Data Sheet

print "Discarding current buffer because of bad checksum"

return False

def send_command(self, command):

with self.serial_lock:# This avoid concurrent writes/reads of

serial

self.port.write(command)

ack = self.port.read(1)

# This loop discards buffered frames until an ACK header is

reached

while ord(ack) != 20:

self.port.readline()

ack = self.port.read(1)

else:

ack += self.port.read(3)

# Check ACK crc8

crc8 = self.crc8(ack[:3])

if crc8 == ord(ack[3]):

# Check if ACK or NACK

if ord(ack[2]) == 0:

return True

else:

print "Command not acknowledged"

return False

else:

print "Error in ACK checksum"

return False

def start_sensor(self):

if self.send_command("\x00\x52\x02\x01\xDF"):

print "Sensor started successfully"

def stop_sensor(self):

if self.send_command("\x00\x52\x02\x00\xD8"):

print "Sensor stopped successfully"

def run(self):

self.port.flushInput()

self.start_sensor()

depth_array = []

while depth_array is not None:

depth_array = self.get_depth_array()

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