:
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await websocket.send("can not connect to lidar! " + lidar_port)
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ws_message_queue.appendleft("can not connect to lidar! " + lidar_port)
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lidar_status = False
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if( arduino_status == True and lidar_status == True):
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ws_message_queue.appendleft("<connection>true")
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else:
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ws_message_queue.appendleft("<connection>false")
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def arduino_write_read(x):
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arduino.write(bytes(x, 'utf-8'))
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@@ -50,130 +56,161 @@ def arduino_write_read(x):
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def setY(y):
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tmp = arduino_write_read("<set><"+str(y)+">")
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print(tmp)
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# def getY():
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# print(arduino_write_read("<get>"))
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# def resetY():
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# print(arduino_write_read("<reset>"))
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# def zerotY():
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# print(arduino_write_read("<zero>"))
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def filterY(data):
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temp = data[data.find("<"):data.find(">")]
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return temp + data[data.find("><"):data.find(">", data.find("><")+2)+1]
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def senddata(data,posy):
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temp ="{\"Id\": "+scan_id+",\"ScanPoints\":["
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for x,y in data.items():
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f.write(str(posy) + ", " + str(x) + ", " + str(y) + "\n")
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temp += ("{\"RAY\":" + str(posy) + ",\"RAX\":" + str(x) + ",\"DistanceMM\":" + str(y) + "},")
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# f.write("{\"RAY\":" + str(posy) + ",\"RAX\":" + str(x) + ",\"DistanceMM\":" + str(y) + "},")
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l = len(temp)
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temp = temp[:l-1] + "]}"
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r = requests.put(url='http://localhost:35588/scandata', data=temp, headers={'content-type': 'application/json'})
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#print(r.status_code)
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def startScaner(websocket, mode):
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global scan_progress
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global lidar
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def startScaner(mode):
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global scan_progress, lidar, stop_scan, scan_id
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if lidar_status == True:
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print(lidar.GetDeviceInfo())
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ws_message_queue.appendleft(str(lidar.GetDeviceInfo()))
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gen = lidar.StartScanning()
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if mode == "0":
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print("Mode 0")
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for y in range(18):
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ws_message_queue.appendleft("<scan>running")
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for y in range(19):
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if(stop_scan == True):
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break
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print("send data")
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senddata(next(gen),y*10)
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time.sleep(2)
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setY( y*10)
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time.sleep(2)
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scan_progress = y/18*100
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print(str(scan_progress) + " %")
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scan_progress = round(y/18*100)
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ws_message_queue.appendleft("<progress>" + str(scan_progress))
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requests.put(url='http://localhost:35588/scandata', data='finished/'+scan_id, headers={'content-type': 'application/json'})
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setY(0)
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lidar.StopScanning()
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lidar.Disconnect()
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elif mode == "1":
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print("Mode 1")
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for y in range(90):
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ws_message_queue.appendleft("<scan>running")
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for y in range(91):
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if(stop_scan == True):
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break
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senddata(next(gen),y*2)
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time.sleep(1)
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setY(y*2)
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time.sleep(1)
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scan_progress = y/90*100
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print(str(scan_progress) + " %")
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scan_progress = round(y/90*100)
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ws_message_queue.appendleft("<progress>" + str(scan_progress))
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requests.put(url='http://localhost:35588/scandata', data='finished/'+scan_id, headers={'content-type': 'application/json'})
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setY(0)
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lidar.StopScanning()
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lidar.Disconnect()
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elif mode == "2":
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print("Mode 2")
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for y in range(360):
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ws_message_queue.appendleft("<scan>running")
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for y in range(361):
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if(stop_scan == True):
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break
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senddata(next(gen),y*0.5)
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time.sleep(1)
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setY(y*0.5)
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time.sleep(1)
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scan_progress = y/360*100
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print(str(scan_progress) + " %")
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scan_progress = round(y/360*100)
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ws_message_queue.appendleft("<progress>" + str(scan_progress))
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requests.put(url='http://localhost:35588/scandata', data='finished/'+scan_id, headers={'content-type': 'application/json'})
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setY(0)
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lidar.StopScanning()
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lidar.Disconnect()
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elif mode == "3":
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print(scan_progress)
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scan_progress += 1
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print(scan_progress)
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else:
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print("mode error")
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f.close()
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print("scan stoped")
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ws_message_queue.appendleft("mode error")
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#f.close()
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if(stop_scan == True):
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stop_scan = False
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ws_message_queue.appendleft("<scan>canceld")
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ws_message_queue.appendleft("scan canceld !")
