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RPyLIDAR.py
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RPyLIDAR.py
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#! /usr/bin/python3
## Author: Ryan Brazeal
## Email: ryan.brazeal@ufl.edu
## Date Started: Nov 24th, 2018
## Description: Python3 based driver for SlamTec RPLidar
## Notes:
##
## Nov.28th, 2018 - Received an email reply from SlamTec support and apparently new protocol documentation is currently being written to illustrate the new A3 scan rates
##
## Dec.2nd, 2018 - Standard Scan Rate (~4 KHz) is working properly
##
## Dec.10th, 2018 - Express Scan Rate (~8 KHz) is working properly
## Due to SlamTec protocol document not being updated for A3 device (and I don't feel like reverse engineering the C++ code), no other scan rates are currently working
## RPyLIDAR Viewer Instructions:
##
## Mouse:
## Left Click and Hold - moves (translates) the scan data on the screen
## Right Click and Hold - rotates the scan data on the screen (display purposes only, i.e., recorded scan data is unaffected)
## Mouse Wheel - forward to zoom in, backwards to zoom out
## Double Left Click - re-center the scan data
## Double Right Click - re-orientate (rotate) the scan data
## Double Middle Click - reset the zoom level
##
## Keyboard:
## r key - toogles the faint ray traces on/off within the viewer
## [/{ key - increases point size
## ]/} key - decreases point size
## =/+ key - zooms in
## -/_ key - zooms out
## Up/Down/Left/Right keys - moves the scan data in the respective direction
## ,/< key - rotates the scan data counter-clockwise
## ./> key - rotates the scan data clockwise
## c key - re-center the scan data
## o key - re-orientate (rotate) the scan data
## z key - reset the zoom level
## i key - re-center and re-orientate and reset the zoom (initializes the default viewer settings)
## Esc key - Ends the scanning session and closes the viewer
# Standard Imports
import os
import time
import math
import binascii
#Non-standard Imports
import serial #install pyserial
import pygame #install pygame
#lidar sensor device class
class RPyLIDAR:
#default constructor
def __init__(self, port, baudrate, timeout, screenSize, drawRaysDefault, DEBUG):
#serial port parameters
self.COM = serial.Serial()
self.COM.setDTR(False) #required flag must be set, didn't find mention of this in the documentation
self.COM.baudrate = baudrate
self.COM.port = port
self.COM.timeout = timeout
#sensor/scanning parameters
self.pulseRateStandard = 0
self.pulseRateExpress = 0
self.rotationRate = 0
self.new_points = []
self.zeroPts = 0
self.startTime = 0
self.scanCount = 0
self.totalNumPts = 0
self.debugMode = DEBUG
#pygame parameters
self.screen = None
self.screenSize = screenSize
self.drawScale = 0.08 * screenSize
self.centerX = 0
self.centerY = 0
self.pointSize = 2
self.myfont = None
self.drawRays = drawRaysDefault
self.drawRaysDefault = drawRaysDefault
self.aziCorr = 0.0
self.csXColour = [255,0,0]
self.csYColour = [0,255,0]
self.rayColour = [40,40,40]
self.pointColour = [0,0,255]
self.sensorColour = [0,0,0]
self.bgColour = [20,20,20]
self.textColour = [255,255,255]
self.leftButton = False
self.rightButton = False
self.mouseClickPos = None
self.rightClickAzi = 0
self.lastLeftClickTime = 0
self.lastRightClickTime = 0
self.lastMidClickTime = 0
self.doubleClickTime = 0.25
print("")
#command to establish a connection between the RPyLIDAR sensor and the computer
def connect(self):
#connect to serial port
try:
self.COM.close()
time.sleep(0.1)
except:
pass
self.COM.open()
time.sleep(0.1)
#setup default pygame environment
os.environ["SDL_VIDEO_CENTERED"] = "1"
#os.environ["SDL_VIDEO_WINDOW_POS"] = "%d,%d" % (20,20)
pygame.init()
#self.myfont = pygame.font.Font('/usr/share/fonts/truetype/freefont/FreeSans.ttf', 14) # LINUX
