From 563f7741ad28a6a578b56c98c27f92b3677958bd Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期三, 23 三月 2022 15:35:11 +0800
Subject: [PATCH] Merge dev commit '28668532ed2f97a3883be7e68bced252bd1f99bf' into addFeature
---
RUN/Test_Servo.runtimeconfig.dev.json | 9
scripts/bin2ply.py | 28 +
scripts_launch/udp_get.bat | 6
.gitignore | 5
RUN/runtimes/win/lib/netstandard2.0/System.IO.Ports.dll | 0
src/slam/__init__.py | 3
scripts_launch/TEST_SlamAuto.bat | 74 +++
scripts_launch/TEST_udp_get.bat | 33 +
RUN/Test_Servo.deps.json | 138 ++++++
src/utils/tools.py | 33 +
scripts/slamManualMode.py | 30 +
RUN/Test_Servo.pdb | 0
scripts_launch/TEST_Slam.bat | 53 ++
scripts_launch/TEST_udp2ply.bat | 11
src/slam/manualMode.py | 70 +++
RUN/Test_Servo.runtimeconfig.json | 9
scripts/udp2bin.py | 29 +
scripts_launch/bin2ply.bat | 7
RUN/NLog.dll | 0
scripts_launch/TEST_bin2ply.bat | 10
scripts_launch/TEST_startServer.bat | 4
scripts_launch/udp2bin.bat | 7
RUN/Test_Servo.dll | 0
scripts_launch/startServer.bat | 4
env/ExportEnv.bat | 3
scripts_launch/udp2ply.bat | 9
scripts_launch/TEST_udp2bin.bat | 9
RUN/NLog.config | 45 ++
scripts/udp_get.py | 33 +
scripts_launch/TEST_startClient.bat | 8
src/microwave/parsers.py | 63 ++
.vscode/settings.json | 8
scripts_launch/startClient.bat | 4
RUN/Test_Servo.exe | 0
scripts/plot_ply.py | 26 +
src/__init__.py | 0
src/slam/autoMode.py | 45 ++
RUN/System.IO.Ports.dll | 0
/dev/null | 88 ----
scripts_launch/TEST_ply_show.bat | 9
.vscode/launch.json | 40 +
src/microwave/deviceTools.py | 165 +++++++
src/slam/core.py | 127 +++++
scripts_launch/ply_show.bat | 6
scripts/slamAutoMode.py | 35 +
src/microwave/__init__.py | 3
46 files changed, 1,145 insertions(+), 144 deletions(-)
diff --git a/.gitignore b/.gitignore
index ee27965..48ac82d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,11 +13,16 @@
# data & image & microwave
Data
+data
Images
+Image*
+image*
Images*
Microwaves
Manual_Microwave*
# log
+**/log*/
*.log
+*.ply
diff --git a/.vscode/launch.json b/.vscode/launch.json
index cae8c1f..c676164 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -5,6 +5,42 @@
"version": "0.2.0",
"configurations": [
{
+ "name": "test auto slam",
+ "type": "python",
+ "request": "launch",
+ "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
+ "program": "${workspaceFolder}/src/auto_slam.py",
+ "console": "integratedTerminal",
+ "args": [
+ "COM11",
+ "100",
+ "5",
+ "5",
+ "0",
+ "20",
+ "auto",
+ "192.168.2.65",
+ "1000",
+ "testDevice",
+ "T:\\Data\\projects\\huaneng\\04_Data\\20220316test"]
+ },
+ {
+ "name": "test_slam",
+ "type": "python",
+ "request": "launch",
+ "python": "${workspaceFolder}/env/aerial_deploy/python.exe",
+ "program": "${workspaceFolder}/src/mannul_slam.py",
+ "console": "integratedTerminal",
+ "args": [
+ "T:\\Data\\projects\\huaneng\\04_Data\\20220316test",
+ "0",
+ "20",
+ "auto",
+ "test60120"
+ ],
+ "justMyCode": true
+ },
+ {
"name": "Client_test",
"type": "python",
"request": "launch",
@@ -77,7 +113,7 @@
"python": "${workspaceFolder}/env/aerial_deploy/python.exe",
"program": "${workspaceFolder}/src/utils/udp2bin.py",
"args": [
- "./Manual_Microwave/pod1-2022-02-21-15-34-45/"
+ "./src/microwave/demo/demoData"
],
"console": "integratedTerminal"
},
@@ -88,7 +124,7 @@
"python": "${workspaceFolder}/env/aerial_deploy/python.exe",
"program": "${workspaceFolder}/src/utils/bin2ply.py",
"args": [
- "./Manual_Microwave/pod1-2022-02-21-15-34-45/"
+ "T:/Data/projects/huaneng/00_Docs/mutiFrameBin"
],
"console": "integratedTerminal"
}
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 91b244f..71b48b3 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -8,12 +8,14 @@
"--python_out=${workspaceRoot}/src/protos"
]
},
- "python":{
- },
+
+ "python.poetryPath": "${workspaceFolder}/env/aerial_deploy/python.exe",
"jupyter.kernels.filter": [
{
"type": "jupyterKernelspec",
"path": "${workspaceFolder}/env/aerial_deploy/python.exe"
}
- ]
+ ],
+ "python.envFile": "${workspaceFolder}/env/aerial_deploy",
+ "python.defaultInterpreterPath": "${workspaceFolder}/env/aerial_deploy/python.exe"
}
\ No newline at end of file
diff --git a/RUN/NLog.config b/RUN/NLog.config
new file mode 100644
index 0000000..b2fc9b9
--- /dev/null
+++ b/RUN/NLog.config
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
+ xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd"
+ autoReload="true"
+ throwExceptions="false"
+ internalLogLevel="Off" internalLogFile="c:\temp\nlog-internal.log">
+
+ <!-- optional, add some variables
+ https://github.com/nlog/NLog/wiki/Configuration-file#variables
+ -->
+ <variable name="myvar" value="myvalue"/>
+ <variable name="logDirectory" value="logs/"/>
+
+ <!--
+ See https://github.com/nlog/nlog/wiki/Configuration-file
+ for information on customizing logging rules and outputs.
+ -->
+ <targets>
+ <target name="logfile" xsi:type="File" fileName="${logDirectory}/${shortdate}.txt" />
+ <target name="logfile1" xsi:type="File" fileName="${logDirectory}/${longdate}.txt" />
+
+ <!--
+ add your targets here
+ See https://github.com/nlog/NLog/wiki/Targets for possible targets.
+ See https://github.com/nlog/NLog/wiki/Layout-Renderers for the possible layout renderers.
+ -->
+
+ <!--
+ Write events to a file with the date in the filename.
