111 lines
3.3 KiB
Python
111 lines
3.3 KiB
Python
import serial
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import time
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import sqlite3
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import struct
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import signal
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import os
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# Константы
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SERIAL_PORT = '/dev/ttyUSB0'
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BAUD_RATE = 115200
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DB_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..', 'inertial_data.db')
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# Заголовок пакета LDS02RR
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HEADER = 0xFA
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PACKET_SIZE = 22
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# Глобальные переменные для завершения
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running = True
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conn = None
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ser = None
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def shutdown(signum, frame):
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"""Обработчик сигнала завершения"""
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global running
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print("Завершение лидар модуля...")
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running = False
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# Перехватываем сигналы завершения
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signal.signal(signal.SIGTERM, shutdown)
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signal.signal(signal.SIGINT, shutdown)
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def init_db():
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"""Создать таблицу если не существует и очистить"""
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conn = sqlite3.connect(DB_PATH)
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conn.execute('''CREATE TABLE IF NOT EXISTS lidar_data (
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timestamp REAL,
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angle REAL,
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distance_mm REAL,
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quality INTEGER
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)''')
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conn.execute('DELETE FROM lidar_data')
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conn.commit()
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return conn
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def parse_packet(data):
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"""Парсить один пакет данных лидара"""
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if len(data) < PACKET_SIZE or data[0] != HEADER:
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return None
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index = data[1] - 0xA0
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if index < 0 or index > 89:
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return None
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points = []
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for i in range(4):
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offset = 4 + i * 4
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b0 = data[offset]
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b1 = data[offset + 1]
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b2 = data[offset + 2]
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b3 = data[offset + 3]
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invalid = (b1 >> 7) & 1
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distance = b0 | ((b1 & 0x3F) << 8)
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quality = b2 | (b3 << 8)
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angle = index * 4 + i
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if not invalid and distance > 0:
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points.append((angle, distance, quality))
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return points
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def save_to_db():
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"""Основной цикл записи данных в БД"""
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global conn, ser, running
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conn = init_db()
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try:
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ser = serial.Serial(SERIAL_PORT, BAUD_RATE, timeout=1)
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print("Подключено к лидару")
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except Exception as e:
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print(f"Ошибка подключения: {e}")
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conn.close()
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return
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print("Запись данных лидара...")
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buffer = bytearray()
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start_time = time.time()
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try:
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while running:
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data = ser.read(PACKET_SIZE)
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if not data:
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continue
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buffer.extend(data)
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while len(buffer) >= PACKET_SIZE:
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if buffer[0] == HEADER:
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packet = bytes(buffer[:PACKET_SIZE])
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points = parse_packet(packet)
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if points:
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t = round(time.time() - start_time, 3)
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for angle, distance, quality in points:
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conn.execute(
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'INSERT INTO lidar_data VALUES (?, ?, ?, ?)',
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(t, angle, round(distance, 1), quality)
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)
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conn.commit()
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buffer = buffer[PACKET_SIZE:]
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else:
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buffer.pop(0)
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finally:
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ser.close()
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conn.close()
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print("Лидар модуль остановлен")
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save_to_db()
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