From e3f2cbd307af9949e9cedb131d54d7a4a5a8caa3 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Thu, 5 Mar 2020 20:18:41 +1030
Subject: [PATCH] Tidy up lidar classes

---
 persontracking/lidar_cache.py    | 3 ---
 persontracking/lidar_servicer.py | 6 +-----
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/persontracking/lidar_cache.py b/persontracking/lidar_cache.py
index 3f105ca..ce5c294 100644
--- a/persontracking/lidar_cache.py
+++ b/persontracking/lidar_cache.py
@@ -59,6 +59,3 @@ class LidarCache():
 
     def stop_scanning(self):
         self.run = False
-
-    def _create_socket(self):
-        return zmq.Context.instance().socket(zmq.PUB)
diff --git a/persontracking/lidar_servicer.py b/persontracking/lidar_servicer.py
index e742670..e4a5315 100644
--- a/persontracking/lidar_servicer.py
+++ b/persontracking/lidar_servicer.py
@@ -5,7 +5,6 @@ from multiprocessing import Process
 
 
 class LidarServicer(PersonTrackingServicer):
-    lidar_thread = None
 
     def __init__(self):
         self.cache = LidarCache(measurements=100)
@@ -15,12 +14,9 @@ class LidarServicer(PersonTrackingServicer):
 
     def stop_tracking(self, request, context):
         self.cache.stop_scanning()
-        self.lidar_thread.join()
-        self.lidar_thread = None
 
     def start_tracking(self, request, context):
         '''
         Starts the lidar cache. 
         '''
-        if self.lidar_thread is None:
-            self.lidar_thread = Process(target=self.cache.do_scanning)
+        self.cache.start_cache()