+ <target xsi:type="File" name="f" fileName="${basedir}/logs/${shortdate}.log"
+ layout="${longdate} ${uppercase:${level}} ${message}" />
+ -->
+ </targets>
+
+ <rules>
+ <!-- add your logging rules here -->
+ <logger name="*" minlevel="Debug" writeTo="logfile" />
+ <logger name="*" minlevel="Info" writeTo="logfile" />
+ <!--
+ Write all events with minimal level of Debug (So Debug, Info, Warn, Error and Fatal, but not Trace) to "f"
+ <logger name="*" minlevel="Debug" writeTo="f" />
+ -->
+ </rules>
+</nlog>
diff --git a/RUN/NLog.dll b/RUN/NLog.dll
new file mode 100644
index 0000000..1b723b8
--- /dev/null
+++ b/RUN/NLog.dll
Binary files differ
diff --git a/RUN/System.IO.Ports.dll b/RUN/System.IO.Ports.dll
new file mode 100644
index 0000000..b812a5d
--- /dev/null
+++ b/RUN/System.IO.Ports.dll
Binary files differ
diff --git a/RUN/Test_Servo.deps.json b/RUN/Test_Servo.deps.json
new file mode 100644
index 0000000..9c7fb94
--- /dev/null
+++ b/RUN/Test_Servo.deps.json
@@ -0,0 +1,138 @@
+{
+ "runtimeTarget": {
+ "name": ".NETCoreApp,Version=v3.0",
+ "signature": ""
+ },
+ "compilationOptions": {},
+ "targets": {
+ ".NETCoreApp,Version=v3.0": {
+ "Test_Servo/1.0.0": {
+ "dependencies": {
+ "NLog": "5.0.0-rc2",
+ "NLog.Config": "4.7.14",
+ "NLog.Schema": "4.7.14",
+ "System.IO.Ports": "4.4.0"
+ },
+ "runtime": {
+ "Test_Servo.dll": {}
+ }
+ },
+ "Microsoft.NETCore.Platforms/2.0.0": {},
+ "Microsoft.Win32.Registry/4.4.0": {
+ "dependencies": {
+ "Microsoft.NETCore.Platforms": "2.0.0",
+ "System.Security.AccessControl": "4.4.0",
+ "System.Security.Principal.Windows": "4.4.0"
+ }
+ },
+ "NLog/5.0.0-rc2": {
+ "runtime": {
+ "lib/netstandard2.0/NLog.dll": {
+ "assemblyVersion": "5.0.0.0",
+ "fileVersion": "5.0.0.664"
+ }
+ }
+ },
+ "NLog.Config/4.7.14": {
+ "dependencies": {
+ "NLog": "5.0.0-rc2",
+ "NLog.Schema": "4.7.14"
+ }
+ },
+ "NLog.Schema/4.7.14": {},
+ "System.IO.Ports/4.4.0": {
+ "dependencies": {
+ "Microsoft.Win32.Registry": "4.4.0"
+ },
+ "runtime": {
+ "lib/netstandard2.0/System.IO.Ports.dll": {
+ "assemblyVersion": "4.0.0.0",
+ "fileVersion": "4.6.25519.3"
+ }
+ },
+ "runtimeTargets": {
+ "runtimes/win/lib/netstandard2.0/System.IO.Ports.dll": {
+ "rid": "win",
+ "assetType": "runtime",
+ "assemblyVersion": "4.0.0.0",
+ "fileVersion": "4.6.25519.3"
+ }
+ }
+ },
+ "System.Security.AccessControl/4.4.0": {
+ "dependencies": {
+ "Microsoft.NETCore.Platforms": "2.0.0",
+ "System.Security.Principal.Windows": "4.4.0"
+ }
+ },
+ "System.Security.Principal.Windows/4.4.0": {
+ "dependencies": {
+ "Microsoft.NETCore.Platforms": "2.0.0"
+ }
+ }
+ }
+ },
+ "libraries": {
+ "Test_Servo/1.0.0": {
+ "type": "project",
+ "serviceable": false,
+ "sha512": ""
+ },
+ "Microsoft.NETCore.Platforms/2.0.0": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-VdLJOCXhZaEMY7Hm2GKiULmn7IEPFE4XC5LPSfBVCUIA8YLZVh846gtfBJalsPQF2PlzdD7ecX7DZEulJ402ZQ==",
+ "path": "microsoft.netcore.platforms/2.0.0",
+ "hashPath": "microsoft.netcore.platforms.2.0.0.nupkg.sha512"
+ },
+ "Microsoft.Win32.Registry/4.4.0": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-dA36TlNVn/XfrZtmf0fiI/z1nd3Wfp2QVzTdj26pqgP9LFWq0i1hYEUAW50xUjGFYn1+/cP3KGuxT2Yn1OUNBQ==",
+ "path": "microsoft.win32.registry/4.4.0",
+ "hashPath": "microsoft.win32.registry.4.4.0.nupkg.sha512"
+ },
+ "NLog/5.0.0-rc2": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-F+y9t2obY9y0bxAaxvJJtbpBqFWkkqXZjMJPeT3SLqVvSNZq7aFax5cu57hkssHSDF1C/RsHT5uymcmPXgY9Vw==",
+ "path": "nlog/5.0.0-rc2",
+ "hashPath": "nlog.5.0.0-rc2.nupkg.sha512"
+ },
+ "NLog.Config/4.7.14": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-hnaxwbx/Ajgv/F25oZvSFSNih4Jv8aXU0H4pxFp8kasF8A0KKtP/gLQVjJKMempj2lhE+tp8IzWLU/kGcUWICw==",
+ "path": "nlog.config/4.7.14",
+ "hashPath": "nlog.config.4.7.14.nupkg.sha512"
+ },
+ "NLog.Schema/4.7.14": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-ExtaAbkpoF7RgiVj6FcNPU1+VrCUt60S/5NLEcnusrmMTWlmQ4HCCUTXFOMPUGcK3q9bJtxwzgdiake0Ttifyw==",
+ "path": "nlog.schema/4.7.14",
+ "hashPath": "nlog.schema.4.7.14.nupkg.sha512"
+ },
+ "System.IO.Ports/4.4.0": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-izaIWbjFZdik3ypDuA6GWj6fabhB+tR5M7QLcvAqd+I+VjI8UWoVZkh68Ao8Vf8poWWrCU875r3HQZnQW6a7GA==",
+ "path": "system.io.ports/4.4.0",
+ "hashPath": "system.io.ports.4.4.0.nupkg.sha512"
+ },
+ "System.Security.AccessControl/4.4.0": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-2NRFPX/V81ucKQmqNgGBZrKGH/5ejsvivSGMRum0SMgPnJxwhuNkzVS1+7gC3R2X0f57CtwrPrXPPSe6nOp82g==",
+ "path": "system.security.accesscontrol/4.4.0",
+ "hashPath": "system.security.accesscontrol.4.4.0.nupkg.sha512"
+ },
+ "System.Security.Principal.Windows/4.4.0": {
+ "type": "package",
+ "serviceable": true,
+ "sha512": "sha512-pP+AOzt1o3jESOuLmf52YQTF7H3Ng9hTnrOESQiqsnl2IbBh1HInsAMHYtoh75iUYV0OIkHmjvveraYB6zM97w==",
+ "path": "system.security.principal.windows/4.4.0",
+ "hashPath": "system.security.principal.windows.4.4.0.nupkg.sha512"
+ }
+ }
+}
\ No newline at end of file
diff --git a/RUN/Test_Servo.dll b/RUN/Test_Servo.dll
new file mode 100644
index 0000000..bf249d6
--- /dev/null
+++ b/RUN/Test_Servo.dll
Binary files differ
diff --git a/RUN/Test_Servo.exe b/RUN/Test_Servo.exe
new file mode 100644
index 0000000..33503ae
--- /dev/null
+++ b/RUN/Test_Servo.exe
Binary files differ
diff --git a/RUN/Test_Servo.pdb b/RUN/Test_Servo.pdb
new file mode 100644
index 0000000..e8760a3
--- /dev/null
+++ b/RUN/Test_Servo.pdb
Binary files differ
diff --git a/RUN/Test_Servo.runtimeconfig.dev.json b/RUN/Test_Servo.runtimeconfig.dev.json
new file mode 100644
index 0000000..9468e1b
--- /dev/null
+++ b/RUN/Test_Servo.runtimeconfig.dev.json
@@ -0,0 +1,9 @@
+{
+ "runtimeOptions": {
+ "additionalProbingPaths": [
+ "C:\\Users\\Administrator\\.dotnet\\store\\|arch|\\|tfm|",
+ "C:\\Users\\Administrator\\.nuget\\packages",
+ "C:\\Program Files (x86)\\Microsoft Visual Studio\\Shared\\NuGetPackages"
+ ]
+ }
+}
\ No newline at end of file
diff --git a/RUN/Test_Servo.runtimeconfig.json b/RUN/Test_Servo.runtimeconfig.json
new file mode 100644
index 0000000..33ec9d0
--- /dev/null
+++ b/RUN/Test_Servo.runtimeconfig.json
@@ -0,0 +1,9 @@
+{
+ "runtimeOptions": {
+ "tfm": "netcoreapp3.0",
+ "framework": {
+ "name": "Microsoft.NETCore.App",
+ "version": "3.0.0"
+ }
+ }
+}
\ No newline at end of file
diff --git a/RUN/runtimes/win/lib/netstandard2.0/System.IO.Ports.dll b/RUN/runtimes/win/lib/netstandard2.0/System.IO.Ports.dll
new file mode 100644
index 0000000..371eefa
--- /dev/null
+++ b/RUN/runtimes/win/lib/netstandard2.0/System.IO.Ports.dll
Binary files differ
diff --git a/TEST_udp_get.bat b/TEST_udp_get.bat
deleted file mode 100644
index 183989d..0000000
--- a/TEST_udp_get.bat
+++ /dev/null
@@ -1,23 +0,0 @@
-@echo off
-
-@REM change to the filepath
-cd %~dp0
-echo change to path: %cd%
-
-set aerialpython=%cd%/env/aerial_deploy/python.exe
-set envsetting=%cd%/env/SettingEnv.bat
-
-@REM Setting the env
-if not exist %aerialpython% (
- call %envsetting%
-)
-cd %~dp0
-echo change to path: %cd%
-
-set MICROWAVEhost=192.168.2.65
-SET PACKETthreshold=1000
-SET DEVICEname=pod1
-SET SAVEfolder=./Manual_Microwave_test
-@REM ---------------Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]
-%aerialpython% ./src/utils/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder%
-pause
\ No newline at end of file
diff --git a/env/ExportEnv.bat b/env/ExportEnv.bat
index 69604f1..9956ec6 100644
--- a/env/ExportEnv.bat
+++ b/env/ExportEnv.bat
@@ -3,8 +3,9 @@
@REM change to the filepath
cd %~dp0
echo change to path: %cd%
+set currentenv=%cd%/aerial_deploy/
echo Exporting env ...