#self.myfont = pygame.font.Font('/System/Library/Fonts/LucidaGrande.ttc', 13) # MAC
self.myfont = pygame.font.Font('C:\\Windows\\Fonts\Arial.ttf', 13) # WINDOWS
pygame.display.set_caption("RPyLIDAR Viewer")
self.screen = pygame.display.set_mode([self.screenSize,self.screenSize])
self.screen.fill(self.bgColour)
self.centerX = int(self.screenSize / 2)
self.centerY = int(self.screenSize / 2)
pygame.display.update()
#command to disconnect the RPyLIDAR sensor from the computer
def disconnect(self):
self.COM.close()
pygame.quit()
#very ugly checksum generator for '\x00\x11\x22... string format', adds the checksum byte to the end of the input string
def add_checksum(self, the_bytes):
checksum = 0
newCommand = ''
for el in the_bytes:
checksum ^= ord(el)
indiv = hex(ord(el))[1:]
if len(indiv) == 2:
indiv = indiv[0:1] + "0" + indiv[1:]
newCommand += '\\' + indiv
temp = hex(checksum)[1:]
if len(temp) == 2:
temp = temp[0:1] + "0" + temp[1:]
newCommand += '\\' + temp
temp2 = str.encode(newCommand)
newCommand = temp2.decode('unicode-escape').encode('ISO-8859-1')
return(newCommand)
#main pygame display/draw/update function
def drawPoints(self):
#found it more efficient to simply clear the entire display before redrawing features
self.screen.fill(self.bgColour)
#new_points list contains only the points collected from the most recent scan (i.e., single rotation of the sensor)
for i in range(0,len(self.new_points)):
X = int(self.new_points[i][0] * self.drawScale) + self.centerX
Y = int(self.new_points[i][1] * self.drawScale) + self.centerY
currentPos = (X,Y,self.pointSize,self.pointSize)
#if the user wants to add faint ray traces to the screen
if self.drawRays:
pygame.draw.line(self.screen, self.rayColour, (X,Y), (self.centerX,self.centerY))
pygame.draw.rect(self.screen, self.pointColour, currentPos, 0)
#adds screen text objects to the upper right (dynamic scanning parameters) and lower right (instructions) corners of the screen
textsurface = self.myfont.render("Rotation Rate:", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (5,5,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(5,5))
textsurface = self.myfont.render(str(self.rotationRate) + " Hz", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (105,5,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(105,5))
textsurface = self.myfont.render("Points in Scan:", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (5,20,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(5,20))
textsurface = self.myfont.render(str(len(self.new_points)) + " / " + str(self.zeroPts), False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (105,20,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(105,20))
textsurface = self.myfont.render("Pulses / sec:", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (5,35,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(5,35))
textsurface = self.myfont.render(str(int((len(self.new_points) + self.zeroPts) * self.rotationRate)), False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (105,35,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(105,35))
textsurface = self.myfont.render("Duration:", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (5,50,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(5,50))
textsurface = self.myfont.render(str(round(time.time() - self.startTime,1)) + " sec", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (105,50,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(105,50))
textsurface = self.myfont.render("Total Scans:", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (5,65,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(5,65))
textsurface = self.myfont.render(str(self.scanCount), False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (105,65,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(105,65))
