#for pi 4 UART port
#port = serial.Serial("/dev/ttyS0",baudrate = 921600, timeout = 0.5)
#
#Drone Object Detect Radar initial
#port = serial.Serial("/dev/tty.usbmodemGY0052534",baudrate = 921600, timeout = 0.5)
#port = serial.Serial("/dev/tty.usbmodem14103",baudrate = 115200 , timeout = 0.5)
#port = serial.Serial("/dev/tty.usbmodemGY0050674",baudrate = 921600, timeout = 0.5)
#port = serial.Serial("/dev/tty.SLAB_USBtoUART3",baudrate = 921600, timeout = 0.5)
port = serial.Serial("/dev/tty.usbmodemGY0043864",
baudrate=921600,
timeout=0.5)
#for NUC ubuntu
#port = serial.Serial("/dev/ttyACM1",baudrate = 921600, timeout = 0.5)
radar = vehicleODR.VehicleODR(port)
v8len = 0
v9len = 0
v10len = 0
def colorMapping(inp):
#print(inp)
cx = (0, 0, 1, 1)
if inp < 0.2:
cx = (0, 0, 0.7, 0.8) # blue
elif inp >= 0.2 and inp < 0.6:
cx = (0, 0, 1, 1)
elif inp >= 0.6 and inp < 1.4:
cx = (0, 0.13, 0.78, 1)
port.flushInput()
##########################################################################################
##########################################################################################
def jb_animateCB(xdata, im):
global heatA
im.set_data(heatA)
##########################################################################################
##########################################################################################
pm = vehicleODR.VehicleODR(port)
heatA = np.zeros((JB_RANGE_GRID_64, JB_AZIMUTH_GRID_48))
thread1 = Thread(target=jb_uartThreadCB, args=("UART", ))
thread1.setDaemon(True)
thread1.start()
fig, ax = plt.subplots()
im = ax.imshow(np.random.rand(JB_RANGE_GRID_64, JB_AZIMUTH_GRID_48),
interpolation='nearest')
ani = animation.FuncAnimation(fig,
jb_animateCB,
interval=200,
repeat=True,
fargs=(im, ))
plt.show()