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rblidar.py

@@ -1,91 +1,93 @@
-# rblidar.py
-import ctypes
-import logging
-import numpy as np
-import matplotlib.pyplot as plt
-
-
-def plot_point_cloud(point_data_array, filename='point_cloud.png'):
-    # 提取点数据的坐标
-    x = point_data_array['dist'] * np.cos(np.deg2rad(point_data_array['azimuth']/100))/1000
-    y = point_data_array['dist'] * np.sin(np.deg2rad(point_data_array['azimuth']/100))/1000
-
-    # logging.info(point_data_array['dist'][1000:1200])
-    logging.info(y[1000:1200])
-
-    # 绘制点云
-    fig, ax = plt.subplots(figsize=(8, 8))
-    scatter = ax.scatter(x, y, s=2, c=point_data_array['rssi'], cmap='viridis')
-    ax.set_xlim([-2, 2])
-    ax.set_ylim([-2, 2])
-    ax.set_aspect('equal')
-    ax.set_title('Point Cloud')
-    ax.set_xlabel('X (m)')
-    ax.set_ylabel('Y (m)')
-    cbar = fig.colorbar(scatter, ax=ax)
-    cbar.set_label('RSSI')
-
-    # 保存为 PNG 文件
-    plt.savefig(filename, dpi=300)  # dpi 可以根据需要调整
-    plt.close(fig)  # 关闭图形，释放内存
-
-class point_data_t(ctypes.Structure):
-    _pack_ = 1  # 设置对齐方式为 1 字节
-    _fields_ = [
-        ("azimuth", ctypes.c_uint16),
-        ("dist", ctypes.c_uint16),
-        ("rssi", ctypes.c_uint16),
-        ("timestamp", ctypes.c_uint32)
-    ]
-
-
-# 创建与结构体相对应的 numpy dtype
-point_data_dtype = np.dtype([
-    ('azimuth', np.uint16),
-    ('dist', np.uint16),
-    ('rssi', np.uint16),
-    ('timestamp', np.uint32)
-])
-
-# 加载C库
-rblidar_lib = ctypes.CDLL('./rb_lidar.so')  # 确保路径正确
-
-# 定义回调函数类型
-CALLBACK_TYPE = ctypes.CFUNCTYPE(None, ctypes.c_void_p, ctypes.c_int)
-
-def my_callback(data, length):
-    logging.info("Received length: %d", length)
-    byte_data = ctypes.string_at(data, length)
-
-    # 将接收到的字节数组转换为 NumPy 数组
-    point_data_array = np.frombuffer(byte_data, dtype=point_data_dtype)
-
-
-    # 绘制点云
-    plot_point_cloud(point_data_array)
-
-        # 在这里添加您的处理逻辑
-        # 例如,您可以将数据存储到文件或数据库中
-
-class RBLidar:
-    def __init__(self, ip: str, port: int):
-        # 初始化日志记录
-        logging.basicConfig(level=logging.INFO, format='%(asctime)s %(levelname)s: %(message)s')
-
-        # 创建回调函数
-        self.callback = CALLBACK_TYPE(my_callback)
-        # 创建C库中的RBLidar实例
-        self.lidar = rblidar_lib.rblidar_create(ip.encode('utf-8'), port, self.callback)
-
-    def __del__(self):
-        # 清理资源
-        rblidar_lib.rblidar_destroy(self.lidar)
-
-# 示例使用
-if __name__ == "__main__":
-    lidar = RBLidar("192.168.8.1", 2368)  # 替换为实际的IP和端口
-    try:
-        while True:
-            pass  # 持续运行以接收数据
-    except KeyboardInterrupt:
-        logging.info("Stopping...")
+# rblidar.py
+import ctypes
+import logging
+import numpy as np
+import matplotlib.pyplot as plt
+
+
+def plot_point_cloud(point_data_array, filename='point_cloud.png'):
+    # 提取点数据的坐标
+    x = point_data_array['dist'] * np.cos(np.deg2rad(point_data_array['azimuth']/100))/1000
+    y = point_data_array['dist'] * np.sin(np.deg2rad(point_data_array['azimuth']/100))/1000
+
+    # logging.info(point_data_array['dist'][1000:1200])
+    logging.info(y[1000:1200])
+
+    # 绘制点云
+    fig, ax = plt.subplots(figsize=(8, 8))
+    scatter = ax.scatter(x, y, s=2, c=point_data_array['rssi'], cmap='viridis')
+    ax.set_xlim([-2, 2])
+    ax.set_ylim([-2, 2])
+    ax.set_aspect('equal')
+    ax.set_title('Point Cloud')
+    ax.set_xlabel('X (m)')
+    ax.set_ylabel('Y (m)')
+    cbar = fig.colorbar(scatter, ax=ax)
+    cbar.set_label('RSSI')
+
+    # 保存为 PNG 文件
+    plt.savefig(filename, dpi=300)  # dpi 可以根据需要调整
+    plt.close(fig)  # 关闭图形，释放内存
+
+class point_data_t(ctypes.Structure):
+    _pack_ = 1  # 设置对齐方式为 1 字节
+    _fields_ = [
+        ("azimuth", ctypes.c_uint16),
+        ("dist", ctypes.c_uint16),
+        ("rssi", ctypes.c_uint16),
+        ("timestamp", ctypes.c_uint32)
+    ]
+
+
+# 创建与结构体相对应的 numpy dtype
+point_data_dtype = np.dtype([
+    ('azimuth', np.uint16),
+    ('dist', np.uint16),
+    ('rssi', np.uint16),
+    ('timestamp', np.uint32)
+])
+
+# 加载C库
+rblidar_lib = ctypes.CDLL('./rb_lidar.so')  # 确保路径正确
+
+# 定义回调函数类型
+CALLBACK_TYPE = ctypes.CFUNCTYPE(None, ctypes.c_void_p, ctypes.c_int)
+
+def my_callback(data, length):
+    logging.info("Received length: %d", length)
+    byte_data = ctypes.string_at(data, length)
+
+    # 将接收到的字节数组转换为 NumPy 数组
+    point_data_array = np.frombuffer(byte_data, dtype=point_data_dtype)
+
+    for point in point_data_array:
+        logging.info(f"Azimuth: {point['azimuth']}, Distance: {point['dist']}, RSSI: {point['rssi']}, Timestamp: {point['timestamp']}")
+
+    # 绘制点云
+    # plot_point_cloud(point_data_array)
+
+        # 在这里添加您的处理逻辑
+        # 例如,您可以将数据存储到文件或数据库中
+
+class RBLidar:
+    def __init__(self, ip: str, port: int):
+        # 初始化日志记录
+        logging.basicConfig(level=logging.INFO, format='%(asctime)s %(levelname)s: %(message)s')
+
+        # 创建回调函数
+        self.callback = CALLBACK_TYPE(my_callback)
+        # 创建C库中的RBLidar实例
+        self.lidar = rblidar_lib.rblidar_create(ip.encode('utf-8'), port, self.callback)
+
+    def __del__(self):
+        # 清理资源
+        rblidar_lib.rblidar_destroy(self.lidar)
+
+# 示例使用
+if __name__ == "__main__":
+    lidar = RBLidar("192.168.8.1", 2368)  # 替换为实际的IP和端口
+    try:
+        while True:
+            pass  # 持续运行以接收数据
+    except KeyboardInterrupt:
+        logging.info("Stopping...")