def laserThreadFunc():
log.debug("laserThreadFunc 线程启动 ...")
if SWITCH_DEVICE:
LASER3_COM = "com3"
else:
LASER3_COM = "com20"
LASER_REC_BUF_LEN = 11
laser3 = Laser(LASER3_COM)
time.sleep(0.01)
laser_min_distance = 0.1 # 激光安装最小距离
laserLed = False
""" 等待数据准备 """
while True:
laser_rec_buf = laser3.laser_read_data(LASER_REC_BUF_LEN)
if laser_rec_buf is not None:
# 校验
check_out = laserCheck(laser_rec_buf)
last_val = int.from_bytes(laser_rec_buf[-1:],
byteorder='little',
signed=False)
if check_out == last_val:
laser3_dist = laser3.get_distance(laser_rec_buf)
if laser3_dist > laser_min_distance:
laser_data_valid_flg = True
# 设置全局变量
my_lock.pSor_laser_main_lock.acquire()
gl.set_value("dou_laser_len", laser3_dist)
gl.set_value("laser_data_valid_flg", laser_data_valid_flg)
my_lock.pSor_laser_main_lock.release()
break
else:
print(
"LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLdou_laser_len:%s\n"
% laser3_dist)
else:
print("!!!!!!!激光校验失败!!!!!!\n")
time.sleep(0.05)
""" 正常流程 """
while True:
if laser3.com_laser.com.is_open:
laser_rec_buf = laser3.laser_read_data(LASER_REC_BUF_LEN)
if laser_rec_buf is not None:
# 校验
check_out = laserCheck(laser_rec_buf)
last_val = int.from_bytes(laser_rec_buf[-1:],
byteorder='little',
signed=False)
if check_out == last_val:
laser3_dist = laser3.get_distance(laser_rec_buf)
if laser3_dist > laser_min_distance:
# print("=======================挖斗激光%f" % laser3_dist)
dou_laser_len = laser3_dist
laserLed = True
# 设置全局变量
my_lock.pSor_laser_main_lock.acquire()
gl.set_value("dou_laser_len", dou_laser_len)
my_lock.pSor_laser_main_lock.release()
else:
laserLed = False
print("激光距离错误\n")
else:
laserLed = False
print("！！！！！ 激光校验失败 ！！！！\n")
else:
laserLed = False
# 设置全局变量
my_lock.laserLedLock.acquire()
gl.set_value("laserLed", laserLed)
my_lock.laserLedLock.release()
time.sleep(0.15)
def thread_laser_dou_func():
# LASER3_COM = "com20"
LASER3_COM = "com3"
LASER_REC_BUF_LEN = 11
laser3 = Laser(LASER3_COM)
time.sleep(0.01)
laser_min_distance = 0.1 # 激光安装最小距离
laserLed = False
""" 等待数据准备 """
while True:
laser_rec_buf = laser3.laser_read_data(LASER_REC_BUF_LEN)
if laser_rec_buf is not None:
# 校验
check_out = laserCheck(laser_rec_buf)
last_val = int.from_bytes(laser_rec_buf[-1:],
byteorder='little',
signed=False)
if check_out == last_val:
laser3_dist = laser3.get_distance(laser_rec_buf)
if laser3_dist > laser_min_distance:
laser_data_valid_flg = True
# 设置全局变量
with open("lock_log.txt", "a") as file:
file.write(
"激光线程--laser_calc--in" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') +
"\n")
my_lock.LaserCalculatorLock.acquire()
with open("lock_log.txt", "a") as file:
file.write(
"激光线程--laser_calc--ing" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') +
"\n")
gl.set_value("dou_laser_len", laser3_dist)
gl.set_value("laser_data_valid_flg", laser_data_valid_flg)
my_lock.LaserCalculatorLock.release()
with open("lock_log.txt", "a") as file:
file.write(
"激光线程--laser_calc--out" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') +
"\n")
break
else:
print(
"LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLdou_laser_len:%s\n"
% laser3_dist)
else:
print("!!!!!!!激光校验失败!!!!!!\n")
time.sleep(0.05)
""" 正常流程 """
while True:
if laser3.com_laser.com.is_open:
laser_rec_buf = laser3.laser_read_data(LASER_REC_BUF_LEN)
if laser_rec_buf is not None:
# 校验
check_out = laserCheck(laser_rec_buf)
last_val = int.from_bytes(laser_rec_buf[-1:],
byteorder='little',
signed=False)
if check_out == last_val:
laser3_dist = laser3.get_distance(laser_rec_buf)
if laser3_dist > laser_min_distance:
# print("=======================挖斗激光%f" % laser3_dist)
dou_laser_len = laser3_dist
laserLed = True
# 设置全局变量
with open("lock_log.txt", "a") as file:
file.write(
"激光线程--laser_calc--in" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') +
"\n")
my_lock.LaserCalculatorLock.acquire()
with open("lock_log.txt", "a") as file:
file.write(
"激光线程--laser_calc--ing" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') +
"\n")
gl.set_value("dou_laser_len", dou_laser_len)
my_lock.LaserCalculatorLock.release()
with open("lock_log.txt", "a") as file:
file.write(
"激光线程--laser_calc--out" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') +
"\n")
else:
laserLed = False
print("激光距离错误\n")
else:
laserLed = False
print("！！！！！ 激光校验失败 ！！！！\n")
else:
laserLed = False
# 设置全局变量
with open("lock_log.txt", "a") as file:
file.write("激光线程--laser_led--in" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') + "\n")
my_lock.laserLedLock.acquire()
with open("lock_log.txt", "a") as file:
file.write("激光线程--laser_led--ing" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') + "\n")
gl.set_value("laserLed", laserLed)
my_lock.laserLedLock.release()
with open("lock_log.txt", "a") as file:
file.write("激光线程--laser_led--out" + "\t" +
datetime.datetime.now().strftime('%H:%M:%S') + "\n")
time.sleep(0.15)
print("！！！！！laser线程！！！！！%s\n" %
datetime.datetime.now().strftime('%H:%M:%S'))
