def connect_and_configure(ip="192.168.0.20",
data_thread_delay=1000,
callback=echoes_callback):
dev = leddar.Device()
if not dev.connect(ip, leddar.device_types["LeddarAuto"], 48630):
print("connection failed!")
raise RuntimeError("Connection failed!")
dev.set_callback_echo(callback)
dev.set_data_mask(leddar.data_masks["PDM_ECHOES"])
dev.set_data_thread_delay(data_thread_delay)
return dev
def connect_and_set_apd_bias(value=170):
'''
use this after you performed a './LCA3 -b all' on your unit. 160 to 190 range seems right for the 3DF
'''
dev = leddar.Device()
if not dev.connect("192.168.0.20", leddar.device_types["LeddarAuto"],
48630):
raise RuntimeError("Connection failed!")
dev.set_property_value(leddar.property_ids['ID_APD_VBIAS_VOLTAGE_T0'],
str(value))
print("ID_SENSIVITY:" +
dev.get_property_value(leddar.property_ids['ID_SENSIVITY']))
print(
"ID_APD_VBIAS_VOLTAGE_T0:" +
dev.get_property_value(leddar.property_ids['ID_APD_VBIAS_VOLTAGE_T0']))
print("ID_APD_VBIAS_MULTI_FACTOR:" + dev.get_property_value(
leddar.property_ids['ID_APD_VBIAS_MULTI_FACTOR']))
print("ID_APD_VBIAS_T0:" +
dev.get_property_value(leddar.property_ids['ID_APD_VBIAS_T0']))
dev.disconnect()
print("Channel - Timestamp - Distance - Amplitude - Flag")
for i in range(0, len(data), increment):
print(
str(data[i]["indices"]) + " - " + str(data[i]["distances"]) +
" - " + str(data[i]["amplitudes"]) + " - " + str(data[i]["flags"]))
def states_callback(states):
print("timestamp: " + str(states["timestamp"]))
print("cpu_load " + str(states["cpu_load"]) + "%")
print("system_temp " + str(states["system_temp"]) + " C")
#Create device
dev = leddar.Device()
#Connect to the device
sensorlist = leddar.get_devices("Usb")
dev.connect(sensorlist[0]['name'], leddar.device_types["Usb"])
#Get properties value
print("ID_BASE_POINT_COUNT = " +
dev.get_property_value(leddar.property_ids["ID_BASE_POINT_COUNT"]))
print("ID_LED_INTENSITY = " +
dev.get_property_value(leddar.property_ids["ID_LED_INTENSITY"]))
#Property available values
values = dev.get_property_available_values(
leddar.property_ids["ID_LED_INTENSITY"])
print(values["type"])
def _update(self):
if not self._running:
return
if self._dev is None or not self._connected:
self._dev = leddar.Device()
if not self._dev.connect(self._ip):
self._connected = False
self.connectedChanged.emit()
self._dev = None
return
self._connected = True
self.connectedChanged.emit()
self._emitConnectedChanged = True
if self._specs is None:
self._specs = utils.get_specs(self._dev)
else:
self._overriden_specs = True
self._handle_specs_changed()
def echo_callback(new_echoes):
if not self._locked:
self._received_echoes.append(new_echoes)
self.makeDirty()
self._dev.set_callback_echo(echo_callback)
self._dev.set_data_mask(leddar.data_masks["PDM_ECHOES"])
def state_callback(new_state):
if not self._locked:
self._received_states.append(new_state)
self.makeDirty()
self._dev.set_callback_state(state_callback)
self._dev.set_data_mask(self._dev.get_data_mask() | leddar.data_masks["PDM_STATES"])
self._update_traces_mode()
self._update_data_thread()
self._n_received = 0
if self._received_echoes:
self._n_received += 1
self._locked = True
self._nDroppedPackages = len(self._received_echoes) - 1
last_received = self._received_echoes[-1]
last_received['data'] = last_received['data'][np.isin(last_received['data']['flags'], self._rejectedFalgs, invert = True)]
if self._calibrating:
self._calibration_samples.append(last_received)
else:
if (self._dTCorrection) and (self._states is not None):
T = self._states['system_temp']
last_received = calibration.distance_correction_temperature(last_received, T, self._dTGainFactor, self._dTFix)
if (self._aTCorrection) and (self._states is not None):
T = self._states['system_temp']
last_received = calibration.amplitude_correction_temperature(last_received, T, self._aTGainFactor, self._aTThreshold)
self._received_echoes = []
self._locked = False
self.nDroppedPackagesChanged.emit()
if self._ts_prev is None:
self._ts_prev = time.time()
ts = time.time()#last_received['timestamp']
if self._n_received%10 == 0:
self._fps = 10 /(ts - self._ts_prev)
self.fpsChanged.emit()
self._ts_prev = ts
if self._emitConnectedChanged: #important for those watching properties. properties seem only valid after the first echo
self._emitConnectedChanged = False
self.connectedChanged.emit()
self._update_with_last_received(last_received)
if self._received_states:
last_received = self._received_states[-1]
self.set_states(self, last_received)
self._received_states = []
if self._calibrating:
self._calibration_states_samples.append(last_received)
if self._calibrating:
self.set_calibrationProgress(self, len(self._calibration_samples)/(self._n_calibration_samples+self._n_drop_calib_samples))
if self._calibrationProgress >= 1.0:
self._calibration_samples = self._calibration_samples[-self._n_calibration_samples::]
self._calibration_states_samples = self._calibration_states_samples[-self._n_calibration_samples::]
offsets = calibration.calibrate(self._calibration_samples, self._calibration_wall_distance, self._specs, self._interpCal)
if self._dTCorrection:
offsets = calibration.set_offset_to_base_temperature(self._calibration_states_samples, offsets, self._dTGainFactor, self._dTFix)
self._dev.set_calib_values(leddar.calib_types['ID_TIMEBASE_DELAY'], offsets.tolist())
self.saveCalibration(offsets = offsets.tolist())
self.set_calibrating(self, False)
if self._received_traces_raw:
self._update_traces_with_last_recieved(self._received_traces_raw[-1])
self._received_traces_raw = []
