def __init__(self, size, image_array, position):
self._buffer = mp.Queue()
self.lidar = Lidar(self._buffer)
print(self.lidar.start_lidar())
self.lf = LidarFunktions()
self.size = size
self.position = position
self.shared_line_map_array = image_array
class GenerateMaps:
def __init__(self, size, image_array, position):
self._buffer = mp.Queue()
self.lidar = Lidar(self._buffer)
print(self.lidar.start_lidar())
self.lf = LidarFunktions()
self.size = size
self.position = position
self.shared_line_map_array = image_array
def get_line_map(self, color=200, thickness=5):
lidar_data = mp.Process(target=self.lidar.get_scan)
lidar_data.start()
while not self._buffer.empty():
i, data = self._buffer.get()
pre_data = self.lf.prepare_data(data, position)
line_map = self.lf.draw_line_map(
np.zeros(self.size, dtype=np.uint8), pre_data, color,
thickness)
self.shared_line_map_array[:] = line_map.reshape(-1)
print(self.shared_line_map_array[:])
px = ox
def movement(last_pre_data, pre_data, rotation, size):
last_cp = draw_map(last_pre_data, size)
cp = draw_map(pre_data, size)
cp = rotate(cp, rotation)
# Queue
lidar_data = Queue()
mainMap_img_q = ImageQueue(5, 2)
pci_img_q = ImageQueue(3, 2)
lidar = Lidar(lidar_data)
lf = LidarFunctions()
print(lidar.start_lidar())
size = (5000, 5000)
position = (size[0] // 2, size[1] // 2)
mainMap = np.zeros(size, np.uint8)
# mainMapArray = Array()
new_scan_event = Event()
get_lidar_data = Process(target=lidar.get_scan_v3, args=(new_scan_event, 3))
start_time = time.time()
last_line_map = None
rotation_counter = 0
last_rotation = 0
new_scan_event.set()
cv2.imwrite("img{i}.jpg".format(i=i), mainMap)
else:
print("Buffer empty")
time.sleep(0.1)
buffer_empty_counter += 1
if buffer_empty_counter > 8:
exit()
if __name__ == '__main__':
mainMap = np.zeros((10000, 10000))
position = (5000, 5000)
buffer = Queue()
lidar = Lidar(buffer)
print(lidar.start_lidar())
lidar_scan = Process(target=lidar.get_scan)
main_p = Process(target=main_process)
try:
print("start")
main_p.start()
lidar_scan.start()
while True:
if not main_p.is_alive():
lidar_scan.terminate()
lidar.stop()
exit()
time.sleep(1)
# Queue
lidar_data_queue = mp.Queue()
# Shard Memory
position = mp.Array(c.c_uint16, 2)
rotation = mp.Value(c.c_float)
pre_data_shared = mp.Array(c.c_uint16, 362 * 2)
lineMap_shared = mp.Array(c.c_uint8, size[0] * size[1] + 1)
mainMap_array = mp.Array(c.c_uint8, size[0] * size[1])
position[:] = [size[0] // 2, size[1] // 2]
rotation.value = 0
# Classes and Funktion
lidar = Lidar(lidar_data_queue)
# Processes
get_lidar_data = mp.Process(target=lidar.get_scan)
process_data = mp.Process(target=process_lidar_data,
args=(lidar_data_queue, pre_data_shared,
lineMap_shared, mainMap_array, rotation, size))
print(lidar.start_lidar())
get_lidar_data.start()
process_data.start()
try:
time.sleep(1)
last_mainMap = np.zeros(size, dtype=np.uint8)
st = time.time()