Adding lidar sensor handling

views/2d/View2D.tscn

@@ -1,6 +1,5 @@
 [gd_scene format=3 uid="uid://c2yga5koqwo72"]
 
-[ext_resource type="PackedScene" uid="uid://bbdbyjievjpsq" path="res://widgets/compass/compass_widget_scene.tscn" id="1_fyqef"]
 [ext_resource type="Script" uid="uid://ba7ta7jjrjuhg" path="res://views/2d/view_2d.gd" id="1_n6fjn"]
 [ext_resource type="PackedScene" uid="uid://b71kuj4yole3j" path="res://widgets/satellites/satellite_widget.tscn" id="2_3b2b5"]
 [ext_resource type="PackedScene" uid="uid://m14p8xxs14rf" path="res://widgets/altitude/altitude_widget.tscn" id="3_g6l6n"]
@@ -14,9 +13,6 @@ script = ExtResource("1_n6fjn")
 
 [node name="HUD" type="CanvasLayer" parent="." unique_id=1826106128]
 
-[node name="Compass" parent="HUD" unique_id=2062816665 instance=ExtResource("1_fyqef")]
-position = Vector2(104, 486)
-
 [node name="TotalSatCount" parent="HUD" unique_id=931018379 instance=ExtResource("2_3b2b5")]
 visible = false
 scale = Vector2(0.05, 0.05)
@@ -64,10 +60,10 @@ scale = Vector2(0.05, 0.05)
 sat_category = "QZSS"
 
 [node name="AltitudeWidget" parent="HUD" unique_id=1004159593 instance=ExtResource("3_g6l6n")]
-position = Vector2(170, 481)
+position = Vector2(233, 479)
 
 [node name="AccelerometerWidget" parent="HUD" unique_id=1057256615 instance=ExtResource("4_qui0h")]
-position = Vector2(675, 400)
+position = Vector2(673, 302)
 
 [node name="RollWidget" parent="HUD" unique_id=1446458625 instance=ExtResource("6_s8d37")]
 position = Vector2(407, 267)

views/2d/test_lidar.gd

@@ -0,0 +1,39 @@
+extends Node2D
+
+var line: Line2D
+
+var points_angle = []
+var points_distance = []
+var timer_static = 60
+var timer = 0.
+
+# Called when the node enters the scene tree for the first time.
+func _ready() -> void:
+	line = get_node('Line2D')
+	DataSignals.lidar_2d_data_received.connect(_on_lidar_data_received)
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _process(delta: float) -> void:
+	timer += delta
+	if timer > timer_static:
+		timer = 0
+		points_angle.clear()
+		points_distance.clear()
+		for i in line.points:
+			print(i - Vector2(400, 400))
+		print()
+	_update_line()
+
+func _on_lidar_data_received(sensor_ip: String, timestamp_list: Array, lidar_point_count: int, lidar_data: Array):
+	for point in lidar_data:
+		var insert_idx = Bisect.bisect(points_angle, point[0])
+		points_angle.insert(insert_idx, point[0])
+		points_distance.insert(insert_idx, point[1])
+
+func _update_line():
+	line.clear_points()
+	for idx in range(points_angle.size()):
+		var x = 4*points_distance[idx] * cos(deg_to_rad(points_angle[idx])) + 400
+		var y = 4*points_distance[idx] * sin(deg_to_rad(points_angle[idx])) + 400
+		line.add_point(Vector2(x, y))

views/2d/test_lidar.gd.uid

@@ -0,0 +1 @@
+uid://cei6fgt3rsc2c

views/2d/test_lidar.tscn

@@ -0,0 +1,13 @@
+[gd_scene format=3 uid="uid://ch0lyqkkxaem"]
+
+[ext_resource type="Script" uid="uid://cei6fgt3rsc2c" path="res://views/2d/test_lidar.gd" id="1_8h8gx"]
+
+[node name="TestLidar" type="Node2D" unique_id=948964638]
+script = ExtResource("1_8h8gx")
+
+[node name="Camera2D" type="Camera2D" parent="." unique_id=60160156]
+position = Vector2(400, 400)
+
+[node name="Line2D" type="Line2D" parent="." unique_id=1424623383]
+closed = true
+width = 1.0