FInal fixes to move to message factory

persontracking/lidar_cache.py

@@ -4,6 +4,8 @@ from threading import Thread
 from persontracking import algorithms
 import persontracking.lidar_tracker_pb2 as tracker_pb
 import zmq
+import Messaging.message_factory as mf
+import Messaging.messages as messages
 
 
 class LidarCache():
@@ -36,8 +38,7 @@ class LidarCache():
         Performs a scan for the given number of iterations.
         '''
         # Create the 0MQ socket first. This should not be passed between threads.
-        self._socket = self._create_socket()
-        self._socket.bind("tcp://*:" + str(self.port))
+        self._mFactory = mf.getZmqPubSubStreamer(self.port)
 
         for i, scan in enumerate(self.lidar.iter_scans(min_len=self.measurements)):
             print('%d: Got %d measurments' % (i, len(scan)))
@@ -53,7 +54,8 @@ class LidarCache():
 
     def fireGroupsChanged(self):
         # Send the updated groups to 0MQ socket.
-        self._socket.send_multipart(["lidar_map", tracker_pb.PointScan(points=[]).SerializeToString()])
+        self._mFactory.send_message_topic("lidar_map", messages.ProtoMessage(
+            message=tracker_pb.PointScan(points=[]).SerializeToString()))
 
     def stop_scanning(self):
         self.run = False