Python示例增加GS系列

python/examples/gs_test.py

@@ -0,0 +1,39 @@
+import os
+import ydlidar
+import time
+import sys
+
+if __name__ == "__main__":
+    ydlidar.os_init();
+    ports = ydlidar.lidarPortList();
+    port = "/dev/ydlidar";
+    for key, value in ports.items():
+        port = value;
+        print(port);
+    laser = ydlidar.CYdLidar();
+    laser.setlidaropt(ydlidar.LidarPropSerialPort, port);
+    laser.setlidaropt(ydlidar.LidarPropSerialBaudrate, 921600);
+    laser.setlidaropt(ydlidar.LidarPropLidarType, ydlidar.TYPE_GS);
+    laser.setlidaropt(ydlidar.LidarPropDeviceType, ydlidar.YDLIDAR_TYPE_SERIAL);
+    laser.setlidaropt(ydlidar.LidarPropScanFrequency, 30.0);
+    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();