上传文件至 ''

Makefile

@@ -1,19 +1,19 @@
-CC = gcc
-CFLAGS = -Wall -Wextra -fPIC -I.
-
-TARGET = rb_lidar.so
-SOURCES = rb_lidar.c
-OBJECTS = $(SOURCES:.c=.o)
-
-all: $(TARGET)
-
-$(TARGET): $(OBJECTS)
-	$(CC) -shared -o $@ $^ -lpthread
-
-%.o: %.c rb_lidar.h
-	$(CC) $(CFLAGS) -c $< -o $@
-
-clean:
-	rm -f $(OBJECTS) $(TARGET)
-
-.PHONY: all clean
+CC = gcc
+CFLAGS = -Wall -Wextra -fPIC -I.
+
+TARGET = rb_lidar.so
+SOURCES = rb_lidar.c
+OBJECTS = $(SOURCES:.c=.o)
+
+all: $(TARGET)
+
+$(TARGET): $(OBJECTS)
+	$(CC) -shared -o $@ $^ -lpthread
+
+%.o: %.c rb_lidar.h
+	$(CC) $(CFLAGS) -c $< -o $@
+
+clean:
+	rm -f $(OBJECTS) $(TARGET)
+
+.PHONY: all clean

main.py

@@ -1,108 +1,108 @@
-import socket
-import threading
-import ctypes
-import queue
-import logging
-
-# 配置日志
-logging.basicConfig(level=logging.DEBUG, format='%(asctime)s - %(levelname)s - %(message)s')
-
-# 定义深度数据结构
-class Depth_t(ctypes.Structure):
-    _fields_ = [
-        ("distance0", ctypes.c_uint16),  # 深度数据
-        ("rssi0", ctypes.c_uint8),       # 回波强度
-        ("distance1", ctypes.c_uint16),   # 深度数据
-        ("rssi1", ctypes.c_uint8)         # 回波强度
-    ]
-
-# 定义小包结构体
-class LittlePacket(ctypes.Structure):
-    _fields_ = [
-        ("azimuth", ctypes.c_uint16),    # 测距数据的角度值
-        ("depth", Depth_t * 16),          # 深度数据点位包
-        ("timestamp", ctypes.c_uint32),   # 数据头
-    ]
-
-# 创建两个共享的队列作为双缓冲区
-buffer1 = queue.Queue(maxsize=1440)
-buffer2 = queue.Queue(maxsize=1440)
-
-# 创建一个事件对象
-zeroFoundEvent = threading.Event()
-currentBuffer = 1  # 指示当前使用的缓冲区
-
-def parse_msop_packet(data):
-    global currentBuffer
-
-    # 提取数据块
-    for i in range(12):  # 假设有12个数据块
-        start = i * 100  # 每个数据块100字节
-        end = start + 100
-        data_block = data[start:end]
-
-        # 检查标志位
-        if data_block[0:2] == b'\xff\xee':
-            little_packet = LittlePacket()
-            little_packet.azimuth = int.from_bytes(data_block[2:4], byteorder='little')
-            little_packet.timestamp = int.from_bytes(data_block[1201:1205], byteorder='little')
-
-            # 提取16个测距数据
-            for j in range(16):
-                depth_data = Depth_t()
-                depth_data.distance0 = int.from_bytes(data_block[4 + j * 6: 4 + j * 6 + 2], byteorder='little')
-                depth_data.rssi0 = int.from_bytes(data_block[4 + j * 6 + 2: 4 + j * 6 + 3], byteorder='little')
-                depth_data.distance1 = int.from_bytes(data_block[4 + j * 6 + 3: 4 + j * 6 + 5], byteorder='little')
-                depth_data.rssi1 = int.from_bytes(data_block[4 + j * 6 + 5: 4 + j * 6 + 6], byteorder='little')
-                little_packet.depth[j] = depth_data
-
-            # 如果发现 0 角度数据，设置事件并切换缓冲区
-            if little_packet.azimuth == 0:
-                currentBuffer = 2 if currentBuffer == 1 else 1  # 切换到另一个缓冲区
-                logging.debug(f"切换到缓冲区 {currentBuffer}, 缓冲区1大小 {buffer1.qsize()}, 缓冲区2大小 {buffer2.qsize()}")
-                zeroFoundEvent.set()
-
-            # 将当前包加入到当前缓冲区
-            if currentBuffer == 1:
-                buffer1.put(little_packet)
-            else:
-                buffer2.put(little_packet)
-
-def read_buffer():
-    while True:
-        if zeroFoundEvent.is_set():  # 如果发现 0 角度数据
-            # 处理当前缓冲区的数据
-            if currentBuffer == 2:
-                while not buffer1.empty():
-                    little_packet = buffer1.get()
-                    logging.debug(f"Consumer from buffer1: azimuth: {little_packet.azimuth}")
-            else:
-                while not buffer2.empty():
-                    little_packet = buffer2.get()
-                    logging.debug(f"Consumer from buffer2: azimuth: {little_packet.azimuth}")
-
-            zeroFoundEvent.clear()  # 清除事件
-
-def receive_udp_data():
-    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-    sock.bind(('192.168.8.1', 2368))
-
-    while True:
-        try:
-            data, addr = sock.recvfrom(1206)  # 读取UDP数据包
-            parse_msop_packet(data)
