Move root car to pycar, put other pycar back to car.

pycar/src/car/tracking/devices/factory.py

@@ -0,0 +1,26 @@
+from .mock_lidar import MockLidar
+from .. import lidar_loader as loader
+import os
+
+MOCK_DEVICE = "LIDAR_MOCK"
+
+
+def get_lidar(device=None):
+    actual_device = None
+    try:
+        actual_device = device if device is not None else os.environ["CAR_LIDAR"]
+    except KeyError:
+        print(
+            '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 != '':
+        try:
+            from rplidar import RPLidar
+            return RPLidar(device)
+        except ImportError:
+            print('Could not import RPLidar. Have you downloaded rplidar?')
+    else:
+        print('No valid lidar device found. Please choose ' +
+              MOCK_DEVICE + ' or a dn address for the lidar device.')
+    return None

pycar/src/car/tracking/devices/mock_lidar.py

@@ -0,0 +1,43 @@
+"""
+This module contains a MockLidar class, for use in place of RPLidar.
+Importantly, it implements iter_scans, so it can be substituted for RPLidar
+in the lidar_cache for testing (or anywhere else the rplidar may be used)
+"""
+
+import car.tracking.lidar_loader as loader
+
+
+class MockLidar:
+
+    def __init__(self, scan_iter=None):
+        """
+        Create mock lidar with an iterator that can be used as fake (or reused) scan data.
+
+        Examples
+        --------
+        lidar = MockLidar(scans)
+        first_scan = next(lidar.iter_scans(measurements=100))
+
+        Parameters
+        ----------
+
+        scan_iter: Iterable
+            An iterator that will generate/provide the fake/old scan data. 
+
+        """
+        self._iter = scan_iter
+
+    def iter_scans(self, min_len=100):
+        return iter(self._iter)
+
+    def get_health(self):
+        return "Mock Lidar has scans" if self._iter is not None else "Mock lidar won't work properly!"
+
+    def get_info(self):
+        return self.get_health()
+
+    def stop(self):
+        pass
+
+    def disconnect(self):
+        pass

pycar/src/car/tracking/devices/recording_lidar.py

@@ -0,0 +1,52 @@
+import datetime
+
+
+class RecordingLidarDecorator:
+
+    def __init__(self, lidar):
+        self._lidar = lidar
+        self._scans = []
+        self._record = False
+
+    @property
+    def record(self):
+        return self._record
+
+    @record.setter
+    def record(self, value):
+        self.record = value
+
+    def save_data(self, filename):
+        with open(filename, 'w') as f:
+            for scan in self._scans:
+                f.write("%s\n" % scan)
+
+    def iter_scans(self, min_len=100):
+        # Need to customise the iterable.
+        return RecordingIterator(self._lidar.iter_scans(min_len), self._scans)
+
+    def get_health(self):
+        return self._lidar.get_health()
+
+    def get_info(self):
+        return self._lidar.get_info()
+
+    def stop(self):
+        return self._lidar.stop()
+
+    def disconnect(self):
+        return self._lidar.disconnect()
+
+
+class RecordingIterator:
+    def __init__(self, iterator, scan_list):
+        self._iterator = iterator
+        self._scans = scan_list
+
+    def __iter__(self):
+        return self
+
+    def __next__(self):
+        nextIter = next(self._iterator)
+        self._scans.append((nextIter, str(datetime.datetime.now())))
+        return nextIter