def process_frame(ar):
"""
处理雷达每帧数据
"""
# file_handle = FileHandle()
frame_cnt = 0
while True:
global error_frame
for temp_i in range(0, 6):
print 'queuesize', queue.qsize(
), 'frame_cnt', frame_cnt, 'error frame', error_frame
# 处理queue队列中留存的所有扫描数据
while not queue.empty():
buf = queue.get()
# print buf
buf_split = buf.split()
buf_split_len = len(buf_split)
if buf[0] != '\x02' or buf_split_len < 26:
error_frame += 1
print "Erro frame"
continue
frame_cnt += 1
point_num = min(hexstr2int(buf_split[25]), buf_split_len - 26)
# print 'point_num', point_num
# print buf_split[9], buf_split[10], process_frame(buf_split[26:26+point_num])
result_data = buf_split[9] + ' ' + \
get_frame_info(buf_split[26:26 + point_num])
# result_data = process_frame(buf_split[26:26+proint_num])
# file_handle.write(result_data + '\n')
# return
if ar[0] == 0:
return
time.sleep(0.1)
def print_queue(ar):
while True:
while not queue.empty():
print queue.get()
print ""
if ar[0] == 0:
return
time.sleep(0.2)
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 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)
def read_frame(ar, queue, web_frame_queue, car_queue):
car_info = [None]*6
for index in range(0, 6):
car_info[index] = CarInfo(index)
'''
car_info[0].horizon_line = 594
car_info[1].horizon_line = 573
car_info[2].horizon_line = 574
car_info[3].horizon_line = 604
car_info[4].horizon_line = 481
car_info[5].horizon_line = 630
'''
car_info[0].horizon_line = 559
car_info[1].horizon_line = 371
car_info[2].horizon_line = 563
car_info[3].horizon_line = 605
car_info[4].horizon_line = 502
car_info[5].horizon_line = 650
"""
处理雷达每帧数据
"""
# file_handle = FileHandle()
frame_cnt = 0
begin_flag = 'sSN'
end_flag = '0'
while True:
if ar[0] == 0:
print 'read_frame close'
return
# print 'read_frame process'
while not queue.empty():
# print 'read_frame process'
if ar[0] == 0:
print 'read_frame close'
return
if queue.qsize < 2:
time.sleep(0.1)
continue
buf = queue.get()
# print buf
buf_split = buf.split()
if len(buf_split) == 0:
continue
if buf_split[0] == begin_flag:
if buf_split[-1] != end_flag:
next_buf_split = queue.get().split()
if next_buf_split[-1] == end_flag:
buf_split += next_buf_split
else:
continue
# print buf_split
xdata, ydata, height, analysis_data = get_frame_info(buf_split, car_info)
for temp in analysis_data:
if temp != 'null':
car_queue.put(temp)
# if web_frame_queue.empty():
web_frame_queue.put([xdata, ydata, height, analysis_data])
'''
for i in range(0, len(xdata)):
print xdata[i], ydata[i]
print ''
'''
# print height
time.sleep(0.1)