class GenerateMaps:
def __init__(self, size, image_array, position):
self._buffer = mp.Queue()
self.lidar = Lidar(self._buffer)
print(self.lidar.start_lidar())
self.lf = LidarFunktions()
self.size = size
self.position = position
self.shared_line_map_array = image_array
def get_line_map(self, color=200, thickness=5):
lidar_data = mp.Process(target=self.lidar.get_scan)
lidar_data.start()
while not self._buffer.empty():
i, data = self._buffer.get()
pre_data = self.lf.prepare_data(data, position)
line_map = self.lf.draw_line_map(
np.zeros(self.size, dtype=np.uint8), pre_data, color,
thickness)
self.shared_line_map_array[:] = line_map.reshape(-1)
print(self.shared_line_map_array[:])
def movement(last_pre_data, pre_data, rotation, size):
last_cp = draw_map(last_pre_data, size)
cp = draw_map(pre_data, size)
cp = rotate(cp, rotation)
# Queue
lidar_data = Queue()
mainMap_img_q = ImageQueue(5, 2)
pci_img_q = ImageQueue(3, 2)
lidar = Lidar(lidar_data)
lf = LidarFunctions()
print(lidar.start_lidar())
size = (5000, 5000)
position = (size[0] // 2, size[1] // 2)
mainMap = np.zeros(size, np.uint8)
# mainMapArray = Array()
new_scan_event = Event()
get_lidar_data = Process(target=lidar.get_scan_v3, args=(new_scan_event, 3))
start_time = time.time()
last_line_map = None
rotation_counter = 0
last_rotation = 0
new_scan_event.set()
try:
get_lidar_data.start()