def __init__(self, lidar_turret):
self.map_size_pixels = 1600
self.map_size_meters = 50
self.trajectory = []
self.mapbytes = bytearray(self.map_size_pixels * self.map_size_pixels)
self.laser = Laser(lidar_turret.point_cloud_size, 2.4,
lidar_turret.detection_angle_degrees, 0)
self.algorithm = RMHC_SLAM(self.laser, self.map_size_pixels,
self.map_size_meters)
from time import sleep
from flask import Flask
from flask_socketio import SocketIO, emit
from flask_cors import CORS
app = Flask(__name__)
CORS(app)
sock = SocketIO(app)
from sweeppy import Sweep as sp
from breezyslam.components import Laser
from breezyslam.algorithms import RMHC_SLAM
import json
import sys
lidar = Laser(200, 500, 360, 40000, 0, 0)
slam = RMHC_SLAM(lidar, 800, 40)
share = {'stuff': []}
lock = Lock()
def send(stuff):
sock.emit('data', stuff)
print("sent")
def scan():
with sp("/dev/tty.usbserial-DM00LDB3") as sweep:
while True:
if sweep.get_motor_ready():