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else:
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print("Error connecting to device")
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ws_message_queue.appendleft("<scan>finished")
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ws_message_queue.appendleft("scan finished")
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else:
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ws_message_queue.appendleft("Error connecting to device")
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async def wsfilter(websocket, message):
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async def wsfilter(message):
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command = message[message.find("<")+1:message.find(">")]
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value = message[message.find("><")+2:message.find(">", message.find("><")+2)]
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await wsaction(websocket, command,value)
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await wsaction(command,value)
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async def wsaction(websocket, command, value):
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async def wsaction(command, value):
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global ws_message_queue, stop_scan
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if command == "start":
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if value == "0":
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await websocket.send("start scan resolution 0")
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await loop.run_in_executor(_executor, startScaner(websocket, value))
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ws_message_queue.appendleft("start scan on low resolution")
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x = threading.Thread(target=startScaner, args=(value))
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x.start()
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elif value =="1":
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await websocket.send("start scan resolution 1")
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await loop.run_in_executor(_executor, startScaner(websocket, value))
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ws_message_queue.appendleft("start scan on medium resolution")
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x = threading.Thread(target=startScaner, args=(value))
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x.start()
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elif value =="2":
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await websocket.send("start scan resolution 2")
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await loop.run_in_executor(_executor, startScaner(websocket, value))
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elif value =="3":
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await websocket.send("start scan test")
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await loop.run_in_executor(_executor, startScaner(websocket, value))
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ws_message_queue.appendleft("start scan on high resolution")
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x = threading.Thread(target=startScaner, args=(value))
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x.start()
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else:
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await websocket.send("mode error")
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ws_message_queue.appendleft("mode error")
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elif command == "connect" and arduino and lidar != None:
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await websocket.send("try to connect to Adruino and LIDAR")
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await init(websocket)
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ws_message_queue.appendleft("try to connect to Adruino and LIDAR")
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await init()
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elif command == "status":
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await websocket.send("progress: " + scan_progress)
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ws_message_queue.appendleft("progress: " + scan_progress)
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elif command == "stop":
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stop_scan = True
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elif command == "init":
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await init()
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else:
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await websocket.send("command error")
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ws_message_queue.appendleft("command error")
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async def wscom(websocket, path):
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await websocket.send("Websocket connected")
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await init(websocket)
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async def producer_handler(websocket, path):
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while True:
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data2 = await websocket.recv()
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await wsfilter(websocket, data2)
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print({data2})
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if scan_progress != lastMessage:
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await websocket.send(scan_progress)
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lastMessage = scan_progress
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global ws_message_queue
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if len(ws_message_queue) > 0:
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message = ws_message_queue.pop()
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print(message)
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await websocket.send(message)
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await asyncio.sleep(0.01)
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async def main():
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server = await websockets.serve(wscom, 'localhost', 6789)
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await server.wait_closed()
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async def consumer_handler(websocket, path):
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async for message in websocket:
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await wsfilter(message)
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async def handler(websocket, path):
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print("Start Websocket Connection at ")
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await init()
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consumer_task = asyncio.ensure_future(consumer_handler(websocket, path))
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producer_task = asyncio.ensure_future(producer_handler(websocket, path))
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done, pending = await asyncio.wait([consumer_task, producer_task], return_when=asyncio.FIRST_COMPLETED)
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for task in pending:
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task.cancel()
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try:
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ws_server = websockets.serve(handler, 'localhost', 6789)
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loop = asyncio.get_event_loop()
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loop.run_until_complete(main())
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#asyncio.run(main())
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#while True:
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# startScaner(input("Scan Modus(0,1,2):"))
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#wsfilter(input("Befehlt Eingeben:"))
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# for x in range(18):
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# setY(x*10)
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# time.sleep(1)
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loop.run_until_complete(ws_server)
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loop.run_forever()
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finally:
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print("shutting down server")
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ws_message_queue.appendleft("shutting down server")
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stop_scan = True
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print("set stop_scan")
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try:
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setY(0)
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print("reset stepper")
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except:
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print("can´t reset stepper")
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ws_message_queue.appendleft("<connection>false")
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print("Status an UI senden")
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try:
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lidar.Disconnect()
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print("LIDAR Disconnecten")
