level=logging.DEBUG)
logger = logging.getLogger(__name__)
#
# Open up the serial port, get lidar data and write it to a file
# every few seconds.
#
if __name__ == '__main__':
channel = UDPChannel(remote_ip='10.10.76.100', remote_port=5880,
local_ip='0.0.0.0', local_port=52954)
#channel = UDPChannel()
range_at_heading_message = LidarRangeAtHeadingMessage()
periodic_message = LidarPeriodicMessage()
lidar_logger = LidarLogger(logger)
lp = None
# open up the serial port device connected to the lidar
try:
lp = serial.Serial('/dev/ttyUSB0',115200,timeout=1)
except:
logger.error('Lidar port could not be opened.')
# connect the port with the laser and initialize the laser object
#lasr = OldLaser(lp)
lasr = Laser(lp)
#
#
except IOError,e:
# log and notify robot of error
periodic_message.status = 'error'
if not suppress_robot_comm:
channel.send_to(periodic_message.encode_message())
logger.error("Failed to gather a full rotation of data.")
#
# get revised instructions from robot
#
if 0:
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
logger.info("rotation time is: {:.1f}".format(rotation_time))
current_time = current_time + elapsed_time
if rotation_time > seconds_per_output:
fname = "data/lidar_snapshot_{:d}.dat".format(file_index)
LidarLogger.write_to_file(fname, rotation.polar_data())
file_index = file_index + 1
rotation_time = 0
