# connect the port with the laser and initialize the laser object
#lasr = OldLaser(lp)
lasr = Laser(lp)
#
#
slice_index = 0
file_index = 1
rotation_time = 0
current_time = 0
seconds_per_output = 10
SECONDS_PER_MINUTE = 60.0
while 1:
try:
rotation = Rotation(lasr.gather_full_rotation())
# rotation = OldRotation(lasr.gather_full_rotation())
#
# For now, we just output a lidar data snapshot every 10 seconds
# We will want this for debugging (maybe every second instead)
# change the "seconds_per_output" to tune that.
#
tgt_heading, tgt_range = Analyzer.range_at_heading(rotation.polar_data(), (Analyzer.start, Analyzer.stop))
logger.info("{:d} points yields {:.2f} inches at {:2d} degrees)".format(len(rotation.polar_data()),tgt_range, tgt_heading))
# push the newly calculated data into the message
range_at_heading_message.heading = tgt_heading
range_at_heading_message.range = tgt_range
channel.send_to(range_at_heading_message.encode_message())
# push periodic message to the bot
# connect the port with the laser and initialize the laser object
# lasr = OldLaser(lp)
lasr = Laser(lp)
#
#
slice_index = 0
file_index = 1
rotation_time = 0
current_time = 0
seconds_per_output = 1
SECONDS_PER_MINUTE = 60.0
rotations = []
while 1:
try:
rotation = Rotation(lasr.gather_full_rotation())
rotations = rotations[-4:]
rotations.append(rotation)
# rotation = OldRotation(lasr.gather_full_rotation())
#
# For now, we just output a lidar data snapshot every 10 seconds
# We will want this for debugging (maybe every second instead)
# change the "seconds_per_output" to tune that.
#
tgt_heading, tgt_range = Analyzer.range_at_heading(rotation.polar_data(), (Analyzer.start, Analyzer.stop))
logger.info(
"{:d} points yields {:.2f} inches at {:2d} degrees)".format(
len(rotation.polar_data()), tgt_range, tgt_heading
)
)
#lp = serial.Serial('/dev/tty.wchusbserial1420',115200,timeout=1)
lp = serial.Serial(serial_port_name, 115200, timeout=1)
lasr = Laser(lp)
except:
logger.critical('Unable to open lidar port: {}'.format(serial_port_name))
logger.critical('Try /dev/ttyUSB0, or maybe /dev/tty.wchusbserial1420, or maybe /dev/tty.usbserial')
periodic_message.status = 'down'
periodic_message.rpm = 0
if not suppress_robot_comm:
channel.send_to(periodic_message.encode_message())
logger.error('Lidar port could not be opened.')
if lasr is not None:
try:
# NOTE: because lidar is upside down, this needs to be reversed?
rotation = Rotation(lasr.gather_full_rotation(reverse_data=True))
#
# For now, we just output a lidar data snapshot every 10 seconds
# We will want this for debugging (maybe every second instead)
# change the "seconds_per_output" to tune that.
#
tgt_heading, tgt_range = Analyzer.range_at_heading(rotation.polar_data(), (Analyzer.start, Analyzer.stop))
logger.info("{:d} points yields {:.2f} inches at {:2d} degrees)".format(len(rotation.polar_data()),tgt_range, tgt_heading))
# push the newly calculated data into the message
range_at_heading_message.heading = tgt_heading
range_at_heading_message.range = tgt_range
if not suppress_robot_comm:
channel.send_to(range_at_heading_message.encode_message())
