Split the Python application into a recording part and a visualiser part. Add matplotlib for creating a 3D scatter plot.
This commit is contained in:
HellaJanssen
parent
2a50334473
commit
d32433c6a6
5 changed files with 331 additions and 103 deletions
2
.gitignore
vendored
2
.gitignore
vendored
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@ -194,4 +194,4 @@ cython_debug/
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.cursorindexingignore
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# Project specific
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sensor_data.bin
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sensor_recording.bin
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5
Pipfile
5
Pipfile
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@ -6,12 +6,15 @@ name = "pypi"
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[packages]
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numpy = "*"
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scipy = "*"
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pyserial = "*"
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pymmwave = "*"
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pyqtgraph = "*"
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pyside6 = "*"
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matplotlib = "*"
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pyqt5 = "*"
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basemap = "*"
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mpl-tools = "*"
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plotly = "*"
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pyserial = "*"
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[dev-packages]
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306
Pipfile.lock
generated
306
Pipfile.lock
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@ -1,7 +1,7 @@
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"pipfile-spec": 6,
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"requires": {
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@ -17,6 +17,74 @@
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@ -224,114 +292,106 @@
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|
||||
"sha256:41c5a21f4a04fa86436124d388f6ed60a9343a6f767fced1a8a71c3fbca038ff",
|
||||
"sha256:481b49095335f8eed42e39e8041327c05b0f6f4780488f61286ed3c01368d491",
|
||||
"sha256:4eeaae00d789f66c7a25ac5f34b71a7035bb474e679f410e5e1a94deb24cf2d4",
|
||||
"sha256:55a4d33fa519660d69614a9fad433be87e5252f4b03850642f88993f7b2ca566",
|
||||
"sha256:5a6429d4be8ca66d889b7cf70f536a397dc45ba6faeb5f8c5427935d9592e9cf",
|
||||
"sha256:5bd4fc3ac8926b3819797a7c0e2631eb889b4118a9898c84f585a54d475b7e40",
|
||||
"sha256:5beb72339d9d4fa36522fc63802f469b13cdbe4fdab4a288f0c441b74272ebfd",
|
||||
"sha256:6031dd6dfecc0cf9f668681a37648373bddd6421fff6c66ec1624eed0180ee06",
|
||||
"sha256:71594f7c51a18e728451bb50cc60a3ce4e6538822731b2933209a1f3614e9282",
