optimization for auto slam

wu_xinjun

2022-03-22 fee0c7c1872b32141612ad0b3730b865e7e4dace

 src/utils/udp2bin.py

@@ -11,25 +11,47 @@
from microwave.servers import MicroWaveReceiver
from .tools import file_fliter

def udp2bin_tool(udp_folder):
def udp2bin_tool(udp_folder_Or_list):
    Save = True
    bin_list = []

    UDPfolder = udp_folder
    # example pod1-2022-02-21-13-25-03_packet125.udp --> 125
    sort_lambda = lambda x:int(x.split('packet')[1][:-4])
    udp_files = file_fliter(UDPfolder,'udp', sort_lambda)
    if isinstance(udp_folder_Or_list, list):
        udp_files = udp_folder_Or_list
        Save = False
    else:
        UDPfolder = udp_folder_Or_list
        # example pod1-2022-02-21-13-25-03_packet125.udp --> 125
        sort_lambda = lambda x:int(x.split('packet')[1][:-4])
        udp_files = file_fliter(UDPfolder,'udp', sort_lambda)
        Save = True

    receiver = MicroWaveReceiver()


    for file in udp_files:
        filename = os.path.join(UDPfolder, file)
        with open(filename, "rb") as f:
            data = f.read()
            receiver.AddBuf(data)
            if receiver.DataFrameReady:
                frame_number = receiver.Header.FrameNumber
        data = None
        if isinstance(file,str):
            filename = os.path.join(UDPfolder, file)
            with open(filename, "rb") as f:
                data = f.read()
        else:
            data = file
        
        receiver.AddBuf(data)
        if receiver.DataFrameReady:
            frame_number = receiver.Header.FrameNumber
            if Save:
                bin_name = os.path.join(UDPfolder, "{}.bin".format(frame_number))
                print(time.asctime(),"Frame {} ready".format(frame_number))
                with open(bin_name, "wb") as bin_file:
                    bin_file.write(receiver.DataFrame)
                    bin_file.close()
            
            bin_list.append((frame_number,receiver.DataFrame))

    return bin_list