123 lines
3.8 KiB
Python
123 lines
3.8 KiB
Python
import zmq
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from breezyslam.algorithms import RMHC_SLAM
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from breezyslam.sensors import RPLidarA1 as LaserModel
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from slam.SlamController_pb2 import SlamScan, SlamLocation
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import messaging.message_factory as mf
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import messaging.messages as messages
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import tracking.devices.factory as lidar_fact
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# Left here as was used in the example, configure as necessary.
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# MAP_SIZE_PIXELS = 500
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# MAP_SIZE_METERS = 10
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# LIDAR_DEVICE = '/dev/ttyUSB0'
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class SlamStreamer:
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can_scan = False
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def __init__(self, map_pixels=None, map_meters=None, port=None):
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self._map_pixels = map_pixels
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self._map_meters = map_meters
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self._port = port
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def start(self):
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'''
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Does scanning and constructs the slam map,
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and pushes to subscribers through a zmq pub socket.
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This is done on the main thread, so you'll need
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to run this method on a separate thread yourself.
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All constructor parameters must be set prior
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to calling this method, and changing those values after
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calling this method will have no effect.
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'''
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self.can_scan = True
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print('Starting to stream')
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self._mFactory = mf.getZmqPubSubStreamer(self._port)
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print('Started and bound zmq socket.')
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# Adapted from BreezySLAM rpslam example.
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# Connect to Lidar unit. For some reason it likes to be done twice, otherwise it errors out...
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lidar = lidar_fact.get_lidar()
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lidar = lidar_fact.get_lidar()
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print('Initialised lidar')
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# Create an RMHC SLAM object with a laser model and optional robot model
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slam = RMHC_SLAM(LaserModel(), self._map_pixels, self._map_meters)
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print('initialised slam')
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# Initialize empty map
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mapbytes = bytearray(self.map_pixels * self.map_pixels)
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print('Initialised byte []')
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# Create an iterator to collect scan data from the RPLidar
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iterator = lidar.iter_scans()
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print('Scanning')
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while self.can_scan:
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# Extract (quality, angle, distance) triples from current scan
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items = [item for item in next(iterator)]
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# Extract distances and angles from triples
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distances = [item[2] for item in items]
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angles = [item[1] for item in items]
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print('Updating map')
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# Update SLAM with current Lidar scan and scan angles
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slam.update(distances, scan_angles_degrees=angles)
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print('Map updated')
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slam.getmap(mapbytes)
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self._push_map(mapbytes, slam.getpos())
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def _push_map(self, mapbytes, location):
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'''
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Pushes a scan over zmq using protocol buffers.
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map should be the result of slam.getmap.
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location should be a tuple, the result of slam.getpos()
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'''
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protoScan = messages.ProtoMessage(message=SlamScan(map=bytes(mapbytes),
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location=SlamLocation(x=location[0], y=location[1], theta=location[2])))
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print('Sending map')
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self._mFactory.send_message_topic(
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'slam_map', protoScan)
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def stop_scanning(self):
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self.can_scan = False
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# Properties
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@property
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def map_pixels(self):
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return self._map_pixels
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@map_pixels.setter
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def map_pixels(self, value):
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self._map_pixels = value
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@property
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def map_meters(self):
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return self._map_meters
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@map_meters.setter
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def map_meters(self, value):
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self._map_meters = value
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@property
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def lidar_connection(self):
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return self._lidar_connection
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@lidar_connection.setter
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def lidar_connection(self, value):
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self._lidar_connection = value
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@property
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def port(self):
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return self._port
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@port.setter
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def port(self, value):
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self._port = value
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