|
||||
"sha256:74d4531beb257d2c3f4b261bfb0fc09e0f9ebb8842d82a7b4209415896adc680",
|
||||
"sha256:7befc596a7dc9da8a337f79802ee8adb30a552a94f792b9c9d18c840055907db",
|
||||
"sha256:894b3a42502226a1cac872f840030665f33326fc3dac8e57c607905773cdcde3",
|
||||
"sha256:8e41fd67c52b86603a91c1a505ebaef50b3314de0213461c7a6e99c9a3beff90",
|
||||
"sha256:8e9ace4a37db23421249ed236fdcdd457d671e25146786dfc96835cd951aa7c1",
|
||||
"sha256:8fc377d995680230e83241d8a96def29f204b5782f371c532579b4f20607a289",
|
||||
"sha256:9551a499bf125c1d4f9e250377c1ee2eddd02e01eac6644c080162c0c51778ab",
|
||||
"sha256:b0544343a702fa80c95ad5d3d608ea3599dd54d4632df855e4c8d24eb6ecfa1c",
|
||||
"sha256:b093dd74e50a8cba3e873868d9e93a85b78e0daf2e98c6797566ad8044e8363d",
|
||||
"sha256:b412caa66f72040e6d268491a59f2c43bf03eb6c96dd8f0307829feb7fa2b6fb",
|
||||
"sha256:b4f13750ce79751586ae2eb824ba7e1e8dba64784086c98cdbbcc6a42112ce0d",
|
||||
"sha256:b64d8d4d17135e00c8e346e0a738deb17e754230d7e0810ac5012750bbd85a5a",
|
||||
"sha256:ba10f8411898fc418a521833e014a77d3ca01c15b0c6cdcce6a0d2897e6dbbdf",
|
||||
"sha256:bd48227a919f1bafbdda0583705e547892342c26fb127219d60a5c36882609d1",
|
||||
"sha256:c1f9540be57940698ed329904db803cf7a402f3fc200bfe599334c9bd84a40b2",
|
||||
"sha256:c820a93b0255bc360f53eca31a0e676fd1101f673dda8da93454a12e23fc5f7a",
|
||||
"sha256:ce47521a4754c8f4593837384bd3424880629f718d87c5d44f8ed763edd63543",
|
||||
"sha256:d042d24c90c41b54fd506da306759e06e568864df8ec17ccc17e9e884634fd00",
|
||||
"sha256:de749064336d37e340f640b05f24e9e3dd678c57318c7289d222a8a2f543e90c",
|
||||
"sha256:e1dda9c7e08dc141e0247a5b8f49cf05984955246a327d4c48bda16821947b2f",
|
||||
"sha256:e29554e2bef54a90aa5cc07da6ce955accb83f21ab5de01a62c8478897b264fd",
|
||||
"sha256:e3143e4451880bed956e706a3220b4e5cf6172ef05fcc397f6f36a550b1dd868",
|
||||
"sha256:e8213002e427c69c45a52bbd94163084025f533a55a59d6f9c5b820774ef3303",
|
||||
"sha256:efd28d4e9cd7d7a8d39074a4d44c63eda73401580c5c76acda2ce969e0a38e83",
|
||||
"sha256:f0fd6321b839904e15c46e0d257fdd101dd7f530fe03fd6359c1ea63738703f3",
|
||||
"sha256:f1372f041402e37e5e633e586f62aa53de2eac8d98cbfb822806ce4bbefcb74d",
|
||||
"sha256:f2618db89be1b4e05f7a1a847a9c1c0abd63e63a1607d892dd54668dd92faf87",
|
||||
"sha256:f447e6acb680fd307f40d3da4852208af94afdfab89cf850986c3ca00562f4fa",
|
||||
"sha256:f92729c95468a2f4f15e9bb94c432a9229d0d50de67304399627a943201baa2f",
|
||||
"sha256:f9f1adb22318e121c5c69a09142811a201ef17ab257a1e66ca3025065b7f53ae",
|
||||
"sha256:fc0c5673685c508a142ca65209b4e79ed6740a4ed6b2267dbba90f34b0b3cfda",
|
||||
"sha256:fc7b73d02efb0e18c000e9ad8b83480dfcd5dfd11065997ed4c6747470ae8915",
|
||||
"sha256:fd83c01228a688733f1ded5201c678f0c53ecc1006ffbc404db9f7a899ac6249",
|
||||
"sha256:fe27749d33bb772c80dcd84ae7e8df2adc920ae8297400dabec45f0dedb3f6de",
|
||||
"sha256:fee4236c876c4e8369388054d02d0e9bb84821feb1a64dd59e137e6511a551f8"
|
||||
"sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b",
|
||||
"sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818",