-conda pack -o aerial.tar.gz
+conda pack -p %currentenv% -o aerial.tar.gz -f
echo Done!
diff --git a/scripts/bin2ply.py b/scripts/bin2ply.py
new file mode 100644
index 0000000..8cb4519
--- /dev/null
+++ b/scripts/bin2ply.py
@@ -0,0 +1,28 @@
+import os
+import sys
+import time
+
+# add python path of src to sys.path
+src_path = os.path.join(__file__, *(['..'] * 2))
+src_path = os.path.abspath(src_path)
+sys.path.insert(1, src_path)
+
+from src.microwave.deviceTools import bin2ply_tool
+
+
+if __name__ == "__main__":
+ def help():
+ print("Usage: bin2ply.py [BINfolder]")
+ print("EXAMPLE: BIN2ply.py ./manual_ply/pod1-2012-12-12-12-12-12/")
+ exit(1)
+
+ if len(sys.argv) != 2:
+ help()
+ try:
+ BINfolder = os.path.abspath(str(sys.argv[1]))
+
+ except Exception as e:
+ print(e)
+ help()
+
+ bin2ply_tool(BINfolder)
\ No newline at end of file
diff --git a/scripts/plot_ply.py b/scripts/plot_ply.py
new file mode 100644
index 0000000..b212486
--- /dev/null
+++ b/scripts/plot_ply.py
@@ -0,0 +1,26 @@
+import open3d as o3d
+import os,sys
+
+# add python path of src to sys.path
+src_path = os.path.join(__file__, *(['..'] * 2))
+src_path = os.path.abspath(src_path)
+sys.path.insert(1, src_path)
+
+from src.microwave.deviceTools import plot_ply
+
+if __name__ == "__main__":
+ def help():
+ print("Usage: plot_ply.py [PLYfile or plyfolder]")
+ print("EXAMPLE: plot_ply ./Manual_Microwave/pod1-2022-02-21-15-34-45/2522.ply")
+ exit(1)
+
+ if len(sys.argv) != 2:
+ help()
+ try:
+ PLYfile = os.path.abspath(str(sys.argv[1]))
+
+ plot_ply(PLYfile)
+
+ except Exception as e:
+ print(e)
+ help()
\ No newline at end of file
diff --git a/scripts/slamAutoMode.py b/scripts/slamAutoMode.py
new file mode 100644
index 0000000..dc0e979
--- /dev/null
+++ b/scripts/slamAutoMode.py
@@ -0,0 +1,35 @@
+import os,sys
+
+# add python path of src to sys.path
+src_path = os.path.join(__file__, *(['..'] * 2))
+src_path = os.path.abspath(src_path)
+sys.path.insert(1, src_path)
+
+from src.slam.autoMode import rotateAndMerge
+
+if __name__ == "__main__":
+ def help():
+ print("Usage: auto_slam.py [port] [speed] [degre_step] [time_delay] [alpha] [beta] [gamma] [microwaveHost] [udp_packets] [deviceName] [saveFolder]")
+ print("EXAMPLE: auto_slam.py COM11 100 5 5 0 20 auto 192.168.2.65 1000 pod1 ./data/run_test/")
+ exit(1)
+
+ if len(sys.argv) != 12:
+ help()
+ try:
+ port = str(sys.argv[1])
+ speed = str(sys.argv[2])
+ degre_step = int(sys.argv[3])
+ time_delay = int(sys.argv[4])
+ alpha = str(sys.argv[5])
+ beta = str(sys.argv[6])
+ gamma = str(sys.argv[7])
+ microwaveHost = str(sys.argv[8])
+ udp_packets = int(sys.argv[9])
+ deviceName = str(sys.argv[10])
+ saveFolder = os.path.abspath(str(sys.argv[11]))
+ except Exception as e:
+ print(e)
+ help()
+
+ rotateAndMerge(port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder)
+ print("Done")
\ No newline at end of file
diff --git a/scripts/slamManualMode.py b/scripts/slamManualMode.py
new file mode 100644
index 0000000..fcd330a
--- /dev/null
+++ b/scripts/slamManualMode.py
@@ -0,0 +1,30 @@
+import os,sys
+
+# add python path of src to sys.path
+src_path = os.path.join(__file__, *(['..'] * 2))
+src_path = os.path.abspath(src_path)
+sys.path.insert(1, src_path)
+
+from src.slam.manualMode import manual_merge
+
+if __name__ == "__main__":
+ def help():
+ print("Usage: mannul_slam.py [folder] [alpha] [beta] [gamma] [savename]")
+ print("EXAMPLE: mannul_slam.py T:\\Data\\chuizhi60掳_shuiping120掳 0 60 auto test60120")
+ exit(1)
+
+ if len(sys.argv) != 6:
+ help()
+ try:
+ folder = os.path.abspath(str(sys.argv[1]))
+ alpha = str(sys.argv[2])
+ beta = str(sys.argv[3])
+ gamma = str(sys.argv[4])
+ savename = str(sys.argv[5])
+
+ except Exception as e:
+ print(e)
+ help()
+
+ manual_merge(folder,alpha,beta,gamma,savename)
+ print("Done")
diff --git a/scripts/udp2bin.py b/scripts/udp2bin.py
new file mode 100644
index 0000000..83c8f4c
--- /dev/null
+++ b/scripts/udp2bin.py
@@ -0,0 +1,29 @@
+import os
+import sys
+import time
+
+# add python path of src to sys.path
+src_path = os.path.join(__file__, *(['..'] * 2))
+src_path = os.path.abspath(src_path)
+sys.path.insert(1, src_path)
+
+
+from src.microwave.deviceTools import udp2bin_tool
+
+if __name__ == '__main__':
+
+ def help():
+ print("Usage: udp2bin.py [UDPfolder]")
+ print("EXAMPLE: udp2bin.py ./manual_ply/pod1-2012-12-12-12-12-12/")
+ exit(1)
+
+ if len(sys.argv) != 2:
+ help()
+ try:
+ udp_folder = os.path.abspath(str(sys.argv[1]))
+
+ except Exception as e:
+ print(e)
+ help()
+
+ udp2bin_tool(udp_folder)
\ No newline at end of file
diff --git a/scripts/udp_get.py b/scripts/udp_get.py
new file mode 100644
index 0000000..b1225ba
--- /dev/null
+++ b/scripts/udp_get.py
@@ -0,0 +1,33 @@
+import time
+import os, sys
+
+# add python path of src to sys.path
+src_path = os.path.join(__file__, *(['..'] * 2))
+src_path = os.path.abspath(src_path)
+sys.path.insert(1, src_path)
+
+from src.microwave.deviceTools import udp_get_tool
+
+if __name__ == '__main__':
+
+ def help():
+ print("**************************ERROR**************************")
+ print("Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder] [SUBfolder")
+ print("EXAMPLE: udp_get.py 192.168.2.65 1000 pod1 ./manual_ply 60 \n")
+ exit(1)
+
+ if len(sys.argv) != 6:
+ help()
+ try:
+ MICROWAVEhost = str(sys.argv[1])
+ PACKETthreshold = int(sys.argv[2])
+ DEVICEname = str(sys.argv[3])
+ SAVEfolder = os.path.abspath(str(sys.argv[4]))
+ SUBfolder = str(sys.argv[5])
+
+
+ except Exception as e:
+ print(e)
+ help()
+
+ udp_get_tool(MICROWAVEhost,PACKETthreshold,DEVICEname,SAVEfolder,SUBfolder)
\ No newline at end of file
diff --git a/scripts_launch/TEST_Slam.bat b/scripts_launch/TEST_Slam.bat
new file mode 100644
index 0000000..127ce05
--- /dev/null
+++ b/scripts_launch/TEST_Slam.bat
@@ -0,0 +1,53 @@
+@echo off
+
+@REM change to the filepath
+cd %~dp0
+cd ..
+
+set aerialpython=%cd%/env/aerial_deploy/python.exe
+set envsetting=%cd%/env/SettingEnv.bat
+
+@REM Setting the env
+if not exist %aerialpython% (
+ call %envsetting%
+)
+cd %~dp0
+cd ..
