Clean up project directory.

persontracking/lidar_cache.py

@@ -1,7 +1,8 @@
 import rplidar
 from rplidar import RPLidar
 from threading import Thread
-import algorithms
+from persontracking import algorithms
+import zmq
 
 class LidarCache():
     '''
@@ -14,7 +15,8 @@ class LidarCache():
     currentGroups = None
     groupsChanged = []
     
-    def __init__(self, measurements=100):
+    def __init__(self, port, measurements=100):
+        self.port = port
         self.lidar = RPLidar('/dev/ttyUSB0')
         self.measurements = measurements
         print('Info: ' + self.lidar.get_info())
@@ -28,6 +30,11 @@ class LidarCache():
         '''
         Performs a scan for the given number of iterations.
         '''
+
+        # Create the 0MQ socket first. This should not be passed between threads.
+        self._socket = self._create_socket()
+        self._socket.bind("tcp://*:" + str(self.port))
+
         for i, scan in enumerate(self.lidar.iter_scans(min_len=self.measurements)):
             print('%d: Got %d measurments' % (i, len(scan)))
             if(not self.run):
@@ -40,7 +47,13 @@ class LidarCache():
                 self.currentGroups = algorithms.calc_groups(scan)
 
     def fireGroupsChanged(self):
+        # Send the updated groups to 0MQ socket.
+        # self._socket.send_multipart(["lidar_map", ...])
         pass
 
     def stop_scanning(self):
         self.run = False
+
+    def _create_socket(self):
+        return zmq.Context.instance().socket(zmq.PUB)
+        

persontracking/lidar_servicer.py

@@ -1,7 +1,10 @@
-import lidar_tracker_pb2
-import lidar_tracker_pb2_grpc
-from .lidar_cache import LidarCache
-class LidarServicer(lidar_tracker_pb2_grpc.PersonTrackingServicer):
+import persontracking.lidar_tracker_pb2 as lidar_tracker_pb2
+from persontracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
+from persontracking.lidar_cache import LidarCache\
+
+
+
+class LidarServicer(PersonTrackingServicer):
 
     def __init__(self):
         self.cache = LidarCache(measurements=100)
@@ -21,5 +24,4 @@ class LidarServicer(lidar_tracker_pb2_grpc.PersonTrackingServicer):
         Starts the lidar cache. 
         '''
         pass
-
-
+    

persontracking/protos/lidar_tracker.proto

@@ -24,6 +24,10 @@ message PointScan{
     repeated Point points = 1;
 }
 
+message TrackingInfo{
+    int32 port = 1;
+}
+
 service PersonTracking{
     rpc set_tracking_group(Int32Value) returns (Empty) {}
 
@@ -31,5 +35,5 @@ service PersonTracking{
 
     rpc get_scan_data(Empty) returns (PointScan) {}
 
-    rpc start_tracking(Empty) returns (Empty) {}
+    rpc start_tracking(TrackingInfo) returns (Empty) {}
 }