From 2dcc0d8bca3f629bdd502dcd14f04e75d4a9169f Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Sun, 23 Aug 2020 21:06:13 +0930
Subject: [PATCH] Fixup dockerfile, requirements, upgrade android gradle.

I'll merge this stuff in tracking for now, as there's some other stuff I'm working on and want these latest changes in.
---
 SwiftyCar/Sources/SwiftyCar/main.swift |  8 ++++++--
 build.gradle                           |  2 +-
 pycar/Dockerfile                       | 11 +++++++----
 pycar/requirements.txt                 |  3 ++-
 pycar/src/car/tracking/algorithms.py   |  2 ++
 5 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/SwiftyCar/Sources/SwiftyCar/main.swift b/SwiftyCar/Sources/SwiftyCar/main.swift
index 5dc69d6..cec54d4 100644
--- a/SwiftyCar/Sources/SwiftyCar/main.swift
+++ b/SwiftyCar/Sources/SwiftyCar/main.swift
@@ -18,10 +18,14 @@ func doServer() throws {
       try! group.syncShutdownGracefully()
     }
     
-    
+    let lidar = createLidar()
+    lidar.iterMeasurements{measruement in
+        print(measruement.quality)
+        return false
+    }
     // Create a provider using the features we read.
     let provider = try MotorProvider(vehicle: getVehicle2D())
-    let trackingProvider = LidarProvider(lidar: createLidar())
+    let trackingProvider = LidarProvider(lidar: lidar)
 
     // Start the server and print its address once it has started.
     let server = Server.insecure(group: group)
diff --git a/build.gradle b/build.gradle
index 60d7f78..975620b 100644
--- a/build.gradle
+++ b/build.gradle
@@ -6,7 +6,7 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:4.0.0'
+        classpath 'com.android.tools.build:gradle:4.0.1'
         classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.10'
 
         // NOTE: Do not place your application dependencies here; they belong
diff --git a/pycar/Dockerfile b/pycar/Dockerfile
index 3de27be..90e11c9 100644
--- a/pycar/Dockerfile
+++ b/pycar/Dockerfile
@@ -1,4 +1,7 @@
-FROM python:3.6-slim
+FROM vato.ddns.net:8083/python:3
+
+ARG PYPI_USERNAME
+ARG PYPI_PASSWORD
 
 RUN apt-get update
 # OpenCV has a LOT of dependencies.
@@ -17,14 +20,14 @@ RUN apt-get install -y \
     && rm -rf /var/lib/apt/lists/*
 
 COPY requirements.txt /
-RUN pip install --trusted-host pypi.python.org -r requirements.txt
+RUN pip install --index-url https://${PYPI_USERNAME}:${PYPI_PASSWORD}@vato.ddns.net/nexus/repository/pypi-grouped/simple -r requirements.txt
 
 WORKDIR /app
 
-COPY . /app
+COPY ./src /app
 
 # We aren't listening, just connecting, so probs won't need this.
 # EXPOSE 1883
 ENV PYTHONPATH=/app
 
-CMD ["python", "DecisionSystem/CentralisedDecision/cameraserver.py", "-V", "/app/HandRecognitionMacbookFixed.mp4"]
\ No newline at end of file
+CMD ["python", "-m", "car"]
\ No newline at end of file
diff --git a/pycar/requirements.txt b/pycar/requirements.txt
index f27a941..4938578 100644
--- a/pycar/requirements.txt
+++ b/pycar/requirements.txt
@@ -1,9 +1,10 @@
 numpy
 opencv-python
 six
+wheel
 paho-mqtt
 u-msgpack-python
 grpcio-tools
 rplidar
+breezyslam
 pyzmq
-wheel
\ No newline at end of file
diff --git a/pycar/src/car/tracking/algorithms.py b/pycar/src/car/tracking/algorithms.py
index db8f35b..5120bc7 100644
--- a/pycar/src/car/tracking/algorithms.py
+++ b/pycar/src/car/tracking/algorithms.py
@@ -221,6 +221,8 @@ def assign_groups_II(prev_groups, new_groups):
         # TODO: Check the centres are within a certain threshold.
         new_groups[i].number = prev_groups[0].number
 
+    # TODO: Go through to put all groups into one (if multiple groups get same number) to avoid splits.
+
     return new_groups