scan_processing.py

import socket
import pickle
from TCP_Socket import get_target_angles

raspberry_pi_ip = '172.20.10.3'  # Replace with your Raspberry Pi's IP address
port = 8888

def get_latest_scans(server_ip, port, scan_limit):
    """Connects to the server and retrieves the specified number of scans."""
    client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    client_socket.connect((server_ip, port))
    try:
        # Send the scan limit as a 4-byte integer
        client_socket.sendall(scan_limit.to_bytes(4, 'big'))

        # Receive the length of the incoming data
        data_length_bytes = client_socket.recv(4)
        if not data_length_bytes:
            return None
        data_length = int.from_bytes(data_length_bytes, 'big')

        # Receive the actual data
        data = b''
        while len(data) < data_length:
            packet = client_socket.recv(data_length - len(data))
            if not packet:
                break
            data += packet

        # Deserialize the list of scans
        scans = pickle.loads(data)
        return scans
    finally:
        client_socket.close()


def scan_rplidar(scan_limit=5):
    print(f"Requesting {scan_limit} scans...")
    scans = get_latest_scans(raspberry_pi_ip, port, scan_limit)
    if scans:
        # Process the target angles from the retrieved scans
        target_scans = get_target_angles(scans)
        print("Averaged Target Scans:", target_scans)
        rpl_scans = [*target_scans.values()]
        #print(rpl_scans)
    else:
        print("Failed to get scan data.")
    return rpl_scans

rpl = scan_rplidar(5)
print(rpl)