+
+echo change to path: %cd%
+
+@REM set folder=T:\\Data\\projects\\huaneng\\00_Docs\\slamtest
+set alpha=0
+set beta=20
+@REM 姣背娉㈣澶囬潰鏈濅笅锛岄『鏃堕拡鏂瑰悜鏃嬭浆
+set gamma=auto
+set savename=data
+
+echo [the folder example]: ./slamdata/
+set /p folder=Please input the slam data folder:
+
+set PLYfile=%folder%/%savename%.ply
+
+@REM verify the parameters
+echo ################# parameters #################
+echo alpha :%alpha%
+echo beta :%beta%
+echo gamma :%gamma%
+echo folder :%folder%
+echo savename :%savename%
+echo PLYfile :%PLYfile%
+
+set /p choice=Please verify the parameters and choice [y/n]:
+
+
+if %choice% == y (
+ %aerialpython% ./scripts/slamManualMode.py %folder% %alpha% %beta% %gamma% %savename%
+ @REM -------------- Usage: plot_ply.py [PLYfile]"
+ %aerialpython% ./scripts/plot_ply.py %PLYfile%
+) else (
+ echo you choose stop!
+ exit
+)
+pause
+
+
diff --git a/scripts_launch/TEST_SlamAuto.bat b/scripts_launch/TEST_SlamAuto.bat
new file mode 100644
index 0000000..5ba9907
--- /dev/null
+++ b/scripts_launch/TEST_SlamAuto.bat
@@ -0,0 +1,74 @@
+@echo off
+
+@REM change to the filepath
+cd %~dp0
+cd ..
+
+set aerialpython=%cd%/env/aerial_deploy/python.exe
+set envsetting=%cd%/env/SettingEnv.bat
+
+@REM Setting the env
+if not exist %aerialpython% (
+ call %envsetting%
+)
+cd %~dp0
+cd ..
+
+echo change to path: %cd%
+
+@REM pre-defined parameters
+set port=COM11
+set speed=200
+set degree_step=5
+set time_delay=5
+set alpha=0
+set beta=20
+set gamma=auto
+set microwaveHost=192.168.2.65
+set udp_packets=1000
+set deviceName=testDevice
+set saveFolder=./data/run_test/
+
+@REM re-defined parameters
+set /p port=Please input the serial port of rotation machine (example: COM11):
+set /P speed=Please input the speed of rotation machine (example: 200):
+@REM set /P degree_step=Please input the degree step of rotation machine (example: 5):
+set /P time_delay=Please input the delay time of rotation machine (example: 5):
+set /P alpha=Please input the alpha degree of microwave device (example: 0/-20/auto):
+set /P beta=Please input the beta degree of microwave device (example: 0/-20/auto):
+set /P gamma=Please input the gamma degree of microwave device (example: 0/-20/auto):
+@REM set /p udp_packets=Please input the udp packets num (example: 1000):
+set /p saveFolder=Please input the folder to save the data (example: ./data/run_test/):
+
+set PLYfile=%saveFolder%/data.ply
+
+@REM verify the parameters
+echo ################# parameters #################
+echo port :%port%
+echo speed :%speed%
+echo degree_step :%degree_step%
+echo time_delay :%time_delay%
+echo alpha :%alpha%
+echo beta :%beta%
+echo gamma :%gamma%
+echo microwaveHost :%microwaveHost%
+echo udp_packets :%udp_packets%
+echo deviceName :%deviceName%
+echo saveFolder :%saveFolder%
+echo PLYfile :%PLYfile%
+
+set /p choice=Please verify the parameters and choice [y/n]:
+
+
+if %choice% == y (
+ %aerialpython% ./scripts/slamAutoMode.py %port% %speed% %degree_step% %time_delay% %alpha% %beta% %gamma% %microwaveHost% %udp_packets% %deviceName% %saveFolder%
+ @REM -------------- Usage: plot_ply.py [PLYfile]"
+ %aerialpython% ./scripts/plot_ply.py %PLYfile%
+) else (
+ echo you choose stop!
+ exit
+)
+pause
+
+
+
diff --git a/TEST_bin2ply.bat b/scripts_launch/TEST_bin2ply.bat
similarity index 66%
rename from TEST_bin2ply.bat
rename to scripts_launch/TEST_bin2ply.bat
index c5e9f1b..524c9f9 100644
--- a/TEST_bin2ply.bat
+++ b/scripts_launch/TEST_bin2ply.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,10 +12,14 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
-set BINfolder=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/
+echo [the folder example]: ./slamdata/
+set /p BINfolder=Please input the bin data folder:
+
@REM ---------------Usage: bin2ply.py [BINfolder]
-%aerialpython% ./src/utils/bin2ply.py %BINfolder%
+%aerialpython% ./scripts/bin2ply.py %BINfolder%
pause
\ No newline at end of file
diff --git a/TEST_ply_show .bat b/scripts_launch/TEST_ply_show.bat
similarity index 67%
rename from TEST_ply_show .bat
rename to scripts_launch/TEST_ply_show.bat
index aefd521..3c45306 100644
--- a/TEST_ply_show .bat
+++ b/scripts_launch/TEST_ply_show.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -11,11 +11,12 @@
if not exist %aerialpython% (
call %envsetting%
)
-
cd %~dp0
+cd ..
+
echo change to path: %cd%
-set PLYfile=./Manual_Microwave_test/pod1-2022-02-22-15-44-51/28344.ply
+set PLYfile=./test60120.ply
@REM -------------- Usage: plot_ply.py [PLYfile]"
-%aerialpython% ./src/utils/plot_ply.py %PLYfile%
+%aerialpython% ./scripts/plot_ply.py %PLYfile%
pause
\ No newline at end of file
diff --git a/TEST_startClient.bat b/scripts_launch/TEST_startClient.bat
similarity index 96%
rename from TEST_startClient.bat
rename to scripts_launch/TEST_startClient.bat
index b584100..a2e41cc 100644
--- a/TEST_startClient.bat
+++ b/scripts_launch/TEST_startClient.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -11,6 +11,10 @@
if not exist %aerialpython% (
call %envsetting%
)
+cd %~dp0
+cd ..
+
+echo change to path: %cd%
set MQhost=192.168.1.14
set MQuser=chai
@@ -21,8 +25,6 @@
set MICROWAVEhost=localhost
set LOGfile=ClientTEST.log
-cd %~dp0
-echo change to path: %cd%
@REM Launch the Client
echo the log file will be saved in the [%LOGfile%] file
echo Client.py is running ...
diff --git a/TEST_startServer.bat b/scripts_launch/TEST_startServer.bat
similarity index 96%
rename from TEST_startServer.bat
rename to scripts_launch/TEST_startServer.bat
index b782d6d..2038d8c 100644
--- a/TEST_startServer.bat
+++ b/scripts_launch/TEST_startServer.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,6 +12,8 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
set MQhost=localhost
diff --git a/TEST_udp2bin.bat b/scripts_launch/TEST_udp2bin.bat
similarity index 66%
rename from TEST_udp2bin.bat
rename to scripts_launch/TEST_udp2bin.bat
index 695816f..ee9e31e 100644
--- a/TEST_udp2bin.bat
+++ b/scripts_launch/TEST_udp2bin.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,10 +12,13 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
-set UDPfolder=./Manual_Microwave_test/pod1-2022-02-21-15-34-45/
+echo [the UDP folder example]: ./slamdata/60/
+set /p UDPfolder=Please input the UDP folder:
@REM ---------------Usage: udp2bin.py [UDPfolder]
-%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
+%aerialpython% ./scripts/udp2bin.py %UDPfolder%
pause
\ No newline at end of file
diff --git a/TEST_udp2ply.bat b/scripts_launch/TEST_udp2ply.bat
similarity index 63%
rename from TEST_udp2ply.bat
rename to scripts_launch/TEST_udp2ply.bat
index 8b6fec7..ffb5eed 100644
--- a/TEST_udp2ply.bat
+++ b/scripts_launch/TEST_udp2ply.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,12 +12,15 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
-set UDPfolder=./Manual_Microwave_test/pod1-2022-02-22-15-44-51/
+echo [the UDP folder example]: ./slamdata/60/
+set /p UDPfolder=Please input the UDP folder:
@REM ---------------Usage: udp2bin.py [UDPfolder]
-%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
+%aerialpython% ./scripts/udp2bin.py %UDPfolder%
@REM ---------------Usage: bin2ply.py [BINfolder]
-%aerialpython% ./src/utils/bin2ply.py %UDPfolder%
+%aerialpython% ./scripts/bin2ply.py %UDPfolder%
pause
\ No newline at end of file
diff --git a/scripts_launch/TEST_udp_get.bat b/scripts_launch/TEST_udp_get.bat
new file mode 100644
index 0000000..5ad3d82
--- /dev/null
+++ b/scripts_launch/TEST_udp_get.bat
@@ -0,0 +1,33 @@
+@echo off
+
+@REM change to the filepath
+cd %~dp0
+cd ..
