Python示例增加TEA

YDLIDAR · Jan 12, 2024 · 190d650 · 190d650
1 parent dde846c
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -85,7 +85,7 @@ add_subdirectory(src)
 ##############################
 #build examples
 if(BUILD_EXAMPLES)
-add_subdirectory(samples)
+add_subdirectory(examples)
 endif()
 
 #############################################################################

diff --git a/samples/CMakeLists.txt → examples/CMakeLists.txt b/samples/CMakeLists.txt → examples/CMakeLists.txt
diff --git a/samples/et_test.cpp → examples/et_test.cpp b/samples/et_test.cpp → examples/et_test.cpp
diff --git a/samples/gs_ota.cpp → examples/gs_ota.cpp b/samples/gs_ota.cpp → examples/gs_ota.cpp
diff --git a/samples/gs_test.cpp → examples/gs_test.cpp b/samples/gs_test.cpp → examples/gs_test.cpp
diff --git a/samples/lidar_c_api_test.c → examples/lidar_c_api_test.c b/samples/lidar_c_api_test.c → examples/lidar_c_api_test.c
diff --git a/samples/scl_test.cpp → examples/scl_test.cpp b/samples/scl_test.cpp → examples/scl_test.cpp
diff --git a/samples/sdm_test.cpp → examples/sdm_test.cpp b/samples/sdm_test.cpp → examples/sdm_test.cpp
diff --git a/samples/tea_test.cpp → examples/tea_test.cpp b/samples/tea_test.cpp → examples/tea_test.cpp
diff --git a/samples/tmini_test.cpp → examples/tmini_test.cpp b/samples/tmini_test.cpp → examples/tmini_test.cpp
diff --git a/samples/tof_test.cpp → examples/tof_test.cpp b/samples/tof_test.cpp → examples/tof_test.cpp
diff --git a/samples/tri_and_gs_test.cpp → examples/tri_and_gs_test.cpp b/samples/tri_and_gs_test.cpp → examples/tri_and_gs_test.cpp
diff --git a/samples/tri_restart.cpp → examples/tri_restart.cpp b/samples/tri_restart.cpp → examples/tri_restart.cpp
diff --git a/samples/tri_test.cpp → examples/tri_test.cpp b/samples/tri_test.cpp → examples/tri_test.cpp
diff --git a/python/examples/tea_test.py b/python/examples/tea_test.py
@@ -0,0 +1,35 @@
+import os
+import ydlidar
+import time
+import sys
+
+if __name__ == "__main__":
+    ydlidar.os_init();
+    port = "192.168.0.11";
+    laser = ydlidar.CYdLidar();
+    laser.setlidaropt(ydlidar.LidarPropSerialPort, port);
+    laser.setlidaropt(ydlidar.LidarPropSerialBaudrate, 8090);
+    laser.setlidaropt(ydlidar.LidarPropLidarType, ydlidar.TYPE_TOF);
+    laser.setlidaropt(ydlidar.LidarPropDeviceType, ydlidar.YDLIDAR_TYPE_TCP);
+    laser.setlidaropt(ydlidar.LidarPropScanFrequency, 20.0);
+    laser.setlidaropt(ydlidar.LidarPropSampleRate, 20);
+    laser.setlidaropt(ydlidar.LidarPropSingleChannel, False);
+    laser.setlidaropt(ydlidar.LidarPropIntenstiy, True);
+    laser.setlidaropt(ydlidar.LidarPropMaxAngle, 180.0);
+    laser.setlidaropt(ydlidar.LidarPropMinAngle, -180.0);
+    laser.setlidaropt(ydlidar.LidarPropMaxRange, 50.0);
+    laser.setlidaropt(ydlidar.LidarPropMinRange, 0.01);
+
+    ret = laser.initialize();
+    if ret:
+        ret = laser.turnOn();
+        scan = ydlidar.LaserScan()
+        while ret and ydlidar.os_isOk() :
+            r = laser.doProcessSimple(scan);
+            if r:
+                print("Scan received[",scan.stamp,"]:",scan.points.size(),"ranges is [",1.0/scan.config.scan_time,"]Hz");
+            else :
+                print("Failed to get Lidar Data.")
+            time.sleep(0.05);
+        laser.turnOff();
+    laser.disconnecting();
diff --git a/python/examples/ydlidar_test.py → python/examples/tri_test.py b/python/examples/ydlidar_test.py → python/examples/tri_test.py