.gitignore

@@ -4,3 +4,7 @@ dist
 bluerobotics_ping.egg-info
 build
 brping/definitions.py
+brping/device.py
+brping/ping1d.py
+brping/ping360.py
+

brping/pingmessage.py

@@ -11,7 +11,12 @@
 from brping import definitions
 payload_dict = definitions.payload_dict_all
 asciiMsgs = [definitions.COMMON_NACK, definitions.COMMON_ASCII_TEXT]
-variable_msgs = [definitions.PING1D_PROFILE, definitions.PING360_DEVICE_DATA]
+
+variable_msgs = [
+    definitions.PING1D_PROFILE,
+    definitions.PING360_DEVICE_DATA,
+    definitions.PING360_AUTO_DEVICE_DATA,
+]
 
 class PingMessage(object):
     """

examples/ping360AutoScan.py

@@ -0,0 +1,65 @@
+from brping import definitions
+from brping import Ping360
+import time
+import argparse
+
+from builtins import input
+
+## Parse Command line options
+############################
+
+parser = argparse.ArgumentParser(description="Ping360 auto scan example")
+parser.add_argument('--device', action="store", required=False, type=str, help="Ping device port. E.g: /dev/ttyUSB0")
+parser.add_argument('--baudrate', action="store", type=int, default=2000000, help="Ping device baudrate. E.g: 115200")
+parser.add_argument('--udp', action="store", required=False, type=str, help="Ping UDP server. E.g: 192.168.2.2:9090")
+args = parser.parse_args()
+if args.device is None and args.udp is None:
+    parser.print_help()
+    exit(1)
+
+# Make a new Ping360
+myPing360 = Ping360()
+if args.device is not None:
+    myPing360.connect_serial(args.device, args.baudrate)
+elif args.udp is not None:
+    (host, port) = args.udp.split(':')
+    myPing360.connect_udp(host, int(port))
+
+if myPing360.initialize() is False:
+    print("Failed to initialize Ping!")
+    exit(1)
+
+print("------------------------------------")
+print("Ping360 auto scan..")
+print("Press CTRL+C to exit")
+print("------------------------------------")
+
+input("Press Enter to continue...")
+
+myPing360.control_auto_transmit(
+    mode = 1,
+    gain_setting = 0,
+    transmit_duration = 80,
+    sample_period = 80,
+    transmit_frequency = 750,
+    number_of_samples = 1024,
+    start_angle = 0,
+    stop_angle = 399,
+    num_steps = 1,
+    delay = 0
+)
+
+# Print the scanning head angle
+for n in range(400):
+    m = myPing360.wait_message([definitions.PING360_AUTO_DEVICE_DATA])
+    if m:
+        print(m.angle)
+    time.sleep(0.001)
+
+# if it is a serial device, reconnect to send a line break
+# and stop auto-transmitting
+if args.device is not None:
+    myPing360.connect_serial(args.device, args.baudrate)
+
+# turn the motor off
+myPing360.control_motor_off()