Make the lidar streamer ready to work with main controller

slam/slam_servicer.py

@@ -7,9 +7,9 @@ from multiprocessing import Process
 class SlamServicer(grpc.SlamControlServicer):
     slam_thread = None
 
-    def __init__(self, lidar_connection):
+    def __init__(self):
         print('Servicer initialised')
-        self.slam = slam.SlamStreamer(lidar_connection=lidar_connection)
+        self.slam = slam.SlamStreamer()
 
     def start_map_streaming(self, request, context):
         print('Received Map Start Streaming Request')

slam/slam_streamer.py

@@ -15,10 +15,9 @@ import tracking.devices.factory as lidar_fact
 class SlamStreamer:
     can_scan = False
 
-    def __init__(self, map_pixels=None, map_meters=None, lidar_connection=None, port=None):
+    def __init__(self, map_pixels=None, map_meters=None, port=None):
         self._map_pixels = map_pixels
         self._map_meters = map_meters
-        self._lidar_connection = lidar_connection
         self._port = port
 
     def start(self):
@@ -40,8 +39,8 @@ class SlamStreamer:
 
         # Adapted from BreezySLAM rpslam example.
         # Connect to Lidar unit. For some reason it likes to be done twice, otherwise it errors out...
-        lidar = lidar_fact.get_lidar(self._lidar_connection)
-        lidar = lidar_fact.get_lidar(self._lidar_connection)
+        lidar = lidar_fact.get_lidar()
+        lidar = lidar_fact.get_lidar()
 
         print('Initialised lidar')