+
+set aerialpython=%cd%/env/aerial_deploy/python.exe
+set envsetting=%cd%/env/SettingEnv.bat
+
+@REM Setting the env
+if not exist %aerialpython% (
+ call %envsetting%
+)
+cd %~dp0
+cd ..
+
+echo change to path: %cd%
+
+set MICROWAVEhost=192.168.2.65
+SET PACKETthreshold=1000
+SET DEVICEname=pod1
+
+echo [the data folder example]: ./slamdata
+SET /p SAVEfolder=Please input the data folder path:
+
+echo [the sub folder example]: 60
+SET /p SUBfolder=Please input the sub folder name:
+
+set folder=./%SAVEfolder%/%SUBfolder%/
+echo the udp data will be saved in folder %folder%
+@REM ---------------Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]
+%aerialpython% ./scripts/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder% %SUBfolder%
+pause
\ No newline at end of file
diff --git a/bin2ply.bat b/scripts_launch/bin2ply.bat
similarity index 84%
rename from bin2ply.bat
rename to scripts_launch/bin2ply.bat
index a36a6f1..e75bddd 100644
--- a/bin2ply.bat
+++ b/scripts_launch/bin2ply.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,10 +12,13 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
+
@REM please the folder path of the bin files.
@REM set BINfolder=./Manual_Microwave/pod1-2012-12-12-12-12-12/
@REM ---------------Usage: bin2ply.py [BINfolder]
-%aerialpython% ./src/utils/bin2ply.py %BINfolder%
+%aerialpython% ./scripts/bin2ply.py %BINfolder%
pause
\ No newline at end of file
diff --git a/ply_show.bat b/scripts_launch/ply_show.bat
similarity index 84%
rename from ply_show.bat
rename to scripts_launch/ply_show.bat
index 672b8c6..f7ef8af 100644
--- a/ply_show.bat
+++ b/scripts_launch/ply_show.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,10 +12,12 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
@REM please the folder path of the bin files.
@REM set PLYfile=./Manual_Microwave/pod1-2022-02-21-15-34-45/2522.ply
@REM -------------- Usage: plot_ply.py [PLYfile]"
-%aerialpython% ./src/utils/plot_ply.py %PLYfile%
+%aerialpython% ./scripts/plot_ply.py %PLYfile%
pause
\ No newline at end of file
diff --git a/startClient.bat b/scripts_launch/startClient.bat
similarity index 96%
rename from startClient.bat
rename to scripts_launch/startClient.bat
index e4b047a..eb4e5ea 100644
--- a/startClient.bat
+++ b/scripts_launch/startClient.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,6 +12,8 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
set MQhost=172.17.17.206
diff --git a/startServer.bat b/scripts_launch/startServer.bat
similarity index 96%
rename from startServer.bat
rename to scripts_launch/startServer.bat
index 95d0c07..070f7b3 100644
--- a/startServer.bat
+++ b/scripts_launch/startServer.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,6 +12,8 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
set MQhost=172.17.17.206
diff --git a/udp2bin.bat b/scripts_launch/udp2bin.bat
similarity index 84%
rename from udp2bin.bat
rename to scripts_launch/udp2bin.bat
index f7efa92..06c3894 100644
--- a/udp2bin.bat
+++ b/scripts_launch/udp2bin.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -11,13 +11,14 @@
if not exist %aerialpython% (
call %envsetting%
)
-
cd %~dp0
+cd ..
+
echo change to path: %cd%
@REM please the folder path of the udp files.
@REM set UDPfolder=./Manual_Microwave/pod1-2012-12-12-12-12-12/
@REM ---------------Usage: udp2bin.py [UDPfolder]
-%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
+%aerialpython% ./scripts/udp2bin.py %UDPfolder%
pause
\ No newline at end of file
diff --git a/udp2ply.bat b/scripts_launch/udp2ply.bat
similarity index 78%
rename from udp2ply.bat
rename to scripts_launch/udp2ply.bat
index 50f393e..9b0cfb1 100644
--- a/udp2ply.bat
+++ b/scripts_launch/udp2ply.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -11,15 +11,16 @@
if not exist %aerialpython% (
call %envsetting%
)
-
cd %~dp0
+cd ..
+
echo change to path: %cd%
@REM please the folder path of the udp files.
@REM set UDPfolder=./Manual_Microwave/pod1-2012-12-12-12-12-12/
@REM ---------------Usage: udp2bin.py [UDPfolder]
-%aerialpython% ./src/utils/udp2bin.py %UDPfolder%
+%aerialpython% ./scripts/udp2bin.py %UDPfolder%
@REM ---------------Usage: bin2ply.py [BINfolder]
-%aerialpython% ./src/utils/bin2ply.py %UDPfolder%
+%aerialpython% ./scripts/bin2ply.py %UDPfolder%
pause
\ No newline at end of file
diff --git a/udp_get.bat b/scripts_launch/udp_get.bat
similarity index 78%
rename from udp_get.bat
rename to scripts_launch/udp_get.bat
index 363fa14..1860e9f 100644
--- a/udp_get.bat
+++ b/scripts_launch/udp_get.bat
@@ -2,7 +2,7 @@
@REM change to the filepath
cd %~dp0
-echo change to path: %cd%
+cd ..
set aerialpython=%cd%/env/aerial_deploy/python.exe
set envsetting=%cd%/env/SettingEnv.bat
@@ -12,6 +12,8 @@
call %envsetting%
)
cd %~dp0
+cd ..
+
echo change to path: %cd%
set MICROWAVEhost=192.168.2.65
@@ -19,5 +21,5 @@
SET DEVICEname=pod1
SET SAVEfolder=./Manual_Microwave
@REM ---------------Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]
-%aerialpython% ./src/utils/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder%
+%aerialpython% ./scripts/udp_get.py %MICROWAVEhost% %PACKETthreshold% %DEVICEname% %SAVEfolder%
pause
\ No newline at end of file
diff --git a/src/__init__.py b/src/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/src/__init__.py
diff --git a/src/microwave/__init__.py b/src/microwave/__init__.py
index 44c7895..ba4d4a0 100644
--- a/src/microwave/__init__.py
+++ b/src/microwave/__init__.py
@@ -1,4 +1,5 @@
from .components import *
from .constants import *
from .parsers import *
-from .servers import *
\ No newline at end of file
+from .servers import *
+from .deviceTools import *
\ No newline at end of file
diff --git a/src/microwave/deviceTools.py b/src/microwave/deviceTools.py
new file mode 100644
index 0000000..b26422e
--- /dev/null
+++ b/src/microwave/deviceTools.py
@@ -0,0 +1,165 @@
+import datetime
+from socketserver import BaseRequestHandler, UDPServer
+import time
+import os, sys
+import open3d as o3d
+
+from ..utils import file_fliter, write_ply
+from .servers import MicroWaveReceiver
+from .parsers import MicroWaveParser
+
+# # add python path of src to sys.path
+# src_path = os.path.join(__file__, *(['..'] * 2))
+# src_path = os.path.abspath(src_path)
+# sys.path.insert(1, src_path)
+
+# udp_get
+class PointCloudUDPRequestHandler(BaseRequestHandler):
+
+ def handle(self):
+ packet_threshold = self.server.packet_threshold
+ packed_count = self.server.packed_count
+ path = self.server.path
+
+ print(time.asctime(),' Got connection from {}, {}'.format(self.client_address, packed_count))
+ # Get message and client socket
+ msg, sock = self.request
+ time_tag = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
+ f = open('{}/{}_packet{}.udp'.format(path,time_tag,packed_count), 'wb')
+ f.write(msg)
+ f.close()
+ self.server.packed_count += 1
+ self.server.udp_list.append(msg)
+
+ if packed_count >= packet_threshold:
+ UDPServer.server_close(self.server)
+
+def udp_get_tool(microwaveHost,packetThreshold,deviceName,saveFolder,subFolder):
+
+ # host = ''
+ # host = '192.168.2.65' # use this host to get the udp data from microwave device
+ port = 9911
+ server =UDPServer((microwaveHost, port), PointCloudUDPRequestHandler)
+
+
+ if subFolder is not None:
+ path = os.path.join(saveFolder,subFolder)
+ else:
+ start = datetime.datetime.now()
+ path = os.path.join(saveFolder,f"{deviceName}-{start.strftime('%Y-%m-%d-%H-%M-%S')}")
+ if not os.path.exists(path):
+ os.makedirs(path)
+
+ server.path = os.path.abspath(path)
+ server.packet_threshold = packetThreshold
+ server.packed_count = 0
+ server.udp_list = []
+
+ print(time.asctime(),'Server started on port', port)
+ print('....')
