class Lidar(QThread):
# Signal pour envoyer les scans
newScansReceived = pyqtSignal(np.ndarray, np.ndarray, np.ndarray,
np.ndarray)
def __init__(self):
super().__init__()
self.lidar = RPLidar('COM12', baudrate=256000)
#self.lidar = RPLidar('/dev/ttyUSB0', baudrate=256000)
#self.connect()
print('connexion avec le lidar')
self.lidar.logger.setLevel(logging.DEBUG)
consoleHandler = logging.StreamHandler()
#self.lidar.logger.addHandler(consoleHandler)
info = self.lidar.get_info()
print(info)
health = self.lidar.get_health()
print(health)
print("####################")
time.sleep(2)
self.continuer = True
def run(self):
gen = self.lidar.scan2ArrayFromLidar(45, 135, 225, 315)
while self.continuer:
radiusRight, thetaRight, radiusLeft, thetaLeft = next(gen)
self.newScansReceived.emit(radiusRight, thetaRight, radiusLeft,
thetaLeft)
print("fin du thread Lidar")
self.lidar.stop()
self.lidar.stop_motor()
self.lidar.disconnect()
lidar.logger.setLevel(logging.DEBUG)
consoleHandler = logging.StreamHandler()
#lidar.logger.addHandler(consoleHandler)
try:
info = lidar.get_info()
print(info)
health = lidar.get_health()
print(health)
print("####################")
time.sleep(2)
gen = lidar.scan2ArrayFromLidar(45, 135, 225, 315)
i = 0
while True:
radiusRight, thetaRight, radiusLeft, thetaLeft = next(gen)
print(i)
i += 1
# for i, scan in enumerate(lidar.scanAllDataFromLidar()):
# print('=========================== %d: Got %d measures' % (i, len(scan)))
# for (quality, angle, distance) in scan:
# print(quality, angle, distance)
# if i > 2:
# break
finally:
lidar.stop()
lidar.stop_motor()
