From e82c2a3abd0f1bd450bea46bc67b84a07017028e Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期一, 21 三月 2022 12:36:38 +0800
Subject: [PATCH] auto slam

---
 RUN/Test_Servo.runtimeconfig.dev.json                   |    9 
 RUN/NLog.config                                         |   45 
 src/utils/udp2bin.py                                    |   48 
 .gitignore                                              |    4 
 TEST_SlamAuto.bat                                       |   67 
 src/mannul_slam.py                                      |   17 
 src/auto_slam.py                                        |   67 
 .vscode/settings.json                                   |    4 
 RUN/runtimes/win/lib/netstandard2.0/System.IO.Ports.dll |    0 
 RUN/Test_Servo.exe                                      |    0 
 RUN/Test_Servo.deps.json                                |  138 
 RUN/Test_Servo.pdb                                      |    0 
 RUN/System.IO.Ports.dll                                 |    0 
 src/utils/__init__.py                                   |    5 
 /dev/null                                               | 132950 -----------------------------------------------------------
 RUN/Test_Servo.runtimeconfig.json                       |    9 
 src/utils/bin2ply.py                                    |   46 
 src/slam/slam.py                                        |   27 
 .vscode/launch.json                                     |   23 
 RUN/NLog.dll                                            |    0 
 RUN/Test_Servo.dll                                      |    0 
 src/utils/udp_get.py                                    |   58 
 22 files changed, 489 insertions(+), 133,028 deletions(-)

diff --git a/.gitignore b/.gitignore
index 6ede3f4..48ac82d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,12 +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 1e12093..ae2b71d 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -5,6 +5,25 @@
     "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",
+                "0",
+                "20",
+                "auto",
+                "192.168.2.65",
+                "1000",
+                "testDevice",
+                "T:\\Data\\projects\\huaneng\\04_Data\\20220316test"]
+        },
+        {
             "name": "test_slam",
             "type": "python",
             "request": "launch",
@@ -12,9 +31,9 @@
             "program": "${workspaceFolder}/src/mannul_slam.py",
             "console": "integratedTerminal",
             "args": [
-                "T:\\Data\\projects\\huaneng\\00_Docs\\slamtest",
+                "T:\\Data\\projects\\huaneng\\04_Data\\20220316test",
                 "0",
-                "60",
+                "20",
                 "auto",
                 "test60120"
             ],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 91b244f..7e78264 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -8,8 +8,8 @@
             "--python_out=${workspaceRoot}/src/protos"
         ]
     },
-    "python":{
-    },
+    
+    "python.poetryPath": "${workspaceFolder}/env/aerial_deploy/python.exe",
     "jupyter.kernels.filter": [
         {
             "type": "jupyterKernelspec",
diff --git a/RUN/NLog.config b/RUN/NLog.config
new file mode 100644
index 0000000..b2fc9b9
--- /dev/null
+++ b/RUN/NLog.config
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
+      xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+      xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd"