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except:
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print("can´t disconnecten lidar")
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loop.close()
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print("server down")
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@@ -4,7 +4,6 @@ import time
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import PyLidar3
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import asyncio
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import websockets
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from concurrent.futures import ThreadPoolExecutor
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import threading
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import collections
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@@ -20,7 +19,8 @@ lidar_port = "COM6"
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lidar_chunk_size = 20000
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lidar = None
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scan_progress = 0
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messageQeue = ['test', 'test1', 'abc']
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scan_running = False
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stop_scan = False
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ws_message_queue = collections.deque(maxlen=100)
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async def init():
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@@ -40,6 +40,7 @@ async def init():
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ws_message_queue.appendleft("lidar connected " + lidar_port)
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except:
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ws_message_queue.appendleft("can not connect to lidar! " + lidar_port)
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ws_message_queue.appendleft("<connection>true")
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def arduino_write_read(x):
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data1 = x
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@@ -47,7 +48,6 @@ def arduino_write_read(x):
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def setY(y):
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tmp = arduino_write_read("<set><"+str(y)+">")
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print(tmp)
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def filterY(data):
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temp = data[data.find("<"):data.find(">")]
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@@ -58,12 +58,14 @@ def senddata(data,posy):
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f.write(str(posy) + ", " + str(x) + ", " + str(y) + "\n")
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def startScaner(mode):
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global scan_progress, lidar, messageQeue
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global scan_progress, lidar, stop_scan
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if lidar_status == True:
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ws_message_queue.appendleft("start scan mode: " + mode)
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if mode == "0":
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ws_message_queue.appendleft("<scan>running")
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for y in range(19):
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if(stop_scan == True):
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break
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time.sleep(0.2)
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setY( y*10)
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scan_progress = round(y/18*100)
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@@ -72,14 +74,19 @@ def startScaner(mode):
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elif mode == "1":
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ws_message_queue.appendleft("<scan>running")
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for y in range(91):
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if(stop_scan == True):
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break
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time.sleep(0.2)
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setY(y*2)
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scan_progress = round(y/90*100)
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ws_message_queue.appendleft("<progress>" + str(scan_progress))
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setY(0)
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elif mode == "2":
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ws_message_queue.appendleft("<scan>running")
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for y in range(361):
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if(stop_scan == True):
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break
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time.sleep(0.1)
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setY(y*0.5)
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scan_progress = round(y/360*100)
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@@ -89,6 +96,11 @@ def startScaner(mode):
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ws_message_queue.appendleft("mode error")
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f.close()
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if(stop_scan == True):
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stop_scan = False
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ws_message_queue.appendleft("<scan>canceld")
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ws_message_queue.appendleft("scan canceld !")
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else:
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ws_message_queue.appendleft("<scan>finished")
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ws_message_queue.appendleft("scan finished")
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else:
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@@ -100,7 +112,7 @@ async def wsfilter(message):
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await wsaction(command,value)
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async def wsaction(command, value):
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global ws_message_queue
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global ws_message_queue, stop_scan
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if command == "start":
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if value == "0":
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ws_message_queue.appendleft("start scan on low resolution")
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@@ -121,6 +133,8 @@ async def wsaction(command, value):
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await init()
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elif command == "status":
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ws_message_queue.appendleft("progress: " + scan_progress)
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elif command == "stop":
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stop_scan = True
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else:
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ws_message_queue.appendleft("command error")
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@@ -137,7 +151,7 @@ async def consumer_handler(websocket, path):
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await wsfilter(message)
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async def handler(websocket, path):
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print("Start Websocket Connection")
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print("Start Websocket Connection at ")
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await init()
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consumer_task = asyncio.ensure_future(consumer_handler(websocket, path))
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producer_task = asyncio.ensure_future(producer_handler(websocket, path))
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@@ -115,9 +115,9 @@ namespace PointCloudWeb.Server.Models
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{
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// + 0.001 Otherwise points are outside of the bounding box by a floating-error, then Potree-Converter fails
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stringBuilder.AppendLine(string.Join(',',
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(point.X + 0.001).ToString(CultureInfo.InvariantCulture),
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(point.Y + 0.001).ToString(CultureInfo.InvariantCulture),
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(point.Z + 0.001).ToString(CultureInfo.InvariantCulture)
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(point.X + 0.1).ToString(CultureInfo.InvariantCulture),
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(point.Y + 0.1).ToString(CultureInfo.InvariantCulture),
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(point.Z + 0.1).ToString(CultureInfo.InvariantCulture)
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)
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);
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}
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BIN
PointCloudWeb.Server/Tools/PotreeConverter/test.las
Normal file
BIN
PointCloudWeb.Server/Tools/PotreeConverter/test.las
Normal file
Binary file not shown.
