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Add support for local RPLidar on macOS

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This commit is contained in:
Piv
2020-05-03 15:38:29 +09:30
parent 92f82c0d33
commit bad8e57b1f
2 changed files with 6 additions and 2 deletions
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5
.vscode/launch.json vendored
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@@ -10,8 +10,9 @@
"request": "launch", "request": "launch",
"module": "car", "module": "car",
"env": { "env": {
"CAR_LIDAR": "LIDAR_MOCK", "CAR_LIDAR": "LIDAR_RPLIDAR",
"CAR_VEHICLE": "CAR_MOCK" "CAR_VEHICLE": "CAR_MOCK",
"LIDAR_DEVICE": "/dev/tty.usbserial-0001"
} }
}, },
{ {

3
car/src/car/tracking/devices/factory.py
View File

@@ -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")) return MockLidar(loader.load_scans_bytes_file("car/src/car/tracking/out.pickle"))
elif actual_device == RPLIDAR: elif actual_device == RPLIDAR:
try: try:
# TODO: Cleanup connection setting, probably don't need to pass it into the method.
from rplidar import RPLidar from rplidar import RPLidar
if "LIDAR_DEVICE" in os.environ:
return RPLidar(os.environ['LIDAR_DEVICE'])
return RPLidar(connection) return RPLidar(connection)
except ImportError: except ImportError:
print('Could not import RPLidar. Have you downloaded rplidar?') print('Could not import RPLidar. Have you downloaded rplidar?')