channel.send_to(periodic_message.encode_message())
logger.error("Failed to gather a full rotation of data.")
#
# get revised instructions from robot
#
try:
robot_data, robot_address = channel.receive_from()
message_from_robot = RobotMessage(robot_data)
if (message_from_robot.sender == "robot") and (message_from_robot.message == "sweep"):
Analyzer.start = message_from_robot.start
Analyzer.stop = message_from_robot.stop
except socket.timeout:
logger.info("No message received from robot")
elapsed_time = SECONDS_PER_MINUTE / float(rotation.rpm())
rotation_time = rotation_time + elapsed_time
current_time = current_time + elapsed_time
if rotation_time > seconds_per_output:
sorted_rot = sorted(list(itertools.chain(*rotations)), key=lambda (theta, _): theta)
grouped_by = itertools.groupby(sorted_rot, lambda x: x[0])
groups = [(key, list(items)) for key, items in grouped_by]
polar_data = [(angle, aggregate_distance(ranges)) for angle, ranges in groups]
lidar_viewer.plot_polar(polar_data)
lidar_viewer.plot_cartesian(rotation.cartesian_data())
lidar_logger.log_data(rotation.polar_data())
pdb.set_trace()
file_index = file_index + 1
rotation_time = 0
rotations = []
range_at_heading_message.range = tgt_range
if not suppress_robot_comm:
channel.send_to(range_at_heading_message.encode_message())
# push periodic message to the bot
periodic_message.status = 'ok'
periodic_message.rpm = rotation.rpm()
if not suppress_robot_comm:
channel.send_to(periodic_message.encode_message())
logger.info("reported rpm is {:d}".format(rotation.rpm()))
#
# send out the wall heading and distance report (disabled)
#
if 0:
(wall_heading, wall_distance, wall_orientation) = find_wall_midpoint(rotation.cartesian_data())
logger.info("find_wall_midpoint => heading {:.1f}, range {:.1f}, orientation {:.1f})".format(wall_heading, wall_distance, wall_orientation))
if (wall_heading, wall_distance, wall_orientation) == (0, 0, 0):
wall_message.status = 'error'
else:
wall_message.status = 'ok'
wall_message.range = wall_distance
wall_message.heading = wall_heading
wall_message.orientation = wall_orientation
if not suppress_robot_comm:
channel.send_to(wall_message.encode_message())
except IOError,e:
# log and notify robot of error
periodic_message.status = 'error'
