in scan function list out of range in corner cases is eliminated

lakshmanmallidi · May 20, 2019 · 85f7a22 · 85f7a22
1 parent fb0bb95
commit 85f7a22
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/PyLidar3/__init__.py b/PyLidar3/__init__.py
@@ -120,13 +120,16 @@ def StartScanning(self):
                         distdict.update({i:[]})
                     data = self._s.read(self.chunk_size).split(b"\xaa\x55")[1:-1]
                     for e in data:
-                        if(e[0]==0):
-                            if(YdLidarX4._CheckSum(e)):
-                                d = YdLidarX4._Calculate(e)
-                                for ele in d:
-                                    angle = floor(ele[1])
-                                    if(angle>=0 and angle<360):
-                                        distdict[angle].append(ele[0])
+                        try:
+                            if(e[0]==0):
+                                if(YdLidarX4._CheckSum(e)):
+                                    d = YdLidarX4._Calculate(e)
+                                    for ele in d:
+                                        angle = floor(ele[1])
+                                        if(angle>=0 and angle<360):
+                                            distdict[angle].append(ele[0])
+                        except Exception as e:
+                            pass
                     for i in distdict.keys():
                         distdict[i]=self._Mean(distdict[i])
                     yield distdict  

diff --git a/setup.py b/setup.py
@@ -5,7 +5,7 @@
 setuptools.setup(
     name="PyLidar3",
     python_requires=">=3.4",
-    version="1.4",
+    version="1.5",
     author="Lakshman mallidi",
     author_email="lakshman.mallidi@gmail.com",
     description="Library for Lidar. Currently supports YdLidar(X4,G4) from http://www.ydlidar.com",