Python os_init 예제들

예제 #1

파일: pytest.py 프로젝트: OmBheda7/test1

 def testOSInitIsWrappedCorrectly(self):
     print("test os init.......")
     ydlidar.os_init()
     self.assertTrue(ydlidar.os_isOk())
     ydlidar.os_shutdown()
     self.assertFalse(ydlidar.os_isOk())

예제 #2

import os
import ydlidar
import time
import sys

if __name__ == "__main__":
    ydlidar.os_init()
    ports = ydlidar.lidarPortList()
    port = "/dev/ydlidar"
    for key, value in ports.items():
        port = value
    laser = ydlidar.CYdLidar()
    laser.setlidaropt(ydlidar.LidarPropSerialPort, port)
    laser.setlidaropt(ydlidar.LidarPropSerialBaudrate, 512000)
    laser.setlidaropt(ydlidar.LidarPropLidarType, ydlidar.TYPE_TOF)
    laser.setlidaropt(ydlidar.LidarPropDeviceType, ydlidar.YDLIDAR_TYPE_SERIAL)
    laser.setlidaropt(ydlidar.LidarPropScanFrequency, 10.0)
    laser.setlidaropt(ydlidar.LidarPropSampleRate, 20)
    laser.setlidaropt(ydlidar.LidarPropSingleChannel, False)

    ret = laser.initialize()
    if ret:
        ret = laser.turnOn()
        scan = ydlidar.LaserScan()
        while ret and ydlidar.os_isOk():
            r = laser.doProcessSimple(scan)
            if r:
                print("Scan received[", scan.stamp, "]:", scan.points.size(),
                      "ranges is [", 1.0 / scan.config.scan_time, "]Hz")
            else:
                print("Failed to get Lidar Data.")