-        except Exception as e:
-            logging.error(f"Error receiving data: {e}")
-
-receive_thread = threading.Thread(target=receive_udp_data)
-read_thread = threading.Thread(target=read_buffer)
-
-receive_thread.start()
-read_thread.start()
-
-# 主线程可以继续执行其他任务
-try:
-    while True:
-        pass
-except KeyboardInterrupt:
-    print("Exiting...")
+import socket
+import threading
+import ctypes
+import queue
+import logging
+
+# 配置日志
+logging.basicConfig(level=logging.DEBUG, format='%(asctime)s - %(levelname)s - %(message)s')
+
+# 定义深度数据结构
+class Depth_t(ctypes.Structure):
+    _fields_ = [
+        ("distance0", ctypes.c_uint16),  # 深度数据
+        ("rssi0", ctypes.c_uint8),       # 回波强度
+        ("distance1", ctypes.c_uint16),   # 深度数据
+        ("rssi1", ctypes.c_uint8)         # 回波强度
+    ]
+
+# 定义小包结构体
+class LittlePacket(ctypes.Structure):
+    _fields_ = [
+        ("azimuth", ctypes.c_uint16),    # 测距数据的角度值
+        ("depth", Depth_t * 16),          # 深度数据点位包
+        ("timestamp", ctypes.c_uint32),   # 数据头
+    ]
+
+# 创建两个共享的队列作为双缓冲区
+buffer1 = queue.Queue(maxsize=1440)
+buffer2 = queue.Queue(maxsize=1440)
+
+# 创建一个事件对象
+zeroFoundEvent = threading.Event()
+currentBuffer = 1  # 指示当前使用的缓冲区
+
+def parse_msop_packet(data):
+    global currentBuffer
+
+    # 提取数据块
+    for i in range(12):  # 假设有12个数据块
+        start = i * 100  # 每个数据块100字节
+        end = start + 100
+        data_block = data[start:end]
+
+        # 检查标志位
+        if data_block[0:2] == b'\xff\xee':
+            little_packet = LittlePacket()
+            little_packet.azimuth = int.from_bytes(data_block[2:4], byteorder='little')
+            little_packet.timestamp = int.from_bytes(data_block[1201:1205], byteorder='little')
+
+            # 提取16个测距数据
+            for j in range(16):
+                depth_data = Depth_t()
+                depth_data.distance0 = int.from_bytes(data_block[4 + j * 6: 4 + j * 6 + 2], byteorder='little')
+                depth_data.rssi0 = int.from_bytes(data_block[4 + j * 6 + 2: 4 + j * 6 + 3], byteorder='little')
+                depth_data.distance1 = int.from_bytes(data_block[4 + j * 6 + 3: 4 + j * 6 + 5], byteorder='little')
+                depth_data.rssi1 = int.from_bytes(data_block[4 + j * 6 + 5: 4 + j * 6 + 6], byteorder='little')
+                little_packet.depth[j] = depth_data
+
+            # 如果发现 0 角度数据，设置事件并切换缓冲区
+            if little_packet.azimuth == 0:
+                currentBuffer = 2 if currentBuffer == 1 else 1  # 切换到另一个缓冲区
+                logging.debug(f"切换到缓冲区 {currentBuffer}, 缓冲区1大小 {buffer1.qsize()}, 缓冲区2大小 {buffer2.qsize()}")
+                zeroFoundEvent.set()
+
+            # 将当前包加入到当前缓冲区
+            if currentBuffer == 1:
+                buffer1.put(little_packet)
+            else:
+                buffer2.put(little_packet)
+
+def read_buffer():
+    while True:
+        if zeroFoundEvent.is_set():  # 如果发现 0 角度数据
+            # 处理当前缓冲区的数据
+            if currentBuffer == 2:
+                while not buffer1.empty():
+                    little_packet = buffer1.get()
+                    logging.debug(f"Consumer from buffer1: azimuth: {little_packet.azimuth}")
+            else:
+                while not buffer2.empty():
+                    little_packet = buffer2.get()
+                    logging.debug(f"Consumer from buffer2: azimuth: {little_packet.azimuth}")
+
+            zeroFoundEvent.clear()  # 清除事件
+
+def receive_udp_data():
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    sock.bind(('192.168.8.1', 2368))
+
+    while True:
+        try:
+            data, addr = sock.recvfrom(1206)  # 读取UDP数据包
+            parse_msop_packet(data)
+        except Exception as e:
+            logging.error(f"Error receiving data: {e}")
+
+receive_thread = threading.Thread(target=receive_udp_data)
+read_thread = threading.Thread(target=read_buffer)
+
+receive_thread.start()
+read_thread.start()
+
+# 主线程可以继续执行其他任务
+try:
+    while True:
+        pass
+except KeyboardInterrupt:
+    print("Exiting...")