Lidar Data Thread

The LidarDataThread module, contained in the LidarDataThread.py file, is a crucial component of the Lidar Distance system. This module is responsible for managing the connection to the Lidar TCP port, continuously receiving Lidar data, and updating the Lidar data buffer.

Class: LidarDataThread

Attributes

  • ip_address: The IP address of the Lidar TCP port.
  • server_port: The port number of the Lidar TCP port.
  • lidar_data: The Lidar data buffer shared with other threads.

Methods

__init__(self, ip_address, server_port, lidar_data_buffer

Initializes the LidarDataThread instance.

  • Parameters:
    • ip_address: IP address for the Lidar TCP connection.
    • server_port: Port number for the Lidar TCP connection.
    • lidar_data_buffer: Buffer for storing Lidar data.
  • Usage: ```python lidar_data_thread = LidarDataThread(ip_address, server_port, lidar_data_buffer)

run(self)

The main execution method of the thread. Manages the continuous reception of Lidar data from the specified TCP port through calling the receive_lidar_data function and checking and connecting to the Lidar TCP port if connection is lost.

receive_lidar_data(self, sock, lidar_data_buffer)

Receives Lidar data from the Lidar TCP port and updates the Lidar data buffer.

  • Parameters:
    • sock: The socket connection to the Lidar TCP port
    • lidar_data_buffer: Buffer for storing Lidar data.
  • Usage: This method is called internally during the thread execution

Script Execution

The Lidar Data Thread can be executed as part of the Lidar-Distance system. Ensure that the necessary dependencies are installed and run the main Lidar-Distance script.

Part in the Code 

lidar_data_buffer = pregenerate_lidar_data(maxLenBuffer)
lidar_data_thread = LidarDataThread(lidarstreamIP, lidarstreamPort, lidar_data_buffer)
lidar_data_thread.start()