Prepare to test lidar tracker.

control/MotorServer.py

@@ -13,6 +13,8 @@ from control.gpiozero.vehicle import Vehicle
 from control.gpiozero.mockvehicle import MockVehicle
 from slam.slam_servicer import SlamServicer
 import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
+import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
+from tracking.lidar_servicer import LidarServicer
 
 
 class MotorServicer(motorService_pb2_grpc.CarControlServicer):
@@ -54,6 +56,8 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         motorService_pb2_grpc.add_CarControlServicer_to_server(self, server)
         SlamController_pb2_grpc.add_SlamControlServicer_to_server(
             self.create_slam_servicer(), server)
+        lidar_tracker_pb2_grpc.add_PersonTrackingServicer_to_server(
+            self.create_lidar_servicer(), server)
         # Disable tls for local testing.
         # server.add_secure_port('[::]:50051', self.create_credentials())
         server.add_insecure_port('[::]:50051')
@@ -64,6 +68,9 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
     def create_slam_servicer(self):
         return SlamServicer('/dev/ttyUSB0')
 
+    def create_lidar_servicer(self):
+        return LidarServicer()
+
     def create_credentials(self):
         # Relativise this stuff.
         pvtKeyPath = '/home/pi/tls/device.key'