Rework slam streamer for easier testing

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')
 

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)