From 872073352bc6699b659610d10d4c938f6cccaf9f Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Thu, 19 Mar 2020 23:35:23 +1030
Subject: [PATCH] Rework slam streamer for easier testing

---
 slam/slam_streamer.py                |  6 +++---
 tracking/devices/factory.py          | 10 ++++++++++
 tracking/{ => devices}/mock_lidar.py |  0
 3 files changed, 13 insertions(+), 3 deletions(-)
 create mode 100644 tracking/devices/factory.py
 rename tracking/{ => devices}/mock_lidar.py (100%)

diff --git a/slam/slam_streamer.py b/slam/slam_streamer.py
index b4ef3f4..3e598a0 100644
--- a/slam/slam_streamer.py
+++ b/slam/slam_streamer.py
@@ -1,10 +1,10 @@
 import zmq
 from breezyslam.algorithms import RMHC_SLAM
 from breezyslam.sensors import RPLidarA1 as LaserModel
-from rplidar import RPLidar as Lidar
 from slam.SlamController_pb2 import SlamScan, SlamLocation
 import messaging.message_factory as mf
 import messaging.messages as messages
+import tracking.devices.factory as lidar_fact
 
 
 # Left here as was used in the example, configure as necessary.
@@ -40,8 +40,8 @@ class SlamStreamer:
 
         # Adapted from BreezySLAM rpslam example.
         # Connect to Lidar unit. For some reason it likes to be done twice, otherwise it errors out...
-        lidar = Lidar(self._lidar_connection)
-        lidar = Lidar(self._lidar_connection)
+        lidar = lidar_fact.get_lidar(self._lidar_connection)
+        lidar = lidar_fact.get_lidar(self._lidar_connection)
 
         print('Initialised lidar')
 
diff --git a/tracking/devices/factory.py b/tracking/devices/factory.py
new file mode 100644
index 0000000..af80f17
--- /dev/null
+++ b/tracking/devices/factory.py
@@ -0,0 +1,10 @@
+from tracking.devices.mock_lidar import MockLidar
+from rplidar import RPLidar
+import tracking.lidar_loader as loader
+
+
+def get_lidar(connection: str):
+    if connection == 'TEST':
+        return MockLidar(loader.load_scans_bytes_file("tracking/out.pickle"))
+    else:
+        return RPLidar(connection)
diff --git a/tracking/mock_lidar.py b/tracking/devices/mock_lidar.py
similarity index 100%
rename from tracking/mock_lidar.py
rename to tracking/devices/mock_lidar.py