import os
import serial
import sys
import threading
import time
from reader import ins
# Main
reader = ins()
reader.connect()
if reader.isClosed() == False:
read_thread = threading.Thread(target=reader.dump)
read_thread.start()
read_thread.join()
else:
print "Could not connect!"
count = 0
while(count < points):
buffer_heading[count] = ins.readline()
count = count + 1
print "INS collection time: "+str(time.time() - start_time)
return
try:
t1 = Thread(target=read_lidar)
t2 = Thread(target=read_ins)
t1.start()
t2.start()
t1.join()
t2.join()
for number in buffer_theta:
ft.write(str(number)+",")
for number in buffer_dist:
fd.write(str(number)+",")
for number in buffer_heading:
fh.write(str(number)+",")
return
except:
return
lidar = rplidar(device="/dev/ttyUSB8")
lidar.connect()
ins = ins()
ins.connect()
write_file()
ft.close()
fd.close()
fh.close()
exit(0)
print "INS failed to connect!"
exit(1)
print "Connected to INS!"
# Hampel Filter (Removal of Outliers)
def HampelFilter(wk,K,FilterParms):
None # Could be difficult
# Moving Average Filter (Smoothing out Data)
def moving_average_filter():
None # Shouldn't be too bad
# Point correlation to determine if it's similar
def point_correlate():
None
# Direction Vector Calculate
def dir_vector(xold,yold,xnew,ynew):
return [(xnew-xold),(ynew-yold)]
# Gather
# Main
rplidar = rplidar(device='/dev/ttyUSB0')
ins = ins(device='/dev/ttyACM0')
connect(rplidar,ins)