textsurface = self.myfont.render("Total Points:", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (5,80,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(5,80))
textsurface = self.myfont.render(str(self.totalNumPts), False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (105,80,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(105,80))
textsurface = self.myfont.render("Controls: Mouse + - [ ] < > up down left right r c z o i Esc", False, self.textColour)
pygame.draw.rect(self.screen, self.bgColour, (5,self.screenSize - 25,textsurface.get_width()+20,textsurface.get_height()), 0)
self.screen.blit(textsurface,(5,self.screenSize - 25))
#draws the sensor object and coordinate system axes to the screen
pygame.draw.circle(self.screen, self.sensorColour, [self.centerX, self.centerY], 7, 0)
pygame.draw.circle(self.screen, [255,255,255], [self.centerX, self.centerY], 7, 1)
#coordinate system axes that don't rotate with the self.aziCorr parameters
#line1 = pygame.draw.line(self.screen, self.csXColour, (self.centerX,self.centerY), (self.screenSize,self.centerY))
#line2 = pygame.draw.line(self.screen, self.csYColour, (self.centerX,self.centerY), (self.centerX,0))
#coordinate system axes that do rotate with the self.aziCorr parameters
csAngle = self.aziCorr * math.pi / 180.0
x1 = 0.0
y1 = 0.0
x2 = 0.0
y2 = 0.0
if int(self.aziCorr) == 0 or int(self.aziCorr) == 360:
x1 = self.screenSize
y1 = self.centerY
x2 = self.centerX
y2 = 0
elif int(self.aziCorr) == 90:
x1 = self.centerX
y1 = 0
x2 = 0
y2 = self.centerY
elif int(self.aziCorr) == 180:
x1 = 0
y1 = self.centerY
x2 = self.centerX
y2 = self.screenSize
elif int(self.aziCorr) == 270:
x1 = self.centerX
y1 = self.screenSize
x2 = self.screenSize
y2 = self.centerY
elif self.aziCorr > 0.0 and self.aziCorr < 90.0:
x1 = self.screenSize
y1 = self.centerY - math.tan(csAngle) * (self.screenSize - self.centerX)
x2 = self.centerX - math.tan(csAngle) * self.centerY
y2 = 0
elif self.aziCorr > 90.0 and self.aziCorr < 180.0:
csAngle -= (1.5 * math.pi)
x1 = self.centerX - math.tan(csAngle) * self.centerY
y1 = 0
x2 = 0
y2 = self.centerY + math.tan(csAngle) * self.centerX
elif self.aziCorr > 180.0 and self.aziCorr < 270:
csAngle -= math.pi
x1 = 0
y1 = self.centerY + math.tan(csAngle) * self.centerX
x2 = self.centerX + math.tan(csAngle) * (self.screenSize - self.centerY)
y2 = self.screenSize
elif self.aziCorr > 270 and self.aziCorr < 360:
csAngle -= (0.5 * math.pi)
x1 = self.centerX + math.tan(csAngle) * (self.screenSize - self.centerY)
y1 = self.screenSize
x2 = self.screenSize
y2 = self.centerY - math.tan(csAngle) * (self.screenSize - self.centerX)
pygame.draw.line(self.screen, self.csXColour, (self.centerX,self.centerY), (int(x1),int(y1)))
pygame.draw.line(self.screen, self.csYColour, (self.centerX,self.centerY), (int(x2),int(y2)))
#update the viewer and then reset the necessary parameters
pygame.display.update()
self.new_points = []
self.zeroPts = 0
def getControlInputs(self, stopper):
funcStopper = stopper
for events in pygame.event.get():
if (events.type == pygame.QUIT):
funcStopper = True
elif (events.type == pygame.KEYDOWN):
if (events.key == pygame.K_ESCAPE):
funcStopper = True
elif (events.key == pygame.K_RIGHTBRACKET):
self.pointSize += 1
if self.pointSize > 5:
self.pointSize = 5
elif (events.key == pygame.K_LEFTBRACKET):
self.pointSize -= 1
if self.pointSize < 1:
self.pointSize = 1
elif (events.key == pygame.K_EQUALS):
self.drawScale *= 1.1
if self.drawScale > 500:
self.drawScale = 500
elif (events.key == pygame.K_MINUS):
self.drawScale *= 0.9
if self.drawScale < 10:
self.drawScale = 10
elif (events.key == pygame.K_DOWN):
self.centerY += 20
if self.centerY > self.screenSize * 1.25:
self.centerY = int(self.screenSize * 1.25)