|
||||
"sha256:1af303d6b2210eb850fcf03064d364652b7120803a0b872f5211f5234b399f20",
|
||||
"sha256:1dda2e7b4ec9dd512f84935c5f126c8bd8b9f2fc001e9f54af255e8c5f16b0e0",
|
||||
"sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010",
|
||||
"sha256:2e4ee3380d6de9c9ec04745830fd9e2eccb3e6cf790d39d7b98ffd19b0dd754a",
|
||||
"sha256:3373d5d70a5fe74a2c1bb6d2cfd9609ecf686d47a2d7b1d37a8f3b6bf6003aea",
|
||||
"sha256:47711010ad8555514b434df65f7d7b076bb8261df1ca9bb78f53d3b2db02e95c",
|
||||
"sha256:4c66707fabe114439db9068ee468c26bbdf909cac0fb58686a42a24de1760c71",
|
||||
"sha256:50193e430acfc1346175fcbdaa28ffec49947a06918b7b92130744e81e640110",
|
||||
"sha256:52b8b60467cd7dd1e9ed082188b4e6bb35aa5cdd01777621a1658910745b90be",
|
||||
"sha256:60dedbb91afcbfdc9bc0b1f3f402804070deed7392c23eb7a7f07fa857868e8a",
|
||||
"sha256:62b8e4b1e28009ef2846b4c7852046736bab361f7aeadeb6a5b89ebec3c7055a",
|
||||
"sha256:666dbfb6ec68962c033a450943ded891bed2d54e6755e35e5835d63f4f6931d5",
|
||||
"sha256:675d61ffbfa78604709862923189bad94014bef562cc35cf61d3a07bba02a7ed",
|
||||
"sha256:679b0076f67ecc0138fd2ede3a8fd196dddc2ad3254069bcb9faf9a79b1cebcd",
|
||||
"sha256:7349ab0fa0c429c82442a27a9673fc802ffdb7c7775fad780226cb234965e53c",
|
||||
"sha256:7ab55401287bfec946ced39700c053796e7cc0e3acbef09993a9ad2adba6ca6e",
|
||||
"sha256:7e50d0a0cc3189f9cb0aeb3a6a6af18c16f59f004b866cd2be1c14b36134a4a0",
|
||||
"sha256:95a7476c59002f2f6c590b9b7b998306fba6a5aa646b1e22ddfeaf8f78c3a29c",
|
||||
"sha256:96ff0b2ad353d8f990b63294c8986f1ec3cb19d749234014f4e7eb0112ceba5a",
|
||||
"sha256:9fad7dcb1aac3c7f0584a5a8133e3a43eeb2fe127f47e3632d43d677c66c102b",
|
||||
"sha256:9ff0f4f29c51e2803569d7a51c2304de5554655a60c5d776e35b4a41413830d0",
|
||||
"sha256:a354325ee03388678242a4d7ebcd08b5c727033fcff3b2f536aea978e15ee9e6",
|
||||
"sha256:a4abb4f9001ad2858e7ac189089c42178fcce737e4169dc61321660f1a96c7d2",
|
||||
"sha256:ab47dbe5cc8210f55aa58e4805fe224dac469cde56b9f731a4c098b91917159a",
|
||||
"sha256:afedb719a9dcfc7eaf2287b839d8198e06dcd4cb5d276a3df279231138e83d30",
|
||||
"sha256:b3ce300f3644fb06443ee2222c2201dd3a89ea6040541412b8fa189341847218",
|
||||
"sha256:b97fe8060236edf3662adfc2c633f56a08ae30560c56310562cb4f95500022d5",
|
||||
"sha256:bfe25acf8b437eb2a8b2d49d443800a5f18508cd811fea3181723922a8a82b07",
|
||||
"sha256:cd25bcecc4974d09257ffcd1f098ee778f7834c3ad767fe5db785be9a4aa9cb2",
|
||||
"sha256:d209d8969599b27ad20994c8e41936ee0964e6da07478d6c35016bc386b66ad4",
|
||||
"sha256:d5241e0a80d808d70546c697135da2c613f30e28251ff8307eb72ba696945764",
|
||||
"sha256:edd8b5fe47dab091176d21bb6de568acdd906d1887a4584a15a9a96a1dca06ef",
|
||||
"sha256:f870204a840a60da0b12273ef34f7051e98c3b5961b61b0c2c1be6dfd64fbcd3",
|
||||
"sha256:ffa75af20b44f8dba823498024771d5ac50620e6915abac414251bd971b4529f"
|
||||
],
|
||||
"index": "pypi",
|
||||
"markers": "python_version >= '3.10'",
|
||||
"version": "==2.2.6"
|
||||
"markers": "python_version >= '3.9'",
|
||||
"version": "==1.26.4"
|
||||
},
|