+ print('ctrl-c to quit server.')
+ try:
+ server.serve_forever()
+ except KeyboardInterrupt:
+ server.server_close()
+ print(time.asctime(),"Server Stopped")
+ except:
+ server.server_close()
+ print(time.asctime(),"Server Stopped")
+ return server.udp_list
+
+# udp2bin
+def udp2bin_tool(udp_folder_Or_list):
+ Save = True
+ bin_list = []
+
+ 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:
+ 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
+
+# bin2ply
+def bin2ply_tool(folder):
+ bin_files = file_fliter(folder,'bin')
+
+ for file in bin_files:
+
+ filename = file
+ # (fn, ext) = os.path.splitext(filename)
+ with open(os.path.join(folder,file), "rb") as bin_file:
+ buf = bin_file.read()
+ buf_data = MicroWaveParser.ParserFrame(buf)
+
+
+ for frame in buf_data:
+ Frame_id = frame[0]
+ FrameNumber = frame[1]
+ point_cloud = frame[2]
+ if len(point_cloud) != 0 :
+ with open(os.path.join(folder,str(FrameNumber) +".ply"), "w") as f:
+ f.write("ply\n")
+ f.write("format ascii 1.0\n")
+ f.write("comment MicroWave2Ply generated\n")
+ f.write("element vertex %d\n" % len(point_cloud))
+ f.write("property float x\n")
+ f.write("property float y\n")
+ f.write("property float z\n")
+ f.write("element face 0\n")
+ f.write("property list uchar int vertex_indices\n")
+ f.write("end_header\n")
+ n_p = 0
+ for p in point_cloud:
+ x, y, z = p
+ f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
+ n_p += 1
+ print(time.asctime(),f"File {file} Frame {FrameNumber}.ply have been saved with {n_p} points!")
+
+def plot_ply(path):
+ if isinstance(path,str):
+ abspath = os.path.abspath(path)
+ else:
+ raise ValueError("Not a path!")
+
+ if os.path.isdir(abspath):
+ # open folder to load all ply files
+ ply_files = file_fliter(abspath,'ply')
+ show = []
+ for ply in ply_files:
+ pcd = o3d.io.read_point_cloud(os.path.join(abspath,ply))
+ show.append(pcd)
+ else:
+ show = [o3d.io.read_point_cloud(abspath)]
+
+ o3d.visualization.draw_geometries(show)
+ return
diff --git a/src/microwave/parsers.py b/src/microwave/parsers.py
index 97c0b07..ee14151 100644
--- a/src/microwave/parsers.py
+++ b/src/microwave/parsers.py
@@ -1,23 +1,60 @@
+
+from tkinter import Frame
from .components import *
from .constants import *
from ctypes import sizeof, string_at
-
+perDetectionBytes = 8
+perTrackerBytes = 32
class MicroWaveParser:
@classmethod
def ParserFrame(cls, buffer: bytes) -> list:
"""
- 瑙ｆ瀽瀹屾暣鐨勪竴甯ф暟鎹紝鏁版嵁鍖呮嫭鏁版嵁澶达紝鏁版嵁浣擄紝鏁版嵁灏撅紝杩斿洖鐐逛簯鏁扮粍
+ 瑙ｆ瀽瀹屾暣鐨勫抚鏁版嵁锛屾暟鎹寘鎷暟鎹ご锛屾暟鎹綋锛屾暟鎹熬锛岃繑鍥炵偣浜戞暟缁�
"""
- header = HeaderBlock(buffer[:sizeof(HeaderBlock)])
- if HEADER_MAGIC == string_at(header.Magic, 8):
- footer = FooterBlock(buffer[-sizeof(FooterBlock):])
- point_cloud = []
- for i in range(header.NumberOfDetection):
- detection = DetectionBlock(header, footer, buffer[i * 8 + sizeof(HeaderBlock): (i + 1) * 8 + sizeof(HeaderBlock)])
- point = (detection.X, detection.Y, detection.Z)
- point_cloud.append(point)
- return point_cloud
- else:
- return []
\ No newline at end of file
+ buffer_size = len(buffer)
+ frame_start = 0
+ frame_end = 0
+ frame_id = 0
+
+ ply_data_list = []
+
+ while frame_start < buffer_size:
+ # process the current frame
+ header = HeaderBlock(buffer[frame_start:frame_start+sizeof(HeaderBlock)])
+ if HEADER_MAGIC == string_at(header.Magic, 8):
+ numsDetection = header.NumberOfDetection
+ numsTracker = header.NumberOfTrack
+
+ # get the end point of the current frame
+ frame_end = frame_start + \
+ sizeof(HeaderBlock) + \
+ numsDetection * perDetectionBytes + \
+ numsTracker * perTrackerBytes + \
+ sizeof(FooterBlock)
+
+ if frame_end <= buffer_size:
+ # get the frame data and footer data
+ frame = buffer[frame_start:frame_end]
+ footer = FooterBlock(frame[-sizeof(FooterBlock):])
+ # get the cloud point data
+ point_cloud = []
+
+ for i in range(numsDetection):
+
+ point_data = frame[i * 8 + sizeof(HeaderBlock): (i + 1) * 8 + sizeof(HeaderBlock)]
+ detection = DetectionBlock(header, footer, point_data)
+ point = (detection.X, detection.Y, detection.Z)
+ point_cloud.append(point)
+
+ # append the point cloud data to the list
+ ply_data_list.append([frame_id, header.FrameNumber, point_cloud])
+
+ # update the parameters for next frame in the while loop
+ frame_id += 1
+ frame_start = frame_end
+ else:
+ raise ValueError("wrong header magic code for microwave data")
+
+ return ply_data_list
\ No newline at end of file
diff --git a/src/slam/__init__.py b/src/slam/__init__.py
new file mode 100644
index 0000000..dd48035
--- /dev/null
+++ b/src/slam/__init__.py
@@ -0,0 +1,3 @@
+from .core import *
+from .manualMode import *
+from .autoMode import *
\ No newline at end of file
diff --git a/src/slam/autoMode.py b/src/slam/autoMode.py
new file mode 100644
index 0000000..18663f2
--- /dev/null
+++ b/src/slam/autoMode.py
@@ -0,0 +1,45 @@
+import os,sys
+import numpy as np
+import time
+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"))
+
+def rotateAndMerge(port,speed,degre_step,time_delay,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):
+
+ # 鏃嬭浆鏈烘瀯澶嶄綅
+ os.system(f"{exe_path} {port} 400 0")
+ time.sleep(10)
+
+ # 闂撮殧鑾峰彇udp
+ for i in range(0,360,degre_step):
+ os.system(f"{exe_path} {port} {speed} {i}")
+ time.sleep(int(time_delay))
+ subFolder = str(-i)
+ print (f"Geting udp files with {subFolder} degree ...")
+ udp_get_tool(microwaveHost,udp_packets,deviceName,saveFolder,subFolder)
+
+ # 鏃嬭浆鏈烘瀯澶嶄綅
+ os.system(f"{exe_path} {port} 100 0")
+
+ # iterate the folder
+ for root, dirs, files in os.walk(saveFolder,topdown=True):
+ break
+
+ for dir in dirs:
+ # udp2bin bin2ply
+ subdir = os.path.join(saveFolder,dir)
+ udp2bin_tool(subdir)
+ bin2ply_tool(subdir)
+
+
+ # compose ply
+ print("merge ply files, processing ...")