elif (events.key == pygame.K_UP):
self.centerY -= 20
if self.centerY < -0.25 * self.screenSize:
self.centerY = int(-0.25 * self.screenSize)
elif (events.key == pygame.K_RIGHT):
self.centerX += 20
if self.centerX > self.screenSize * 1.25:
self.centerX = int(self.screenSize * 1.25)
elif (events.key == pygame.K_LEFT):
self.centerX -= 20
if self.centerX < -0.25 * self.screenSize:
self.centerX = (-0.25 * self.screenSize)
elif (events.key == pygame.K_i):
self.centerX = int(self.screenSize / 2)
self.centerY = int(self.screenSize / 2)
self.drawScale = 0.08 * self.screenSize
self.pointSize = 2
self.aziCorr = 0.0
self.drawRays = self.drawRaysDefault
elif (events.key == pygame.K_PERIOD):
self.aziCorr -= 2
if self.aziCorr < 0:
self.aziCorr += 360.0
elif (events.key == pygame.K_COMMA):
self.aziCorr += 2
if self.aziCorr > 360:
self.aziCorr -= 360.0
elif (events.key == pygame.K_z):
self.drawScale = 0.08 * self.screenSize
elif (events.key == pygame.K_r):
self.drawRays = not self.drawRays
elif (events.key == pygame.K_c):
self.centerX = int(self.screenSize / 2)
self.centerY = int(self.screenSize / 2)
elif (events.key == pygame.K_o):
self.aziCorr = 0.0
elif (events.type == pygame.MOUSEBUTTONDOWN):
if (events.button == 1):
self.leftButton = True
self.mouseClickPos = pygame.mouse.get_pos()
elif (events.button == 3):
self.rightButton = True
self.mouseClickPos = pygame.mouse.get_pos()
refAzi = math.atan2((self.mouseClickPos[0] - self.centerX),(self.centerY - self.mouseClickPos[1]))
if refAzi < 0:
refAzi += (2.0 * math.pi)
self.rightClickAzi = refAzi
elif (events.button == 4):
self.drawScale *= 1.1
if self.drawScale > 500:
self.drawScale = 500
elif (events.button == 5):
self.drawScale *= 0.9
if self.drawScale < 10:
self.drawScale = 10
elif (events.type == pygame.MOUSEBUTTONUP):
nowTime = time.time()
if (events.button == 1):
self.leftButton = False
if nowTime - self.lastLeftClickTime < self.doubleClickTime:
self.centerX = int(self.screenSize / 2)
self.centerY = int(self.screenSize / 2)
self.lastLeftClickTime = nowTime
elif (events.button == 2):
if nowTime - self.lastMidClickTime < self.doubleClickTime:
self.drawScale = 0.08 * self.screenSize
self.lastMidClickTime = nowTime
elif (events.button == 3):
self.rightButton = False
if nowTime - self.lastRightClickTime < self.doubleClickTime:
self.aziCorr = 0.0
self.lastRightClickTime = nowTime
elif (events.type == pygame.MOUSEMOTION):
if (self.leftButton):
currentMousePos = pygame.mouse.get_pos()
relX = currentMousePos[0] - self.mouseClickPos[0]
relY = currentMousePos[1] - self.mouseClickPos[1]
self.centerX += relX
self.centerY += relY
self.mouseClickPos = (currentMousePos[0], currentMousePos[1])
elif (self.rightButton):
currentMousePos = pygame.mouse.get_pos()
currentAzi = math.atan2((currentMousePos[0] - self.centerX),(self.centerY - currentMousePos[1]))
deltaAzi = (currentAzi - self.rightClickAzi) * (180.0 / math.pi)
self.aziCorr -= deltaAzi
if self.aziCorr < 0:
self.aziCorr += 360.0
elif self.aziCorr > 360:
self.aziCorr -= 360.0
self.rightClickAzi = currentAzi
return funcStopper
#query command to get the device information parameters and display them to the terminal window
def get_device_info(self):
#self.COM.reset_input_buffer()
commandBytes = '\xA5\x50'
commandBytes = self.add_checksum(commandBytes)
self.COM.write(commandBytes)
time.sleep(0.01)
inputBuffer = self.COM.read(self.COM.inWaiting())
inputDataAscii = binascii.hexlify(inputBuffer).decode('ascii')
inputData = binascii.hexlify(inputBuffer)
inputBytes = []
for i in range(0, len(inputData), 2):
inputBytes.append(inputData[i:i+2])
read_byte8 = binascii.unhexlify(inputBytes[7])
read_byte9 = binascii.unhexlify(inputBytes[8])
read_byte10 = binascii.unhexlify(inputBytes[9])
read_byte11 = binascii.unhexlify(inputBytes[10])
model = int.from_bytes(read_byte8, byteorder='little')
