import rplidar
import numpy as np
import pyqtgraph.opengl as gl
import sys
from PyQt5.QtWidgets import *

class LidarScanner(QWidget):
    def __init__(self):
        super().__init__()
        self.initUI()

    def initUI(self):
        # Lidar cihazını başlat
        self.lidar = rplidar.RPLidar('/dev/ttyUSB0')
        
        # OpenGL grafik arayüzünü oluştur
        self.view = gl.GLViewWidget()
        self.view.opts['distance'] = 40
        self.view.show()
        
        # Veri dizisi
        self.pos = np.zeros((360, 3))
        
        # 3D eksenlerini çiz
        glAxis = gl.GLAxisItem()
        self.view.addItem(glAxis)
        
        # Tarama döngüsü
        for scan in self.lidar.iter_scans():
            # Veri al
            for (_, angle, distance) in scan:
                # Veriyi dönüştür
                x = distance * np.cos(np.radians(angle))
                y = distance * np.sin(np.radians(angle))
                z = 0
                
                # Veriyi güncelle
                self.pos[angle] = [x, y, z]
                
            # Veriyi görselleştir
            self.view.addItem(gl.GLLinePlotItem(pos=self.pos, mode='line_strip'))
            QApplication.processEvents()

    def closeEvent(self, event):
        self.lidar.stop()
        self.lidar.stop_motor()
        self.lidar.disconnect()
        event.accept()

if __name__ == '__main__':
    app = QApplication(sys.argv)
    ex = LidarScanner()
    sys.exit(app.exec_())