+ manual_merge(saveFolder,alpha,beta,gamma,"data")
+
+
+
+
+
diff --git a/src/slam/core.py b/src/slam/core.py
new file mode 100644
index 0000000..c277da8
--- /dev/null
+++ b/src/slam/core.py
@@ -0,0 +1,127 @@
+import numpy as np
+import os, sys
+# # add python path of src to sys.path
+# src_path = os.path.join(__file__, *(['..'] * 2))
+# src_path = os.path.abspath(src_path)
+# sys.path.insert(0, src_path)
+
+from ..utils.tools import read_ply
+from tqdm import tqdm
+
+
+
+# 姣背娉㈠潗鏍囩郴涓哄彸鎵嬪潗鏍囩郴銆�
+# 姣背娉㈣澶囧垎鍒粫xyz杞寸殑鏃嬭浆瑙掑害鍒嗗埆涓� alpha, beta, gamma
+
+# 宸︿箻鏃嬭浆鐭╅樀鍒嗗埆涓� Rx_alpha, Ry_beta, Rz_gamma
+
+# Rx_alpha = [[1,0,0],[0,np.cos(alpha),np.sin(alpha)],[0,-np.sin(alpha),np.cos(alpha)]]
+# Ry_beta = [[np.cos(beta),0,-np.sin(beta)],[0,1,0],[np.sin(beta),0,np.cos(beta)]]
+# Rz_gamma = [[np.cos(gamma),np.sin(gamma),0],[-np.sin(gamma),np.cos(gamma),0],[0,0,1]]
+
+
+def get_rotation_matrix(alpha_degree,beta_degree,gamma_degree,verbose=0):
+ """generate a rotation matrix from the specific angel
+ """
+ rad_list = []
+ for i, angle in enumerate([alpha_degree,beta_degree,gamma_degree]):
+
+ if np.abs(float(angle))>360:
+ raise ValueError(f"incorrect angle value: value in [-360,360] is excepted, but {angle} is offered.")
+ rad_list.append(np.pi * float(angle) / 180)
+
+ alpha = rad_list[0]
+ Rx_alpha = np.matrix([[1,0,0],
+ [0,np.cos(rad_list[0]),np.sin(alpha)],
+ [0,-np.sin(alpha),np.cos(alpha)]])
+
+ beta = rad_list[1]
+ Ry_beta = np.matrix([[np.cos(beta),0,-np.sin(beta)],
+ [0,1,0],
+ [np.sin(beta),0,np.cos(beta)]])
+
+ gamma = rad_list[2]
+ Rz_gamma = np.matrix([[np.cos(gamma),np.sin(gamma),0],
+ [-np.sin(gamma),np.cos(gamma),0],
+ [0,0,1]])
+
+ rotation_matrix = Rx_alpha * Ry_beta * Rz_gamma
+
+ if verbose == 1:
+ print(f"\n{alpha_degree}, rad {alpha}, Rx_alpha \n", Rx_alpha)
+ print(f"\n{beta_degree}, {beta}, Ry_beta \n", Ry_beta)
+ print(f"\n{gamma_degree}, {gamma}, Rz_gamma\n",Rz_gamma)
+ print("\n rotation matrix\n",rotation_matrix)
+ else:
+ pass
+
+ return rotation_matrix
+
+def transferTo(current,delta_x,delta_y,delta_z,alpha,beta,gamma,reverse=False):
+ # Notice: 鍋囧畾褰撳墠鍧愭爣绯讳负鍙虫墜绯�
+ # step 1: 骞崇Щ锛沜urrent_coor + delta(delta_x, delta_y, delta_z) = target_coor
+ # x' = x - delta_x, y' = y - delta_y, z' = z -delta_y
+ # step 2: 鏃嬭浆; 褰撳墠鍧愭爣绯绘湞姝ｆ柟闈㈢粰鏃嬭浆鍒版寚瀹氬潗鏍囩郴銆�
+ # step 3: 妫�鏌ユ槸鍚﹂渶瑕佷粠鍙虫墜绯昏浆鎹㈠埌宸︽墜绯汇��
+ # 骞崇Щ
+ ply = current - np.array([delta_x,delta_y,delta_z])
+ # 鏃嬭浆
+ # z = (X * Y^T)^T = (Y * X^T)
+ # np.matmul(rotation_matrix,ply.transpose()).transpose() == np.matmul(ply,rotation_matrix)
+ rotation_matrix = get_rotation_matrix(alpha,beta,gamma)
+ rotated_ply = np.matmul(ply,rotation_matrix)
+ # 杞负鍙虫墜鍧愭爣绯�
+ if reverse:
+ rotated_ply[:,-1] = -rotated_ply.copy()[:,-1]
+
+ data = rotated_ply
+ return data
+
+def transferToZero(data,x,y,z,alpha,beta,gamma,reverse=False):
+ """
+ 杞崲褰撳墠鍧愭爣鑷冲彟涓�鍧愭爣, xyz鍒嗗埆涓哄綋鍓嶅潗鏍囧師鐐瑰湪鐩爣鍧愭爣绯荤殑浣嶇疆;
+ alpha,beta,gamma 涓哄綋鍓嶅潗鏍囩郴鐩稿鐩爣鍧愭爣绯荤殑鏃嬭浆鍙傛暟銆�
+ """
+
+ # 骞崇Щ
+ moved_data = data + np.array([x,y,z])
+ # 鏃嬭浆
+ rotation_matrix = get_rotation_matrix(-alpha,-beta,-gamma)
+ rotated_data = np.matmul(moved_data,rotation_matrix)
+
+ # 宸﹀彸鎵嬪潗鏍囩郴杞崲, 浣跨敤z杞磋浆鎹�
+
+ if reverse:
+ rotated_data[:,-1] = -rotated_data.copy()[:,-1]
+
+ return rotated_data
+
+
+def merge_ply(muti_ply_with_angle: list):
+
+ ply_nums = len(muti_ply_with_angle)
+ merged_ply_array = None
+
+ print ("rotating the ply ...")
+ for i, ply_with_angle in enumerate(tqdm(muti_ply_with_angle)):
+ angle = ply_with_angle[:-1]
+ ply = ply_with_angle[-1]
+
+ if isinstance(ply,str):
+ ply = read_ply(ply)
+
+ rotation_matrix = get_rotation_matrix(angle[0],angle[1],angle[2])
+
+ # z = (X * Y^T)^T = (Y * X^T)
+ # np.matmul(rotation_matrix,ply.transpose()).transpose() == np.matmul(ply,rotation_matrix)
+ rotated_ply = np.matmul(ply,rotation_matrix)
+ if i == 0:
+ merged_ply_array = rotated_ply.copy()
+ else:
+ merged_ply_array = np.concatenate((merged_ply_array,rotated_ply),axis= 0 )
+
+ merged_ply_array = np.array(merged_ply_array).reshape(-1,3)
+ return merged_ply_array
+
+
+
diff --git a/src/slam/manualMode.py b/src/slam/manualMode.py
new file mode 100644
index 0000000..71372da
--- /dev/null
+++ b/src/slam/manualMode.py
@@ -0,0 +1,70 @@
+from aifc import Error
+import os,sys
+from tkinter import E
+import numpy as np
+from tqdm import tqdm
+
+from .core import merge_ply
+from ..utils import read_ply,write_ply,file_fliter
+from ..microwave.deviceTools import udp2bin_tool,bin2ply_tool
+
+def manual_merge(folder,alpha,beta,gamma,savename):
+ """
+ merge the ply files according to the sub folder name, like 0, 20, -30 ...
+ """
+
+ for root, dirs, files in os.walk(folder,topdown=True):
+ break
+
+ dir_List = dirs
+
+
+ angle = []
+ index = 0
+ for i,degree in enumerate([alpha,beta,gamma]):
+ if degree == "auto":
+ degree = dir_List
+ index = i
+ angle.append(degree)
+
+ data = []
+
+ print("reading ply files ...")
+ # iterate the auto angle degree
+ for an in tqdm(angle[index]):
+ ply_with_mutiangle = []
+ for z in angle:
+ if isinstance(z,list):
+ z = an
+ ply_with_mutiangle.append(-float(z))
+ ply_name_list = file_fliter(os.path.join(folder,an), "ply",lambda x:int(x.split(".")[0]))
+ if len(ply_name_list) == 0:
+ try:
+ udp2bin_tool(os.path.join(folder,an))
+ bin2ply_tool(os.path.join(folder,an))
+ ply_name_list = file_fliter(os.path.join(folder,an), "ply",lambda x:int(x.split(".")[0]))
+ except Exception as e:
+ raise ValueError(f"Can't find any .udp .bin or .ply files in folder {os.path.join(folder,an)}")
+ else:
+ pass
+
+ # select the all ply files
+ for i in range(len(ply_name_list)):
+ ply_with_mutiangle_copy = ply_with_mutiangle.copy()
+ ply = read_ply(os.path.join(folder,an,ply_name_list[i]))
+ ply_with_mutiangle_copy.append(ply)
+ data.append(ply_with_mutiangle_copy)
+
+ # compose muti ply files to one ply file
+ cloudpoint = merge_ply(data)
+
+ # write the file
+ print("Writing the data to disk ...")