+      autoReload="true"
+      throwExceptions="false"
+      internalLogLevel="Off" internalLogFile="c:\temp\nlog-internal.log">
+
+  <!-- optional, add some variables
+  https://github.com/nlog/NLog/wiki/Configuration-file#variables
+  -->
+  <variable name="myvar" value="myvalue"/>
+  <variable name="logDirectory" value="logs/"/>
+
+  <!--
+  See https://github.com/nlog/nlog/wiki/Configuration-file
+  for information on customizing logging rules and outputs.
+   -->
+  <targets>
+    <target name="logfile" xsi:type="File" fileName="${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_SlamAuto.bat b/TEST_SlamAuto.bat
new file mode 100644
index 0000000..a56d66b
--- /dev/null
+++ b/TEST_SlamAuto.bat
@@ -0,0 +1,67 @@
+@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% 
+)
+
+@REM pre-defined parameters
+set port=COM11
+set speed=100
+set degree_step=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: 100):
+set /P degree_step=Please input the degree step 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):
+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    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]:
+
+cd %~dp0
+echo change to path: %cd%
+
+if %choice% == y (
+    %aerialpython% ./src/auto_slam.py %port% %speed% %degree_step% %alpha% %beta% %gamma% %microwaveHost% %udp_packets% %deviceName% %saveFolder%
+    @REM -------------- Usage: plot_ply.py [PLYfile]"
+    %aerialpython% ./src/utils/plot_ply.py %PLYfile%
+) else (
+    exit
+)
+
+
+
diff --git a/src/auto_slam.py b/src/auto_slam.py
new file mode 100644
index 0000000..1a15834
--- /dev/null
+++ b/src/auto_slam.py
@@ -0,0 +1,67 @@
+import os,sys
+import numpy as np
+import time
+from slam.slam import compose_ply
+from utils import read_ply,write_ply,file_fliter,udp_get_tool,udp2bin_tool,bin2ply_tool
+from mannul_slam import run as compose_muti_ply
+
+cudir = src_path = os.path.abspath(os.path.join(__file__, *(['..'] * 1)))
+exe_path = os.path.abspath(os.path.join(cudir,"../RUN/Test_Servo.exe"))
+
+def run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder):
+
+    # 鏃嬭浆鏈烘瀯澶嶄綅
+    os.system(f"{exe_path} {port} 100 0")
+
+    # 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(3)
+        subFolder = str(-i)
+        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
+    compose_muti_ply(saveFolder,alpha,beta,gamma,"data")
+
+if __name__ == "__main__":
+    def help():
+        print("Usage: auto_slam.py [port] [speed] [degre_step] [alpha] [beta] [gamma] [microwaveHost] [udp_packets] [deviceName] [saveFolder]")
+        print("EXAMPLE: auto_slam.py COM11 100 5 0 20 auto 192.168.2.65 1000 pod1 ./data/run_test/")
+        exit(1)
+
+    if len(sys.argv) != 11:
+        help()
+    try:
+        port = str(sys.argv[1])
+        speed = str(sys.argv[2])
+        degre_step = str(sys.argv[3])
+        alpha = str(sys.argv[4])
+        beta = str(sys.argv[5])
+        gamma = str(sys.argv[6])
+        microwaveHost = str(sys.argv[7])
+        udp_packets = int(sys.argv[8])
+        deviceName = str(sys.argv[9])
+        saveFolder = str(sys.argv[10])
+    except Exception as e:
+        print(e)
+        help()
+
+    run(port,speed,degre_step,alpha,beta,gamma,microwaveHost,udp_packets,deviceName,saveFolder)
+    print("Done")
+
+
+
diff --git a/src/mannul_slam.py b/src/mannul_slam.py
index 02df41c..215414e 100644
--- a/src/mannul_slam.py
+++ b/src/mannul_slam.py
@@ -5,12 +5,17 @@
 
