63 lines
2.0 KiB
Python
63 lines
2.0 KiB
Python
import rplidar
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from rplidar import RPLidar
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from threading import Thread
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from persontracking import algorithms
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import persontracking.lidar_tracker_pb2 as tracker_pb
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import zmq
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class LidarCache():
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'''
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A class that retrieves scans from the lidar,
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runs grouping algorithms between scans and
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keeps a copy of the group data.
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'''
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run = True
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tracking_group_number = -1
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currentGroups = None
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groupsChanged = []
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port = None
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def __init__(self, measurements=100):
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self.lidar = RPLidar('/dev/ttyUSB0')
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self.measurements = measurements
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print('Info: ' + self.lidar.get_info())
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print('Health: ' + self.lidar.get_health())
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def start_cache(self):
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if self.port is None:
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print('ERROR: Port has not been set!')
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return
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self.thread = Thread(target=self.do_scanning)
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self.thread.start()
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def do_scanning(self):
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'''
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Performs a scan for the given number of iterations.
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'''
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# Create the 0MQ socket first. This should not be passed between threads.
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self._socket = self._create_socket()
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self._socket.bind("tcp://*:" + str(self.port))
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for i, scan in enumerate(self.lidar.iter_scans(min_len=self.measurements)):
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print('%d: Got %d measurments' % (i, len(scan)))
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if(not self.run):
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break
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# Now process the groups.
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if self.currentGroups is not None:
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self.currentGroups = algorithms.assign_groups(
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self.currentGroups, algorithms.calc_groups(scan))
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else:
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self.currentGroups = algorithms.calc_groups(scan)
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def fireGroupsChanged(self):
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# Send the updated groups to 0MQ socket.
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self._socket.send_multipart(["lidar_map", tracker_pb.PointScan(points=[]).SerializeToString()])
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def stop_scanning(self):
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self.run = False
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def _create_socket(self):
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return zmq.Context.instance().socket(zmq.PUB)
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