+ write_ply(cloudpoint, folder, savename)
+
+
+
+
+
+
+
diff --git a/src/utils/bin2ply.py b/src/utils/bin2ply.py
deleted file mode 100644
index 38b12ba..0000000
--- a/src/utils/bin2ply.py
+++ /dev/null
@@ -1,54 +0,0 @@
-import os
-import sys
-import time
-
-# add python path of src to sys.path
-src_path = os.path.join(__file__, *(['..'] * 2))
-src_path = os.path.abspath(src_path)
-sys.path.insert(0, src_path)
-
-from microwave.parsers import MicroWaveParser
-from tools import file_fliter
-
-if __name__ == "__main__":
- def help():
- print("Usage: bin2ply.py [BINfolder]")
- print("EXAMPLE: BIN2ply.py ./manual_ply/pod1-2012-12-12-12-12-12/")
- exit(1)
-
- if len(sys.argv) != 2:
- help()
- try:
- BINfolder = str(sys.argv[1])
- # example pod1-2022-02-21-13-25-03_packet125.udp --> 125
- sort_lambda = lambda x:int(x.split('.')[0])
- bin_files = file_fliter(BINfolder,'bin', sort_lambda)
-
- except Exception as e:
- print(e)
- help()
-
- for file in bin_files:
-
- filename = file
- (fn, ext) = os.path.splitext(filename)
- with open(os.path.join(BINfolder,file), "rb") as bin_file:
- buf = bin_file.read()
- point_cloud = MicroWaveParser.ParserFrame(buf)
- with open(os.path.join(BINfolder,fn +".ply"), "w") as f:
- f.write("ply\n")
- f.write("format ascii 1.0\n")
- f.write("comment MicroWave2Ply generated\n")
- f.write("element vertex %d\n" % len(point_cloud))
- f.write("property float x\n")
- f.write("property float y\n")
- f.write("property float z\n")
- f.write("element face 0\n")
- f.write("property list uchar int vertex_indices\n")
- f.write("end_header\n")
- n_p = 0
- for p in point_cloud:
- x, y, z = p
- f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
- n_p += 1
- print(time.asctime(),f"Frame {fn}.ply have been saved with {n_p} points!")
\ No newline at end of file
diff --git a/src/utils/plot_ply.py b/src/utils/plot_ply.py
deleted file mode 100644
index 855395a..0000000
--- a/src/utils/plot_ply.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import open3d as o3d
-import sys
-
-if __name__ == "__main__":
- def help():
- print("Usage: plot_ply.py [PLYfile]")
- print("EXAMPLE: plot_ply ./Manual_Microwave/pod1-2022-02-21-15-34-45/2522.ply")
- exit(1)
-
- if len(sys.argv) != 2:
- help()
- try:
- PLYfile = str(sys.argv[1])
-
- pcd = o3d.io.read_point_cloud(PLYfile)
-
- except Exception as e:
- print(e)
- help()
-
- show = [pcd]
-
- o3d.visualization.draw_geometries(show)
\ No newline at end of file
diff --git a/src/utils/tools.py b/src/utils/tools.py
index 3531cb3..80b55d1 100644
--- a/src/utils/tools.py
+++ b/src/utils/tools.py
@@ -1,7 +1,9 @@
import os, sys
import numpy as np
+import time
+from tqdm import tqdm
-def file_fliter(folder:str, file_ext:str, sort_format):
+def file_fliter(folder:str, file_ext:str, sort_format = None):
files_List = os.listdir(folder)
target_files = []
@@ -10,8 +12,10 @@
for file in files_List:
if file.split('.')[-1] == file_ext:
target_files.append(file)
- # sort the list by the sort_format
- target_files.sort(key=sort_format)
+
+ if sort_format is not None:
+ # sort the list by the sort_format
+ target_files.sort(key=sort_format)
return target_files
@@ -38,6 +42,29 @@
return ply_array
+def write_ply(data:np.array,folder:str,name:str):
+ file = os.path.join(folder,name+".ply")
+ with open (file,'w') as f:
+ f.write("ply\n")
+ f.write("format ascii 1.0\n")
+ f.write("comment write_ply generated\n")
+ f.write("element vertex %d\n" % data.shape[0])
+ f.write("property float x\n")
+ f.write("property float y\n")
+ f.write("property float z\n")
+ f.write("element face 0\n")
+ f.write("property list uchar int vertex_indices\n")
+ f.write("end_header\n")
+ n_p = 0
+
+ for p in tqdm(data):
+ x = p[0]
+ y = p[1]
+ z = p[2]
+ f.write("{:.5f} {:.5f} {:.5f}\n".format(x, y, z))
+ n_p += 1
+ print(time.asctime(),f"Frame {name}.ply have been saved with {n_p} points!")
+
if __name__ == "__main__":
diff --git a/src/utils/udp2bin.py b/src/utils/udp2bin.py
deleted file mode 100644
index be2250f..0000000
--- a/src/utils/udp2bin.py
+++ /dev/null
@@ -1,46 +0,0 @@
-import os
-from sys import argv
-import sys
-import time
-
-# add python path of src to sys.path
-src_path = os.path.join(__file__, *(['..'] * 2))
-src_path = os.path.abspath(src_path)
-sys.path.insert(0, src_path)
-
-from microwave.servers import MicroWaveReceiver
-from tools import file_fliter
-
-
-if __name__ == '__main__':
-
- def help():
- print("Usage: udp2bin.py [UDPfolder]")
- print("EXAMPLE: udp2bin.py ./manual_ply/pod1-2012-12-12-12-12-12/")
- exit(1)
-
- if len(sys.argv) != 2:
- help()
- try:
- UDPfolder = str(sys.argv[1])
- # 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)
-
- except Exception as e:
- print(e)
- help()
-
- 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
- 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()
\ No newline at end of file
diff --git a/src/utils/udp_get.py b/src/utils/udp_get.py
deleted file mode 100644
index a34d386..0000000
--- a/src/utils/udp_get.py
+++ /dev/null
@@ -1,88 +0,0 @@
-import datetime
-from pickle import GLOBAL
-from socketserver import BaseRequestHandler, UDPServer
-import time
-import os, sys
-
-
-# cudir,_ = os.path.split(__file__)
-# file_folder = os.path.join(cudir,"saveUDPData")
-
-# if not os.path.exists(file_folder):
-# os.makedirs(file_folder)
-# print(f"make a new folder: {file_folder}")
-
-packed_count = 0
-
-class PointCloudUDPRequestHandler(BaseRequestHandler):
-
- def handle(self):
-
- global packed_count
- global path
-
- if packed_count == 0:
- start = datetime.datetime.now()
- if not os.path.exists(save_folder):
- os.mkdir(save_folder)
- path = os.path.join(save_folder,f"{device_id}-{start.strftime('%Y-%m-%d-%H-%M-%S')}")
- if not os.path.exists(path):
- os.mkdir(path)
- path = os.path.abspath(path)
-
- print(time.asctime(),' Got connection from {}, {}'.format(self.client_address, packed_count))
- # Get message and client socket
- msg, sock = self.request
- time_tag = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
- f = open('{}/{}_packet{}.udp'.format(path,time_tag,packed_count), 'wb')
- f.write(msg)
- f.close()
- packed_count += 1
-
- if packed_count >= packet_threshold:
- UDPServer.server_close(server)
-
-
-if __name__ == '__main__':
-
- def help():
- print("Usage: udp_get.py [MICROWAVEhost] [PACKETthreshold] [DEVICEname] [SAVEfolder]")
- print("EXAMPLE: udp_get.py 192.168.2.65 1000 pod1 ./manual_ply")
- exit(1)
-
- if len(sys.argv) != 5:
- help()
- try:
- MICROWAVEhost = str(sys.argv[1])
- PACKETthreshold = int(sys.argv[2])
- DEVICEname = str(sys.argv[3])
- SAVEfolder = str(sys.argv[4])
-
- global packet_threshold
- packet_threshold = PACKETthreshold
- global device_id
- device_id = DEVICEname
- global save_folder
- save_folder = SAVEfolder
-
- except Exception as e:
- print(e)
- help()
-
- global server
-
- # host = ''
- # host = '192.168.2.65' # use this host to get the udp data from microwave device
- port = 9911
- server =UDPServer((MICROWAVEhost, port), PointCloudUDPRequestHandler)
- print(time.asctime(),'Server started on port', port)
- print('....')
- print('ctrl-c to quit server.')
- try:
- server.serve_forever()
- except KeyboardInterrupt:
- server.server_close()
- print(time.asctime(),"Server Stopped")
- except:
- server.server_close()
- print(time.asctime(),"Server Stopped")
\ No newline at end of file
--
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