 def run(folder,alpha,beta,gamma,savename):
     
-    # literate the folder
-    dir_List_ = os.listdir(folder)
-    sort_lambda = lambda x:int(x)
-    dir_List_.sort(key=sort_lambda)
+    # # literate the folder
+    # dir_List_ = os.listdir(folder)
+    # sort_lambda = lambda x:int(x)
+    # dir_List_.sort(key=sort_lambda)
     
-    dir_List=dir_List_
+    # dir_List=dir_List_
+    # iterate the folder
+    for root, dirs, files in os.walk(folder,topdown=True):
+        break
+    
+    dir_List = dirs
 
 
     angle = []
@@ -42,7 +47,7 @@
     cloudpoint = compose_ply(data)
 
     # write the file
-    write_ply(cloudpoint,".", savename)
+    write_ply(cloudpoint, folder, savename)
 
 
 
diff --git a/src/slam/slam.py b/src/slam/slam.py
index 2f81fa3..be8a376 100644
--- a/src/slam/slam.py
+++ b/src/slam/slam.py
@@ -56,6 +56,26 @@
 
     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 compose_ply(muti_ply_with_angle: list):
 
     ply_nums = len(muti_ply_with_angle)
@@ -83,3 +103,10 @@
     return composed_ply_array
 
 
+if __name__ == "__main__":
+    current = np.array([[1,1,1],[1,3,9],[4,8,5]])
+    print(current)
+    target = transferTo(current,1,1,1,0,0,0,True)
+    print(target)
+
+
diff --git a/src/utils/__init__.py b/src/utils/__init__.py
index 6ac1ccc..34a0a9c 100644
--- a/src/utils/__init__.py
+++ b/src/utils/__init__.py
@@ -1 +1,4 @@
-from .tools import *
\ No newline at end of file
+from .tools import *
+from .udp_get import *
+from .udp2bin import *
+from .bin2ply import *
\ No newline at end of file
diff --git a/src/utils/bin2ply.py b/src/utils/bin2ply.py
index 90cb889..085d392 100644
--- a/src/utils/bin2ply.py
+++ b/src/utils/bin2ply.py
@@ -8,31 +8,16 @@
 sys.path.insert(0, src_path)
 
 from microwave.parsers import MicroWaveParser
-from tools import file_fliter
+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)
+def bin2ply_tool(folder):
+    bin_files = file_fliter(folder,'bin')
 
-    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')
-
-    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:
+        with open(os.path.join(folder,file), "rb") as bin_file:
             buf = bin_file.read()
             buf_data = MicroWaveParser.ParserFrame(buf)
 
@@ -42,7 +27,7 @@
                 FrameNumber = frame[1]
                 point_cloud = frame[2]
                 if len(point_cloud) != 0 :
-                    with open(os.path.join(BINfolder,str(FrameNumber) +".ply"), "w") as f:
+                    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")
@@ -58,4 +43,23 @@
                             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!")
\ No newline at end of file
+                        print(time.asctime(),f"File {file} Frame {FrameNumber}.ply have been saved with {n_p} points!")
+
+
+
+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])
+
+    except Exception as e:
+        print(e)
+        help()
+    
+    bin2ply_tool(BINfolder)
\ No newline at end of file
diff --git a/src/utils/udp2bin.py b/src/utils/udp2bin.py
index be2250f..9715d43 100644
--- a/src/utils/udp2bin.py
+++ b/src/utils/udp2bin.py
@@ -9,28 +9,14 @@
 sys.path.insert(0, src_path)
 
 from microwave.servers import MicroWaveReceiver
-from tools import file_fliter
+from .tools import file_fliter
 
+def udp2bin_tool(udp_folder):
 
-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()
-
+    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)
     receiver = MicroWaveReceiver()
     for file in udp_files:
         filename = os.path.join(UDPfolder, file)
@@ -43,4 +29,24 @@
                 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
+                    bin_file.close()
+
+
+
+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 = str(sys.argv[1])
+
+    except Exception as e:
+        print(e)
+        help()
+    
+    udp2bin_tool(udp_folder)
\ No newline at end of file
diff --git a/src/utils/udp_get.py b/src/utils/udp_get.py
index a01d4c4..1dcea13 100644
--- a/src/utils/udp_get.py
+++ b/src/utils/udp_get.py
@@ -46,6 +46,38 @@
             UDPServer.server_close(server)
 
 
+def udp_get_tool(microwaveHost,packetThreshold,deviceName,saveFolder,subFolder):
+
+    global packet_threshold
+    packet_threshold = packetThreshold,
+    global device_id
+    device_id = deviceName
+    global save_folder
+    save_folder = saveFolder
+    global sub_folder
+    sub_folder = subFolder
+
+    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")
+
+
+
+
 if __name__ == '__main__':
 
     def help():
@@ -63,33 +95,9 @@
         SAVEfolder = str(sys.argv[4])
         SUBfolder = str(sys.argv[5])
 
-        global packet_threshold
-        packet_threshold = PACKETthreshold
-        global device_id
-        device_id = DEVICEname
-        global save_folder
-        save_folder = SAVEfolder
-        global sub_folder
-        sub_folder = SUBfolder
 
     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
+    udp_get_tool(MICROWAVEhost,PACKETthreshold,DEVICEname,SAVEfolder,SUBfolder)
\ No newline at end of file
diff --git a/test60120.ply b/test60120.ply
deleted file mode 100644
index 01d8b7c..0000000
--- a/test60120.ply
+++ /dev/null
@@ -1,132950 +0,0 @@
-ply
-format ascii 1.0
-comment write_ply generated
-element vertex 132940
-property float x
-property float y
-property float z
-element face 0
-property list uchar int vertex_indices
-end_header
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Gitblit v1.9.1