pyRBLidar/rblidar.py

# rblidar.py
import ctypes
import logging

# 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_char_p, ctypes.c_int)

# 回调函数
def my_callback(data, length):
    # 将接收到的字节数据处理（例如打印、存储等）
    logging.info("Received length: %d", length)

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...")