Tidy up some lidar stuff for testing and clarity.

tracking/lidar_cache.py

@@ -1,5 +1,3 @@
-import rplidar
-from rplidar import RPLidar
 from threading import Thread
 from tracking import algorithms
 import tracking.lidar_tracker_pb2 as tracker_pb
@@ -8,14 +6,14 @@ import Messaging.messages as messages
 
 
 class LidarCache():
-    '''
+    """
     A class that retrieves scans from the lidar,
     runs grouping algorithms between scans and 
     keeps a copy of the group data.
-    '''
+    """
 
-    def __init__(self, measurements=100):
-        self.lidar = RPLidar('/dev/ttyUSB0')
+    def __init__(self, lidar, measurements=100):
+        self.lidar = lidar
         self.measurements = measurements
         print('Info: ' + self.lidar.get_info())
         print('Health: ' + self.lidar.get_health())
@@ -29,14 +27,19 @@ class LidarCache():
         self.thread.start()
 
     def do_scanning(self, sender):
-        '''
-        Performs a scan for the given number of iterations.
-        '''
+        """Performs scans whilst cache is running, and will pass calculated groups data to the sender.
+
+        Parameters
+        ----------
+        sender: 
+            Any class given in messaging.message_factory. This acts as a listener.
+
+        """
         # Create the 0MQ socket first. This should not be passed between threads.
         self._mFactory = sender
 
-        for i, scan in enumerate(self.lidar.iter_scans(min_len=self.measurements)):
-            print('%d: Got %d measurments' % (i, len(scan)))
+        for scan in self.lidar.iter_scans(min_len=self.measurements):
+            print('Got %d measurments' % (len(scan)))
             if(not self.run):
                 break