Tidy up lidar classes

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)

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()