firmware_minor = int.from_bytes(read_byte9, byteorder='little')
firmware_major = int.from_bytes(read_byte10, byteorder='little')
hardware = int.from_bytes(read_byte11, byteorder='little')
serialNum = inputDataAscii[22:]
print("Get Device Info Response: ")
print(" Model: " + str(model))
print(" Firmware: " + str(firmware_major) + "." + str(firmware_minor))
print(" Hardware: " + str(hardware))
print(" Serial: " + serialNum)
print("")
#query command to get the device health parameters and display them to the terminal window
def get_device_health(self):
#self.COM.reset_input_buffer()
commandBytes = '\xA5\x52'
commandBytes = self.add_checksum(commandBytes)
self.COM.write(commandBytes)
time.sleep(0.01)
inputBuffer = self.COM.read(self.COM.inWaiting())
#inputDataAscii = binascii.hexlify(inputBuffer).decode('ascii') #DEBUGGING PURPOSES
inputData = binascii.hexlify(inputBuffer)
inputBytes = []
for i in range(0, len(inputData), 2):
inputBytes.append(inputData[i:i+2])
read_byte8 = binascii.unhexlify(inputBytes[7])
read_byte9 = binascii.unhexlify(inputBytes[8])
read_byte10 = binascii.unhexlify(inputBytes[9])
status = int.from_bytes(read_byte8, byteorder='little')
error_code = int.from_bytes((read_byte9 + read_byte10), byteorder='little')
print("Get Health Status Response: ")
print(" Status: " + str(status))
print(" Error Code: " + str(error_code))
print("")
#query command to get the device's default saaple rates and display them to the terminal window
def get_sample_rate(self):
#self.COM.reset_input_buffer()
commandBytes = '\xA5\x59'
commandBytes = self.add_checksum(commandBytes)
self.COM.write(commandBytes)
time.sleep(0.01)
inputBuffer = self.COM.read(self.COM.inWaiting())
#inputDataAscii = binascii.hexlify(inputBuffer).decode('ascii') #DEBUGGING PURPOSES
inputData = binascii.hexlify(inputBuffer)
inputBytes = []
for i in range(0, len(inputData), 2):
inputBytes.append(inputData[i:i+2])
read_byte8 = binascii.unhexlify(inputBytes[7])
read_byte9 = binascii.unhexlify(inputBytes[8])
read_byte10 = binascii.unhexlify(inputBytes[9])
read_byte11 = binascii.unhexlify(inputBytes[10])
Tstandard = int.from_bytes((read_byte8 + read_byte9), byteorder='little')
Texpress = int.from_bytes((read_byte10 + read_byte11), byteorder='little')
PtsPerSecStandard = 1.0 / (float(Tstandard) / 1000000.0)
PtsPerSecExpress = 1.0 / (float(Texpress) / 1000000.0)
self.pulseRateStandard = Tstandard
self.pulseRateExpress = Texpress
print("Get Sample Rate Response: ")
print(" Standard Scan Sample Rate: " + str(Tstandard) + " us (" + str(int(PtsPerSecStandard)) + " pts/sec)")
print(" Express Scan Sample Rate: " + str(Texpress) + " us (" + str(int(PtsPerSecExpress)) + " pts/sec)")
print("")
# command to start a Standard Scan
# - an ASCII file named: "points.csv" will be created in the same location as this .py file and will contain ALL collected points
# - if debug Mode is True, a binary file named: "data.bin" will be created in the same location and will contain the standard/express scan observation data
def start_standard_scan(self):
self.startTime = time.time()
self.lastLeftClickTime = self.startTime
self.lastRightClickTime = self.startTime
self.lastMidClickTime = self.startTime
pwd = os.path.dirname(os.path.realpath(__file__))
#txtOutput = open(pwd + "/points.csv", 'w') # LINUX or MAC
txtOutput = open(pwd + "\\points.csv", 'w') # WINDOWS
txtOutput.write("//Scan,X,Y,Z,Intensity\n") #header line, works well in CloudCompare (www.cloudcompare.org)
if self.debugMode:
#dataOutput = open(pwd + "/data.bin" , 'bw') # LINUX or MAC
dataOutput = open(pwd + "\\data.bin" , 'bw') # WINDOWS
commandBytes = '\xA5\x20'
commandBytes = self.add_checksum(commandBytes)
self.COM.write(commandBytes)
time.sleep(0.01)
inputBuffer = self.COM.read(self.COM.inWaiting())
