From bad8e57b1fdc80e4a2e47889967eaa4bdd03ba7a Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Sun, 3 May 2020 15:38:29 +0930
Subject: [PATCH] Add support for local RPLidar on macOS

---
 .vscode/launch.json                     | 5 +++--
 car/src/car/tracking/devices/factory.py | 3 +++
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/.vscode/launch.json b/.vscode/launch.json
index 8973bfd..ffe4adf 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -10,8 +10,9 @@
             "request": "launch",
             "module": "car",
             "env": {
-                "CAR_LIDAR": "LIDAR_MOCK",
-                "CAR_VEHICLE": "CAR_MOCK"
+                "CAR_LIDAR": "LIDAR_RPLIDAR",
+                "CAR_VEHICLE": "CAR_MOCK",
+                "LIDAR_DEVICE": "/dev/tty.usbserial-0001"
             }
         },
         {
diff --git a/car/src/car/tracking/devices/factory.py b/car/src/car/tracking/devices/factory.py
index 2430ab3..fd17874 100644
--- a/car/src/car/tracking/devices/factory.py
+++ b/car/src/car/tracking/devices/factory.py
@@ -17,7 +17,10 @@ def get_lidar(device=None, connection='/dev/ttyUSB0'):
         return MockLidar(loader.load_scans_bytes_file("car/src/car/tracking/out.pickle"))
     elif actual_device == RPLIDAR:
         try:
+            # TODO: Cleanup connection setting, probably don't need to pass it into the method.
             from rplidar import RPLidar
+            if "LIDAR_DEVICE" in os.environ:
+                return RPLidar(os.environ['LIDAR_DEVICE'])
             return RPLidar(connection)
         except ImportError:
             print('Could not import RPLidar. Have you downloaded rplidar?')