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device_measurement.py
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device_measurement.py
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#!/usr/bin/env python3
import argparse
from datetime import datetime
from os import path
from rplidar import RPLidar
BAUDRATE: int = 115200
TIMEOUT: int = 1
def run():
description = 'rplidar measurement'
epilog = 'The author assumes no liability for any damage caused by use.'
parser = argparse.ArgumentParser(prog='./device_measurement.py', description=description, epilog=epilog)
parser.add_argument('device', help="device path", type=str)
parser.add_argument("--raw", help="Show only measurement data", action="store_true")
args = parser.parse_args()
dev_path = args.device
if args.raw:
raw = True
else:
raw = False
if path.exists(dev_path):
lidar = RPLidar(port=dev_path, baudrate=BAUDRATE, timeout=TIMEOUT)
try:
if not raw:
print('Print measurements - Press Crl+C to stop.')
now = datetime.now()
date_time = now.strftime("%d/%m/%Y %H:%M:%S")
print('Date & Time : {0}'.format(date_time))
for val in lidar.iter_scans():
print(val)
except KeyboardInterrupt:
lidar.stop()
lidar.stop_motor()
lidar.disconnect()
else:
print('[Error] Could not found device: {0}'.format(dev_path))
if __name__ == '__main__':
run()