inputData = bytearray(inputBuffer)
start1 = inputData[0]
start2 = inputData[1]
packetsize = inputData[2]
midpackets = (inputData[3] << 4) + (inputData[4] << 2) + (inputData[5])
ending = inputData[6]
if start1 == 165 and start2 == 90 and packetsize == 5 and midpackets == 64 and ending == 129:
print("Scan Started (packet size: " + str(packetsize) + " bytes)")
print("")
stopper = False
byteNum = 0
quality = 0
angleP1 = 0
angleP2 = 0
angle = 0
distP1 = 0
distP2 = 0
dist = 0
oldTime = time.time()
newTime = oldTime
while not stopper:
byteCount = 0
bufferDataChunk = self.COM.read(self.COM.inWaiting())
chunkLength = len(bufferDataChunk)
if chunkLength > 0:
if self.debugMode:
dataOutput.write(bufferDataChunk)
bufferData = bytearray(bufferDataChunk)
for i in range(0,chunkLength):
if byteNum == 0:
byteNum = 1
val = (bufferData[i]) & 3
quality = (bufferData[i] >> 2)
if val == 1:
self.scanCount += 1
newTime = time.time()
self.rotationRate = round((1.0 / (newTime - oldTime)),1)
oldTime = newTime
self.drawPoints()
elif byteNum == 1:
byteNum = 2
angleP2 = (bufferData[i] >> 1)
elif byteNum == 2:
byteNum = 3
angleP1 = (bufferData[i] << 7)
angle = (float(angleP1 + angleP2) / 64.0) * (math.pi / 180.0) #angle in radians
elif byteNum == 3:
byteNum = 4
distP2 = (bufferData[i])
else: # byteNum == 4
byteNum = 0
distP1 = (bufferData[i] << 8)
dist = float(distP1 + distP2) / 4000.0 #dist in meters
if dist > 0:
deg90 = math.pi / 2.0
X = round(math.sin(angle + deg90) * dist,3)
Y = round(math.cos(angle + deg90) * dist,3)
Xv = math.cos(angle - (self.aziCorr * math.pi / 180.0)) * dist
Yv = math.sin(angle - (self.aziCorr * math.pi / 180.0)) * dist
self.totalNumPts += 1
self.new_points.append([Xv,Yv])
txtOutput.write(str(self.scanCount) + "," + str(X) + "," + str(Y) + ",0," + str(quality) + "\n")
else:
self.zeroPts += 1
byteCount += 1
stopper = self.getControlInputs(stopper)
pygame.quit()
txtOutput.close()
if self.debugMode:
dataOutput.close()
def calcAndAddPoints(self,dist1,dist2,delta1,delta2,previousAngle,refAngle,txtOutput):
angleDiff = float(refAngle - previousAngle)
if (angleDiff) < 0:
angleDiff += (math.pi * 2.0)
deg90 = math.pi / 2.0
pointCount = -1
for i in range(0, 16):
pointCount += 1
if dist1[i] > 0:
ptAngle1 = previousAngle + ((angleDiff / 32.0) * float(pointCount)) - delta1[i]
X = round(math.sin(ptAngle1 + deg90) * dist1[i],3)
Y = round(math.cos(ptAngle1 + deg90) * dist1[i],3)
Xv = math.cos(ptAngle1 - (self.aziCorr * math.pi / 180.0)) * dist1[i]
Yv = math.sin(ptAngle1 - (self.aziCorr * math.pi / 180.0)) * dist1[i]
self.new_points.append([Xv,Yv])
self.totalNumPts += 1
txtOutput.write(str(self.scanCount) + "," + str(X) + "," + str(Y) + ",0\n")
else:
self.zeroPts += 1
pointCount += 1
if dist2[i] > 0:
ptAngle2 = previousAngle + ((angleDiff / 32.0) * float(pointCount)) - delta2[i]
X = round(math.sin(ptAngle2 + deg90) * dist2[i],3)
Y = round(math.cos(ptAngle2 + deg90) * dist2[i],3)
Xv = math.cos(ptAngle2 - (self.aziCorr * math.pi / 180.0)) * dist2[i]
Yv = math.sin(ptAngle2 - (self.aziCorr * math.pi / 180.0)) * dist2[i]
self.new_points.append([Xv,Yv])
self.totalNumPts += 1
txtOutput.write(str(self.scanCount) + "," + str(X) + "," + str(Y) + ",0\n")
else:
self.zeroPts += 1
def readCabin1or3(self, data):
distP2 = (data >> 2)
deltaP1 = ((data & 1) << 4)
deltaSign = -1*((data >> 1) & 1)
if deltaSign == 0:
deltaSign = 1
return distP2, deltaP1, deltaSign
def readCabin2or4(self, data):
distP1 = (data << 6)
return distP1
def readCabin5(self, data):
delta2P2 = (data >> 4)
delta1P2 = (data & 15)
return delta1P2, delta2P2
def calcDist(self, distP1, distP2):
return (float(distP1 + distP2) / 1000.0) #distance in meters
def calcDelta(self, deltaP1, deltaP2, deltaSign):
value = float(deltaSign) * (float(deltaP1 + deltaP2) / 8.0) * (math.pi/180.0)