||||
"packaging": {
|
||||
"hashes": [
|
||||
"sha256:29572ef2b1f17581046b3a2227d5c611fb25ec70ca1ba8554b24b0e69331a484",
|
||||
"sha256:d443872c98d677bf60f6a1f2f8c1cb748e8fe762d2bf9d3148b5599295b0fc4f"
|
||||
"sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5",
|
||||
"sha256:8c491190033a9af7e1d931d0b5dacc2ef47509b34dd0de67ed209b5203fc88c7"
|
||||
],
|
||||
"markers": "python_version >= '3.8'",
|
||||
"version": "==25.0"
|
||||
"markers": "python_version >= '3.7'",
|
||||
"version": "==23.2"
|
||||
},
|
||||
"pillow": {
|
||||
"hashes": [
|
||||
|
|
@ -420,6 +480,15 @@
|
|||
"markers": "python_version >= '3.9'",
|
||||
"version": "==11.2.1"
|
||||
},
|
||||
"plotly": {
|
||||
"hashes": [
|
||||
"sha256:4fdaa228926ba3e3a213f4d1713287e69dcad1a7e66cf2025bd7d7026d5014b4",
|
||||
"sha256:f1548a8ed9158d59e03d7fed548c7db5549f3130d9ae19293c8638c202648f6d"
|
||||
],
|
||||
"index": "pypi",
|
||||
"markers": "python_version >= '3.8'",
|
||||
"version": "==6.1.2"
|
||||
},
|
||||
"pymmwave": {
|
||||
"hashes": [
|
||||
"sha256:d622466271beeb3875ed8961589ae0bcb45e00134baec87bff46d49c501222eb"
|
||||
|
|
@ -436,6 +505,39 @@
|
|||
"markers": "python_version >= '3.9'",
|
||||
"version": "==3.2.3"
|
||||
},
|
||||
"pyproj": {
|
||||
"hashes": [
|
||||
"sha256:18faa54a3ca475bfe6255156f2f2874e9a1c8917b0004eee9f664b86ccc513d3",
|
||||
"sha256:1e9fbaf920f0f9b4ee62aab832be3ae3968f33f24e2e3f7fbb8c6728ef1d9746",
|
||||
"sha256:2d6ff73cc6dbbce3766b6c0bce70ce070193105d8de17aa2470009463682a8eb",
|
||||
"sha256:36b64c2cb6ea1cc091f329c5bd34f9c01bb5da8c8e4492c709bda6a09f96808f",
|
||||
"sha256:38a3361941eb72b82bd9a18f60c78b0df8408416f9340521df442cebfc4306e2",
|
||||
"sha256:447db19c7efad70ff161e5e46a54ab9cc2399acebb656b6ccf63e4bc4a04b97a",
|
||||
"sha256:44aa7c704c2b7d8fb3d483bbf75af6cb2350d30a63b144279a09b75fead501bf",
|
||||
"sha256:4ba1f9b03d04d8cab24d6375609070580a26ce76eaed54631f03bab00a9c737b",
|
||||
"sha256:4bc0472302919e59114aa140fd7213c2370d848a7249d09704f10f5b062031fe",
|
||||
"sha256:50100b2726a3ca946906cbaa789dd0749f213abf0cbb877e6de72ca7aa50e1ae",
|
||||
"sha256:5279586013b8d6582e22b6f9e30c49796966770389a9d5b85e25a4223286cd3f",
|
||||
"sha256:6420ea8e7d2a88cb148b124429fba8cd2e0fae700a2d96eab7083c0928a85110",
|
||||
"sha256:65ad699e0c830e2b8565afe42bd58cc972b47d829b2e0e48ad9638386d994915",
|
||||
"sha256:6d227a865356f225591b6732430b1d1781e946893789a609bb34f59d09b8b0f8",
|
||||
"sha256:7a27151ddad8e1439ba70c9b4b2b617b290c39395fa9ddb7411ebb0eb86d6fb0",
|
||||
"sha256:80fafd1f3eb421694857f254a9bdbacd1eb22fc6c24ca74b136679f376f97d35",
|
||||
"sha256:83039e5ae04e5afc974f7d25ee0870a80a6bd6b7957c3aca5613ccbe0d3e72bf",
|
||||
"sha256:8b8acc31fb8702c54625f4d5a2a6543557bec3c28a0ef638778b7ab1d1772132",
|
||||
"sha256:9274880263256f6292ff644ca92c46d96aa7e57a75c6df3f11d636ce845a1877",
|
||||
"sha256:ab7aa4d9ff3c3acf60d4b285ccec134167a948df02347585fdd934ebad8811b4",
|
||||
"sha256:c41e80ddee130450dcb8829af7118f1ab69eaf8169c4bf0ee8d52b72f098dc2f",
|
||||
