Add lidar loading utility, fixup main in motorserver.

control/MotorServer.py

@@ -74,8 +74,11 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
 
         return grpc.ssl_server_credentials([[pvtKeyBytes, pvtCertBytes]])
 
-vehicle = Vehicle() if __name__ == '__main__' else MockVehicle()
+
+if __name__ == '__main__':
+    vehicle = Vehicle()
     servicer = MotorServicer(vehicle)
 
+    # Can't remember why I do this, is it even needed?
     service_thread = Thread(target=servicer.start_server)
     service_thread.start()

tracking/lidar_loader.py

@@ -0,0 +1,18 @@
+from rplidar import RPLidar
+import pickle
+
+
+def get_scans(num_scans, device='/dev/ttyUSB0', measurements_per_scan=100):
+    lidar = RPLidar(device)
+    scans = lidar.iter_scans(measurements_per_scan)
+    return [next(scans) for i in range(0, num_scans)]
+
+
+def save_scans_bytes(scans, filename='out.pickle'):
+    with open(filename, 'wb') as f:
+        pickle.dump(scans, f)
+
+
+def load_scans_bytes_file(filename):
+    with open(filename, 'rb') as f:
+        return pickle.load(f)