223 lines
7.7 KiB
Python
223 lines
7.7 KiB
Python
# Importing Libraries
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import serial
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import time
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import PyLidar3
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import asyncio
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import websockets
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import threading
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import collections
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import requests
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import uuid
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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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arduino_baud = 9600
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arduino = None
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lidar_status = False
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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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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 = ""
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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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if arduino != None:
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arduino.close()
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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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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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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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lidar_status = True
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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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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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data1 = arduino.readline()
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return filterY(str(data1))
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def setY(y):
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tmp = arduino_write_read("<set><"+str(y)+">")
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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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global scan_id
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temp ="{\"Id\": \""+scan_id+"\",\"ScanPoints\":["
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for x,y in data.items():
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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(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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ws_message_queue.appendleft(str(lidar.GetDeviceInfo()))
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scan_id = str(uuid.uuid4())
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ws_message_queue.appendleft("Scan ID: " + scan_id)
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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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ws_message_queue.appendleft("<scan>running")
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for y in range(1):
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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 = round(y/18*100)
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ws_message_queue.appendleft("<progress>" + str(scan_progress))
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r = requests.put(url='http://localhost:35588/scandata/finished/'+scan_id)
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setY(0)
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lidar.StopScanning()
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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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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 = round(y/90*100)
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ws_message_queue.appendleft("<progress>" + str(scan_progress))
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r = requests.put(url='http://localhost:35588/scandata/finished/'+scan_id)
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setY(0)
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lidar.StopScanning()
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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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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 = round(y/360*100)
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ws_message_queue.appendleft("<progress>" + str(scan_progress))
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r = requests.put(url='http://localhost:35588/scandata/finished/'+scan_id)
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setY(0)
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lidar.StopScanning()
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else:
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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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ws_message_queue.appendleft("Error connecting to device")
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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(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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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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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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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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ws_message_queue.appendleft("mode error")
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elif command == "connect" and arduino and lidar != None:
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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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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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ws_message_queue.appendleft("command error")
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async def producer_handler(websocket, path):
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while True:
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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 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(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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arduino.close()
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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") |