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():