Merge commit 'mqdev' into mqaddFeature

wu_xinjun

2022-06-07 da6ff0858f4997f79f5d8cdc88b7367a5cb710b1

 src/slam/autoMode.py

@@ -4,17 +4,18 @@
from ..microwave.deviceTools import udp_get_tool,udp2bin_tool,bin2ply_tool
from .manualMode import manual_merge

cudir = os.path.abspath(os.path.join(__file__, *(['..'] * 1)))
exe_path = os.path.abspath(os.path.join(cudir,"../RUN/Test_Servo.exe"))
# cudir = os.path.abspath(os.path.join(__file__, *(['..'] * 1)))
# exe_path = os.path.abspath(os.path.join(cudir,"../RUN/Test_Servo.exe"))

def rotateAndMerge(port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):
def rotateAndMerge(servo_path,port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):

    # 旋转机构复位
    exe_path = os.path.abspath(servo_path)
    os.system(f"{exe_path} {port} 400 0")
    time.sleep(10)

    # 间隔获取udp
    for i in range(0,360,degre_step):
    for i in np.arange(0,360,degre_step):
        os.system(f"{exe_path} {port} {speed} {i}")
        time.sleep(int(time_delay))
        subFolder = str(-i)