Merge remote-tracking branch 'origin/master'

MotorControl/MotorServer.py

@@ -10,7 +10,7 @@ import grpc
 import MotorControl.motorService_pb2 as motorService_pb2
 import MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
 from MotorControl.gpiozero.motor_session import Motor
-from SlamController.slam_streamer import SlamStreamer
+from SlamController.slam_servicer import SlamServicer
 import SlamController.SlamController_pb2_grpc as SlamController_pb2_grpc
 
 
@@ -63,7 +63,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
             time.sleep(60*60)
 
     def create_slam_servicer(self):
-        return SlamStreamer()
+        return SlamServicer('/dev/ttyUSB0')
 
     def create_credentials(self):
         pvtKeyPath = '/home/pi/tls/device.key'

SlamController/slam_streamer.py

@@ -18,7 +18,7 @@ class SlamStreamer:
         self._map_meters = map_meters
         self._lidar_connection = lidar_connection
         self._port = port
-        self._socket = self._start_socket(self._create_tcp_pub_socket(), port)
+        self._zmq_context = self._create_context()
 
     def start(self):
         '''
@@ -31,6 +31,8 @@ class SlamStreamer:
         to calling this method, and changing those values after
         calling this method will have no effect.
         '''
+
+        self._socket = self._start_socket(self._create_socket(self._zmq_context), self._port)
         
         # Block until user opens zmq.
         self._socket.recv()
@@ -80,8 +82,8 @@ class SlamStreamer:
     def _create_context(self):
         return zmq.Context.instance()
 
-    def _create_tcp_pub_socket(self):
-        return self._create_context().socket(zmq.PAIR)
+    def _create_socket(self, context):
+        return context.socket(zmq.PAIR)
 
     def _start_socket(self, socket, port):
         socket.bind('tcp://*:' + str(self._port))