return (value) #delta angle in radians
def start_express_scan(self):
self.startTime = time.time()
self.lastLeftClickTime = self.startTime
self.lastRightClickTime = self.startTime
self.lastMidClickTime = self.startTime
pwd = os.path.dirname(os.path.realpath(__file__))
#txtOutput = open(pwd + "/points.csv", 'w') # LINUX or MAC
txtOutput = open(pwd + "\\points.csv", 'w') # WINDOWS
txtOutput.write("//Scan,X,Y,Z\n") #header line, works well in CloudCompare (www.cloudcompare.org)
if self.debugMode:
#dataOutput = open(pwd + "/data.bin" , 'bw') # LINUX or MAC
dataOutput = open(pwd + "\\data.bin" , 'bw') # WINDOWS
commandBytes = '\xA5\x82\x05\x00\x00\x00\x00\x00'
commandBytes = self.add_checksum(commandBytes)
self.COM.write(commandBytes)
time.sleep(0.01)
inputBuffer = self.COM.read(self.COM.inWaiting())
inputData = bytearray(inputBuffer)
start1 = inputData[0]
start2 = inputData[1]
packetsize = inputData[2]
midpackets = (inputData[3] << 4) + (inputData[4] << 2) + (inputData[5])
ending = inputData[6]
if start1 == 165 and start2 == 90 and packetsize == 84 and midpackets == 64 and ending == 130:
print("Express Scan Started (packet size: " + str(packetsize) + " bytes)")
print("")
stopper = False
byteNum = 0
refAngleP1 = 0
refAngleP2 = 0
refAngle = 0
delta1P1 = 0
delta1P2 = 0
delta1 = []
deltaSign1 = 1
delta2P1 = 0
delta2P2 = 0
delta2 = []
deltaSign2 = 1
dist1P1 = 0
dist1P2 = 0
dist1 = []
dist2P1 = 0
dist2P2 = 0
dist2 = []
oldTime = time.time()
newTime = oldTime
previousAngle = 0
while not stopper:
byteCount = 0
bufferDataChunk = self.COM.read(self.COM.inWaiting())
#inputDataAscii = binascii.hexlify(bufferDataChunk).decode('ascii') #DEBUGGING PURPOSES
chunkLength = len(bufferDataChunk)
if chunkLength > 0:
if self.debugMode:
dataOutput.write(bufferDataChunk)
bufferData = bytearray(bufferDataChunk)
while byteCount < chunkLength:
#txtOutput.write(str(hex(int(str(bufferData[byteCount])))) + " ") #DEBUGGING PURPOSES
#txtOutput.write(format(int(str(bufferData[byteCount])), '08b')) #DEBUGGING PURPOSES
if byteNum == 0:
check1 = (bufferData[byteCount] >> 4)
if check1 == 10:
byteNum = 1
elif byteNum == 1:
check2 = (bufferData[byteCount] >> 4)
if check2 == 5:
byteNum = 2
else:
byteNum = 0
elif byteNum == 2:
byteNum = 3
refAngleP2 = bufferData[byteCount]
elif byteNum == 3:
refAngleP1 = ((bufferData[byteCount] & 127) << 8)
refAngle = (float(refAngleP1 + refAngleP2) / 64.0) * (math.pi/180.0) #angle in radians
if refAngle - previousAngle < 0:
self.scanCount += 1
newTime = time.time()
self.rotationRate = round((1.0 / (newTime - oldTime)),1)
oldTime = newTime
self.drawPoints()
if self.scanCount > 1:
self.calcAndAddPoints(dist1,dist2,delta1,delta2,previousAngle,refAngle,txtOutput)
dist1 = []
dist2 = []
delta1 = []
delta2 = []
byteNum = 4
#cabin data
elif byteNum == 4:
byteNum = 5
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 5:
byteNum = 6
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 6:
byteNum = 7
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 7:
byteNum = 8
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 8:
byteNum = 9
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 9:
byteNum = 10
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 10:
byteNum = 11
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 11:
byteNum = 12
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 12:
byteNum = 13
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 13:
byteNum = 14
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 14:
byteNum = 15
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 15:
byteNum = 16
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 16:
byteNum = 17
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 17:
byteNum = 18
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 18:
byteNum = 19
