def unittest():
"""
模块单元测试
"""
AllConfig.read_config_file()
lidar = LidarHandle(AllConfig.host, AllConfig.port)
lidar.connect()
def print_queue(ar):
while True:
while not queue.empty():
print queue.get()
print ""
if ar[0] == 0:
return
time.sleep(0.2)
# print queue.qsize()
scan_flag = Array('i', 1)
while True:
scan_flag[0] = 1
scandata1_process = Process(target=lidar.open_scandata1,
args=(scan_flag, ))
scandata1_process.start()
frame_process = Process(target=process_frame, args=(scan_flag, ))
frame_process.start()
# print_process = Process(target=print_queue, args=(scan_flag, ))
# print_process.start()
time.sleep(36000)
lidar.close_scandata1(scan_flag)
time.sleep(60)
def get_one_frame():
AllConfig.read_config_file()
lidar = LidarHandle(AllConfig.host, AllConfig.port)
lidar.connect()
for i in range(0, 3):
lidar.scandata()
# f = open('one_frame.txt', 'w+')
scan_flag = Array('i', 1)
scan_flag[0] = 1
process_frame(scan_flag)
while not queue.empty():
print queue.get()
print ""
def system_poweron():
"""
初始化
"""
AllConfig.read_config_file()
Handle.connect()
Handle.create_scan_process()
print 'create_scan_process'
Handle.create_read_process()
print 'create_read_process'
Handle.create_analysis_process()
print 'create_analysis_process'
'''
while not Handle.frame_queue.empty():
print Handle.frame_queue.get()
print ""
'''
time.sleep(3)
def record_lidar_frame():
"""
雷达帧保存到本地
"""
AllConfig.read_config_file()
lidar = LidarHandle(AllConfig.host, AllConfig.port)
lidar.connect()
frame_num = 15000
def print_queue(ar):
while True:
f_name = datetime.now().strftime("%Y%m%d%H%M%S")
fp = gzip.open('out/' + f_name + '.txt.gz', 'wb')
fp_cnt = 0
while fp_cnt < frame_num:
while (not queue.empty()) and (fp_cnt < frame_num):
if fp_cnt % 100 == 0:
print "get_frame ", fp_cnt
fp.write(queue.get())
fp.write('\n')
fp_cnt += 1
if ar[0] == 0:
fp.close()
return
if fp_cnt >= frame_num:
print f_name, 'close'
fp.close()
break
time.sleep(1)
# print queue.qsize()
scan_flag = Array('i', 1)
scan_flag[0] = 1
scandata1_process = Process(target=lidar.open_scandata1,
args=(scan_flag, ))
scandata1_process.start()
record_process = Process(target=print_queue, args=(scan_flag, ))
record_process.start()
time.sleep(3600)
lidar.close_scandata1(scan_flag)
time.sleep(3)
def frametest():
AllConfig.read_config_file()
scan_flag = Array('i', 1)
scan_flag[0] = 1
def txt2frame():
for frame in open('rec.txt'):
queue.put(frame)
time.sleep(1)
# print queue.get()
# return
# 雷达驱动线程
scandata1_process = Process(target=txt2frame)
scandata1_process.start()
# tcp队列预处理线程
frame_process = Process(target=process_frame, args=(scan_flag, ))
frame_process.start()
def main():
AllConfig.read_config_file()
lidar = LidarHandle(AllConfig.host, AllConfig.port)
lidar.connect()
# print queue.qsize()
scan_flag = Array('i', 1)
scan_flag[0] = 1
# 雷达驱动线程
scandata1_process = Process(target=lidar.open_scandata1,
args=(scan_flag, ))
scandata1_process.start()
# tcp队列预处理线程
frame_process = Process(target=process_frame, args=(scan_flag, ))
frame_process.start()
time.sleep(20)
lidar.close_scandata1(scan_flag)
print queue.qsize()