def testParamtersIsWrappedCorrectly(self):
print("test paramters.......")
laser = ydlidar.CYdLidar()
port = "/dev/ydlidar"
laser.setlidaropt(ydlidar.LidarPropSerialPort, port)
ret, result = laser.getlidaropt_toString(ydlidar.LidarPropSerialPort)
self.assertTrue(ret)
self.assertEqual(port, result)
baudrate = 230400
laser.setlidaropt(ydlidar.LidarPropSerialBaudrate, baudrate)
ret, baud = laser.getlidaropt_toInt(ydlidar.LidarPropSerialBaudrate)
self.assertTrue(ret)
self.assertEqual(baudrate, baud)
maxRange = 16.0
laser.setlidaropt(ydlidar.LidarPropMaxRange, maxRange)
ret, mRange = laser.getlidaropt_toFloat(ydlidar.LidarPropMaxRange)
self.assertTrue(ret)
self.assertEqual(maxRange, mRange)
intensity = False
laser.setlidaropt(ydlidar.LidarPropIntenstiy, intensity)
ret, quality = laser.getlidaropt_toBool(ydlidar.LidarPropIntenstiy)
self.assertTrue(ret)
self.assertEqual(intensity, quality)
import os
import ydlidar
import time
import sys
if __name__ == "__main__":
ydlidar.os_init()
ports = ydlidar.lidarPortList()
port = "/dev/ydlidar"
for key, value in ports.items():
port = value
laser = ydlidar.CYdLidar()
laser.setlidaropt(ydlidar.LidarPropSerialPort, port)
laser.setlidaropt(ydlidar.LidarPropSerialBaudrate, 512000)
laser.setlidaropt(ydlidar.LidarPropLidarType, ydlidar.TYPE_TOF)
laser.setlidaropt(ydlidar.LidarPropDeviceType, ydlidar.YDLIDAR_TYPE_SERIAL)
laser.setlidaropt(ydlidar.LidarPropScanFrequency, 10.0)
laser.setlidaropt(ydlidar.LidarPropSampleRate, 20)
laser.setlidaropt(ydlidar.LidarPropSingleChannel, False)
ret = laser.initialize()
if ret:
ret = laser.turnOn()
scan = ydlidar.LaserScan()
while ret and ydlidar.os_isOk():
r = laser.doProcessSimple(scan)
if r:
print("Scan received[", scan.stamp, "]:", scan.points.size(),
"ranges is [", 1.0 / scan.config.scan_time, "]Hz")
else:
print("Failed to get Lidar Data.")