"sha256:db3aedd458e7f7f21d8176f0a1d924f1ae06d725228302b872885a1c34f3119e",
|
||||
"sha256:e7e13c40183884ec7f94eb8e0f622f08f1d5716150b8d7a134de48c6110fee85",
|
||||
"sha256:ebfbdbd0936e178091309f6cd4fcb4decd9eab12aa513cdd9add89efa3ec2882",
|
||||
"sha256:fd43bd9a9b9239805f406fd82ba6b106bf4838d9ef37c167d3ed70383943ade1",
|
||||
"sha256:fd93c1a0c6c4aedc77c0fe275a9f2aba4d59b8acf88cebfc19fe3c430cfabf4f",
|
||||
"sha256:fffb059ba3bced6f6725961ba758649261d85ed6ce670d3e3b0a26e81cf1aa8d"
|
||||
],
|
||||
"markers": "python_version >= '3.9'",
|
||||
"version": "==3.6.1"
|
||||
},
|
||||
"pyqt5": {
|
||||
"hashes": [
|
||||
"sha256:6cd75628f6e732b1ffcfe709ab833a0716c0445d7aec8046a48d5843352becb6",
|
||||
|
|
@ -501,6 +603,14 @@
|
|||
"index": "pypi",
|
||||
"version": "==3.5"
|
||||
},
|
||||
"pyshp": {
|
||||
"hashes": [
|
||||
"sha256:4caec82fd8dd096feba8217858068bacb2a3b5950f43c048c6dc32a3489d5af1",
|
||||
"sha256:67024c0ccdc352ba5db777c4e968483782dfa78f8e200672a90d2d30fd8b7b49"
|
||||
],
|
||||
"markers": "python_version >= '2.7'",
|
||||
"version": "==2.3.1"
|
||||
},
|
||||
"pyside6": {
|
||||
"hashes": [
|
||||
"sha256:0103e5d161696db40d75bfbf4e4b7d4f3372903c1b400c4e3379377b62c50290",
|
||||
|
|
|
|||
101
recorder.py
Normal file
101
recorder.py
Normal file
|
|
@ -0,0 +1,101 @@
|
|||
import serial
|
||||
import time
|
||||
import datetime
|
||||
import pickle
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
from mpl_toolkits.mplot3d.axes3d import Axes3D
|
||||
|
||||
from parser_mmw_demo import parser_one_mmw_demo_output_packet
|
||||
|
||||
# Turning interactive mode on for plotting
|
||||
plt.ion()
|
||||
fig = plt.figure()
|
||||
|
||||
|
||||
def configure_sensor(config_file: Path, config_device: serial.Serial):
|
||||
with config_file.open(mode="rt", encoding="utf-8") as config_fp:
|
||||
for line in config_fp:
|
||||
line = line.rstrip("\r\n")
|
||||
print(f"[CONFIG] writing: '{line}'")
|
||||
|
||||
config_device.write((line + "\n").encode())
|
||||
time.sleep(0.01)
|
||||
|
||||
|
||||
# parser_one_mmw_demo_output_packet extracts only one complete frame at a time
|
||||
# so call this in a loop till end of file
|
||||
def parse_frames(data_device: serial.Serial, record_file: Path = Path("sensor_recording.bin")):
|
||||
sensor_data = bytearray()
|
||||
bytes_parsed = 0
|
||||
|
||||
with record_file.open(mode="wb") as fp:
|
||||
while True:
|
||||
read_data = data_device.read(256)
|
||||
sensor_data += bytearray(read_data)
|
||||
|
||||
# parser_one_mmw_demo_output_packet function already prints the
|
||||
# parsed data to stdio. So showcasing only saving the data to arrays
|
||||
# here for further custom processing
|
||||
parser_result, \
|
||||
headerStartIndex, \
|
||||
totalPacketNumBytes, \
|
||||
numDetObj, \
|
||||
numTlv, \
|
||||
subFrameNumber, \
|
||||
detectedX_array, \
|
||||
detectedY_array, \
|
||||
detectedZ_array, \
|
||||
detectedV_array, \
|
||||
detectedRange_array, \
|
||||
detectedAzimuth_array, \
|
||||
detectedElevation_array, \