@@ -1,19 +1,21 @@
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<template>
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<div class="ui">
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<h1>Welcome to PointCloudWeb</h1>
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<div v-if="connection_status && !scan_status">
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<div v-if="connection_status && !scan_status && scanner_status">
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<button class="button" v-on:click="sendMessage('<start><0>')" >Start Scan: low</button>
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<button class="button button2" v-on:click="sendMessage('<start><1>')" >Start Scan: medium</button>
|
||||
<button class="button button3" v-on:click="sendMessage('<start><2>')" >Start Scan: high</button>
|
||||
</div>
|
||||
<div class="progressbar" v-if="connection_status">
|
||||
<div :style="{width: progress + '%'}"></div>
|
||||
<button v-if="scan_status && connection_status" class="button button4" v-on:click="sendMessage('<stop>')" >cancel</button>
|
||||
<button v-if="!scanner_status && connection_status" class="button button4" v-on:click="sendMessage('<init>')" >Init. Scanner</button>
|
||||
<div class="progressbar" v-if="connection_status && scanner_status">
|
||||
<div :style="{width: progress + '%', 'background-color': progress_color}"></div>
|
||||
</div>
|
||||
<p v-if="connection_status">{{progress}} %</p>
|
||||
<p v-if="connection_status && scanner_status">{{progress}} %</p>
|
||||
<div>
|
||||
<h1 v-if="!connection_status">status: disconnected</h1>
|
||||
<h1 v-if="connection_status">status: connected</h1>
|
||||
<button v-if="!connection_status" v-on:click="connectWS" >Connect</button>
|
||||
<h1 v-if="!connection_status">Scan Server: disconnected</h1>
|
||||
<h1 v-if="connection_status">Scan Server: connected</h1>
|
||||
<button v-if="!connection_status" v-on:click="connectWS">Connect to Scan Server</button>
|
||||
<ul>
|
||||
<div class="value" v-for="(item, index) in logs" :key="item.id">
|
||||
<li>{{logs[index]}}</li>
|
||||
@@ -21,7 +23,7 @@
|
||||
</ul>
|
||||
</div>
|
||||
<!--<button v-on:click="connection_status = !connection_status" >test</button>-->
|
||||
<button v-on:click="logs = []" >clear logs</button>
|
||||
<button v-on:click="progress = 0, logs = []" >clear logs</button>
|
||||
</div>
|
||||
</template>
|
||||
|
||||
@@ -33,7 +35,9 @@ export default {
|
||||
logs: [],
|
||||
connection_status: false,
|
||||
scan_status: false,
|
||||
scanner_status: false,
|
||||
progress: 0,
|
||||
progress_color: "yellow",
|
||||
command: "",
|
||||
value: ""
|
||||
};
|
||||
@@ -54,13 +58,20 @@ export default {
|
||||
if(event.data)
|
||||
that.msgFilter(event.data)
|
||||
}
|
||||
|
||||
this.wsConnection.onclose = function(){
|
||||
that.connection_status = false
|
||||
that.scanner_status = false
|
||||
that.scan_status = false
|
||||
that.logs.push("Websocket Connection closed");
|
||||
}
|
||||
},
|
||||
msgFilter(message){
|
||||
let that = this
|
||||
if(message.search("<") != -1){
|
||||
that.command = message.substr(message.search("<")+1, message.search(">")-1)
|
||||
that.value = message.substr(message.search(">")+1)
|
||||
console.log("command: " + that.command + " / value: " + that.value)
|
||||
//console.log("command: " + that.command + " / value: " + that.value)
|
||||
this.action(that.command, that.value)
|
||||
}
|
||||
else{
|
||||
@@ -78,13 +89,29 @@ export default {
|
||||
that.logs.push(value);
|
||||
}
|
||||
else if(command == "scan"){
|
||||
if(value == "running")
|
||||
if(value == "running"){
|
||||
that.scan_status = true
|
||||
that.progress_color = "yellow"
|
||||
}
|
||||
else if(value == "finished"){
|
||||
that.scan_status = false
|
||||
that.progress_color = "greenyellow"
|
||||
}
|
||||
else{
|
||||
that.scan_status = false
|
||||
that.progress_color = "red"
|
||||
that.progress = "canceld"
|
||||
}
|
||||
}
|
||||
else if(command == "connection"){
|
||||
if(value == "true")
|
||||
that.scanner_status = true
|
||||
else
|
||||
that.scanner_status = false
|
||||
that.scan_status = false
|
||||
}
|
||||
else
|
||||
that.logs.push("Unknow command: " + value);
|
||||
that.logs.push("Unknow command: " + value)
|
||||
|
||||
}
|
||||
},
|
||||
@@ -122,7 +149,6 @@ li {
|
||||
}
|
||||
|
||||
.progressbar>div {
|
||||
background-color: greenyellow;
|
||||
/* Adjust with JavaScript */
|
||||
height: 20px;
|
||||
border-radius: 4px;
|
||||
@@ -141,7 +167,12 @@ li {
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.button2 {background-color: #008CBA;} /* Blue */
|
||||
.button3 {background-color: #f44336;} /* Red */
|
||||
.button:hover{
|
||||
background-color: #e9962a;
|
||||
}
|
||||
|
||||
.button2 {background-color: #00ba9b;}
|
||||
.button3 {background-color: #008cff}
|
||||
.button4 {background-color: #f44336;} /* Red */
|
||||
|
||||
</style>
|
||||
Reference in New Issue
Block a user