Distance Sender Thread

The DistanceSenderThread module, contained in the DistanceSenderThread.py file, is a critical component of the Lidar Distance system. This module handles the connection back to the broker, continuously analyzes Lidar data, and provides a stream of distance data for the five directions left, front-left, front, front-right and right to the broker.

Class: DistanceSenderThread

Attributes

  • lidar_data_buffer: The Lidar data buffer shared with the Lidar Data Thread.
  • ip_address: The IP address of the broker.
  • server_port: The port number of the broker.

Methods

__init__(self, ip_address, server_port, lidar_data_buffer)

Initializes the DistanceSenderThread instance.

  • Parameters:
    • ip_address: IP address for the broker connection.
    • server_port: Port number for the broker connection.
    • lidar_data_buffer: Buffer for storing Lidar data.
  • Usage: 
    sender_thread = DistanceSenderThread(ip_address, server_port, lidar_data_buffer)

run(self)

The main execution method of the thread. Manages the continuous analysis of Lidar data and sending distance information back to the broker.

send_Distance_json(self, sock, distances)

Sends a JSON package containing distance information back to the broker.

  • Parameters:
    • sock: The socket connection to the Lidar TCP port
    • distances: Tuple containing left, front, right, front-left, and front-right distances.

check_Distance(self, lidar_data)

Analyzes Lidar data and checks distances in various directions.

  • Parameters:
    • lidar_data: List of Lidar data containing angle-distance pairs.
  • Returns:
    • Tuple containing left, front, right, front-left, and front-right distances.

Script Execution

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

Part in the Code 

sender_thread = DistanceSenderThread(distanceSenderIP, distanceSenderPort, lidar_data_buffer)
sender_thread.start()