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Fix concurrent access of current groups

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Piv
2020-06-01 18:16:59 +09:30
parent 0f1110aeb0
commit 14d3a64c7f
1 changed files with 3 additions and 2 deletions
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5
pycar/src/car/tracking/lidar_cache.py
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@@ -42,7 +42,7 @@ class LidarCache():
# Batch over scans, so we don't need to do our own batching to determine groups # Batch over scans, so we don't need to do our own batching to determine groups
# TODO: Implement custom batching, as iter_scans can be unreliable # TODO: Implement custom batching, as iter_scans can be unreliable
for scan in self.lidar.iter_scans(min_len=self.measurements): for scan in self.lidar.iter_scans(min_len=self.measurements):
print('Got %d measurments' % (len(scan))) print('Got %d measurements' % (len(scan)))
if len(scan) < self.measurements: if len(scan) < self.measurements:
# Poor scan, likely since it was the first scan. # Poor scan, likely since it was the first scan.
continue continue
@@ -90,7 +90,8 @@ class LidarCache():
@property @property
def current_scan(self): def current_scan(self):
pointScan = tracker_pb.PointScan() pointScan = tracker_pb.PointScan()
for group in self.currentGroups: tempGroups = self.currentGroups
for group in tempGroups:
for point in group.get_points(): for point in group.get_points():
pointScan.points.append(tracker_pb.Point( pointScan.points.append(tracker_pb.Point(
angle=point[1], distance=point[2], group_number=group.number)) angle=point[1], distance=point[2], group_number=group.number))