|
||||
detectedSNR_array, \
|
||||
detectedNoise_array = parser_one_mmw_demo_output_packet(sensor_data[bytes_parsed::1], len(sensor_data) - bytes_parsed)
|
||||
|
||||
pickle.dump({
|
||||
"timestamp": datetime.now(),
|
||||
"parser_result": parser_result,
|
||||
"header_start_index": headerStartIndex,
|
||||
"total_packet_size": totalPacketNumBytes,
|
||||
"detected_objects": numDetObj,
|
||||
"tlv_count": numTlv,
|
||||
"sub_frame_number": subFrameNumber,
|
||||
"detected_points": (detectedX_array,
|
||||
detectedY_array,
|
||||
detectedZ_array,
|
||||
detectedV_array,
|
||||
detectedRange_array,
|
||||
detectedAzimuth_array,
|
||||
detectedElevation_array,
|
||||
detectedSNR_array,
|
||||
detectedNoise_array),
|
||||
|
||||
}, fp)
|
||||
|
||||
# Check the parser result
|
||||
print ("Parser result: ", parser_result)
|
||||
if (parser_result == 0):
|
||||
bytes_parsed += (headerStartIndex+totalPacketNumBytes)
|
||||
print("totalBytesParsed: ", bytes_parsed)
|
||||
|
||||
|
||||
def main():
|
||||
config_device = serial.Serial('/dev/ttyACM0', 115200)
|
||||
data_device = serial.Serial('/dev/ttyACM1', 921600)
|
||||
|
||||
configure_sensor(Path("hedgehog.cfg"), config_device)
|
||||
|
||||
try:
|
||||
parse_frames(data_device)
|
||||
except:
|
||||
config_device.write("sensorStop\n".encode())
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
main()
|
||||
except KeyboardInterrupt:
|
||||
exit(0)
|
||||
20
test.py
20
test.py
|
|
@ -2,6 +2,7 @@ import serial
|
|||
import time
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
from mpl_toolkits.mplot3d.axes3d import Axes3D
|
||||
|
||||
from parser_mmw_demo import parser_one_mmw_demo_output_packet
|
||||
|
||||
|
|
@ -44,7 +45,13 @@ CLIport, Dataport = serialConfig(configFileName) # Enable when reading from sens
|
|||
|
||||
def parse_frames():
|
||||
|
||||
ax = fig.add_subplot(projection='3d')
|
||||
ax = fig.add_subplot(projection="3d")
|
||||
|
||||
# making the plot axis constant
|
||||
ax.set_xlim(0, 1)
|
||||
ax.set_ylim(0, 1)
|
||||
ax.set_zlim(0, 1)
|
||||
|
||||
plt.show()
|
||||
|
||||
sensor_data = bytearray()
|
||||
|
|
@ -76,8 +83,15 @@ def parse_frames():
|
|||
detectedNoise_array = parser_one_mmw_demo_output_packet(sensor_data[bytes_parsed::1], len(sensor_data) - bytes_parsed)
|
||||
|
||||
ax.clear()
|
||||
|
||||
# Setting axis labels
|
||||
ax.set_xlabel("X label")
|
||||
ax.set_ylabel("Y label")
|
||||
ax.set_zlabel("Z label")
|
||||
|
||||
ax.set_autoscale_on(False)
|
||||
ax.scatter(detectedX_array, detectedY_array, detectedZ_array)
|
||||
plt.pause(0.1)
|
||||
plt.pause(0.01)
|
||||
|
||||
# Check the parser result
|
||||
print ("Parser result: ", parser_result)
|
||||
|
|
@ -85,7 +99,7 @@ def parse_frames():
|
|||
bytes_parsed += (headerStartIndex+totalPacketNumBytes)
|
||||
print("totalBytesParsed: ", bytes_parsed)
|
||||
else:
|
||||
bytes_parsed += 1
|
||||
# bytes_parsed += 1
|
||||
continue
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue