#
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
periodic_message.status = "ok"
periodic_message.rpm = rotation.rpm()
channel.send_to(periodic_message.encode_message())
except IOError, e:
# log and notify robot of error
periodic_message.status = "error"
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"):
# 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())
# 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
