Provision lidar servicer to support recording data without streaming.

car/src/car/tracking/lidar_servicer.py

@@ -14,38 +14,38 @@ import os
 class LidarServicer(PersonTrackingServicer):
 
     def __init__(self, vehicle=None):
-        # TODO: Put the rplidar creation in a factory or something, to make it possible to test this servicer.
-        # Also, it would allow creating the service without the lidar being connected.
-        self.cache = LidarCache(RecordingLidarDecorator(
-            lidar_factory.get_lidar()), measurements=100)
+        self._lidar = RecordingLidarDecorator(
+            lidar_factory.get_lidar())
+        self.cache = LidarCache(self._lidar, measurements=100)
         self.cache.add_groups_changed_listener(self)
         self._mFactory = None
         self._port = 50052 if 'CAR_ZMQ_PORT' not in os.environ else os.environ[
             'CAR_ZMQ_PORT']
         self._vehicle = vehicle
         self._tracked_group = None
+        self._should_stream = False
 
     def set_tracking_group(self, request, context):
         # Invalid groups should stop tracking
         self._tracked_group = None if request.value < 0 else request.value
 
     def stop_tracking(self, request, context):
+        self._should_stream = False
         self.cache.stop_scanning()
 
     def start_tracking(self, request, context):
         """Starts the lidar cache, streaming on the provided port."""
+        self._should_stream = True
         self.cache.start_cache()
 
-    def setRecordData(self, request, context):
-        # Set the vehicles to record their changes.
-        pass
-
     def onGroupsChanged(self, message):
         if self._mFactory is None:
             # Create the zmq socket in the thread that it will be used, just to be safe.
             self._mFactory = mf.getZmqPubSubStreamer(self._port)
-        self._mFactory.send_message_topic(
-            "lidar_map", messages.ProtoMessage(message=message.SerializeToString()))
+
+        if self._should_stream:
+            self._mFactory.send_message_topic(
+                "lidar_map", messages.ProtoMessage(message=message.SerializeToString()))
 
         if self._tracked_group is not None and self._vehicle is not None:
             # Update vehicle to correctly follow the tracked group.