probleme : mon 2eme thread ne s'active pas.
bonsoir,
voila, j'ai ma class Lidar qui me retourne un Lidar.distance qui est une distance et un Lidar.angle qui est un angle. j'ai créé une deuxieme class Affichage qui est sensé m'écrire les valeurs mais le probleme c'est que ca n'affiche rien sur mon terminal, avez vous une idée du probleme?
voici mon code :
Code:
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|
import serial
import math
import time
from threading import Thread, RLock
import numpy as np
#import motorControler
import RPi.GPIO as GPIO
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
led=23
GPIO.setup(led,GPIO.OUT)
GPIO.output(led,0)
PWM_motor=4
GPIO.setup(PWM_motor,GPIO.OUT)
LidarMotor = GPIO.PWM(PWM_motor,50)#50Hz
LidarMotor.start(0)
Start_Scan = "\xA5\x20" #Begins scanning
Force_Scan = "\xA5\x21" #Overrides anything preventing a scan
Health = "\xA5\x52" #Returns the state of the Lidar
Stop_Scan = "\xA5\x25" #Stops the scan
RESET = "\xA5\x40" #Resets the device
verrou = RLock()
class Lidar(Thread):
distance = 0
angle = 0
def __init__(self,ser):
Thread.__init__(self)
self.port = ser
def run(self):
lock = False
lock = self.startScan(self.port)
if lock == True:
self.getPoints(self.port)
else:
print "Exiting"
def startScan(self, port):
print"connecting"
lock = False
while lock == False:
print"..."
port.write(RESET)
time.sleep(1)
port.write(Start_Scan)
try:
line=""
for i in range(0, 250):
line = port.read(7)
if line[0:2] == "\xa5\x5a" :#flag 1&2
lock = True
print"lidar Enable"
break;
else:
line = ""
except KeyboardInterrupt:
break
return lock
def getPoints(self, port):
memory = 0
count = 0
i=0
line = "" #reset line
while True:
try:
line = port.read(5)
if (len(line) )== 5 :# wait 5 bytes
# if chackData1 = 1 trame is good
checkData1= int((line[1].encode("hex")), 16)&0x01
#if chackData2 = 1 trame is good
checkData2= int((line[0].encode("hex")), 16)
if ((checkData2&0x02)/2) != (checkData2&0x01) :
checkData2=1
else:
checkData2=0
if checkData1 ==1 and checkData2 ==1 :#trame is good
Lidar.distance,Lidar.angle=self.point_Polar(line)
else :#trame is not good
print"ValueError : lidar disable"
break
line=""
except KeyboardInterrupt:
break
def point_Polar(self,paquet):
#Get Distance
distance = paquet[4].encode("hex") + paquet[3].encode("hex")
distance = int(distance, 16)
distance = distance / 4 #instructions from data sheet
#Get Angle
angle = paquet[2].encode("hex") + paquet[1].encode("hex")
angle = int(angle, 16)
angle = angle/128 #instruction from data sheet
return(distance, angle)
class Affichage(Thread):
def __init__(self):
Thread.__init__(self)
self.u = 0
def run(self):
print("la distance : {0} mm angle : {1}".format(Lidar.distance,Lidar.angle))
LidarMotor.start(40)
ser = serial.Serial('/dev/ttyAMA0', 115200, timeout = 1)
ser.setDTR(False)
print ser.name
while True:
t1 = Lidar(ser)
t2 = Affichage()
t1.start()
t2.start()
t1.join()
t2.join() |
merci d'avance pour votre aide ;)
