From 81e3fcb9dbe31cd787a7bb0d77dcce9782bd1286 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Wed, 27 May 2020 18:18:14 +0930
Subject: [PATCH] Clean up lidar device setting to only use one environment
 variable

---
 car/src/car/tracking/devices/factory.py | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/car/src/car/tracking/devices/factory.py b/car/src/car/tracking/devices/factory.py
index fd17874..527a6b5 100644
--- a/car/src/car/tracking/devices/factory.py
+++ b/car/src/car/tracking/devices/factory.py
@@ -3,10 +3,9 @@ from .. import lidar_loader as loader
 import os
 
 MOCK_DEVICE = "LIDAR_MOCK"
-RPLIDAR = "LIDAR_RPLIDAR"
 
 
-def get_lidar(device=None, connection='/dev/ttyUSB0'):
+def get_lidar(device=None):
     actual_device = None
     try:
         actual_device = device if device is not None else os.environ["CAR_LIDAR"]
@@ -15,16 +14,13 @@ def get_lidar(device=None, connection='/dev/ttyUSB0'):
             'No lidar device specified and the CAR_LIDAR environment variable is not set.')
     if actual_device == MOCK_DEVICE:
         return MockLidar(loader.load_scans_bytes_file("car/src/car/tracking/out.pickle"))
-    elif actual_device == RPLIDAR:
+    elif actual_device != '':
         try:
-            # TODO: Cleanup connection setting, probably don't need to pass it into the method.
             from rplidar import RPLidar
-            if "LIDAR_DEVICE" in os.environ:
-                return RPLidar(os.environ['LIDAR_DEVICE'])
-            return RPLidar(connection)
+            return RPLidar(device)
         except ImportError:
             print('Could not import RPLidar. Have you downloaded rplidar?')
     else:
-        print('No valid lidar device found. Please choose one of ' +
-              MOCK_DEVICE + ' or ' + RPLIDAR)
+        print('No valid lidar device found. Please choose ' +
+              MOCK_DEVICE + ' or a dn address for the lidar device.')
     return None