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 19:
byteNum = 20
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 20:
byteNum = 21
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 21:
byteNum = 22
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 22:
byteNum = 23
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 23:
byteNum = 24
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 24:
byteNum = 25
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 25:
byteNum = 26
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 26:
byteNum = 27
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 27:
byteNum = 28
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 28:
byteNum = 29
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 29:
byteNum = 30
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 30:
byteNum = 31
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 31:
byteNum = 32
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 32:
byteNum = 33
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 33:
byteNum = 34
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 34:
byteNum = 35
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 35:
byteNum = 36
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 36:
byteNum = 37
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 37:
byteNum = 38
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 38:
byteNum = 39
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 39:
byteNum = 40
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 40:
byteNum = 41
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 41:
byteNum = 42
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 42:
byteNum = 43
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 43:
byteNum = 44
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 44:
byteNum = 45
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 45:
byteNum = 46
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 46:
byteNum = 47
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 47:
byteNum = 48
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 48:
byteNum = 49
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 49:
byteNum = 50
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 50:
byteNum = 51
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 51:
byteNum = 52
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 52:
byteNum = 53
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 53:
byteNum = 54
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 54:
byteNum = 55
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 55:
byteNum = 56
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 56:
byteNum = 57
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 57:
byteNum = 58
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 58:
byteNum = 59
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 59:
byteNum = 60
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 60:
byteNum = 61
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 61:
byteNum = 62
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 62:
byteNum = 63
dist2P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 63:
byteNum = 64
delta1P2, delta2P2 = self.readCabin5(bufferData[byteCount])
dist1.append(self.calcDist(dist1P1, dist1P2))
dist2.append(self.calcDist(dist2P1, dist2P2))
delta1.append(self.calcDelta(delta1P1, delta1P2, deltaSign1))
delta2.append(self.calcDelta(delta2P1, delta2P2, deltaSign2))
elif byteNum == 64:
byteNum = 65
dist1P2, delta1P1, deltaSign1 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 65:
byteNum = 66
dist1P1 = self.readCabin2or4(bufferData[byteCount])
elif byteNum == 66:
byteNum = 67
dist2P2, delta2P1, deltaSign2 = self.readCabin1or3(bufferData[byteCount])
elif byteNum == 67:
byteNum = 68