Tidy up lidar tracker and its protos

persontracking/lidar_cache.py

@@ -4,6 +4,7 @@ from threading import Thread
 from persontracking import algorithms
 import zmq
 
+
 class LidarCache():
     '''
     A class that retrieves scans from the lidar,
@@ -14,15 +15,18 @@ class LidarCache():
     tracking_group_number = -1
     currentGroups = None
     groupsChanged = []
+    port = None
 
-    def __init__(self, port, measurements=100):
+    def __init__(self, measurements=100):
-        self.port = port
         self.lidar = RPLidar('/dev/ttyUSB0')
         self.measurements = measurements
         print('Info: ' + self.lidar.get_info())
         print('Health: ' + self.lidar.get_health())
 
     def start_cache(self):
+        if self.port is None:
+            print('ERROR: Port has not been set!')
+            return
         self.thread = Thread(target=self.do_scanning)
         self.thread.start()
 
@@ -30,7 +34,6 @@ 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))
@@ -42,7 +45,8 @@ class LidarCache():
 
             # Now process the groups.
             if self.currentGroups is not None:
-                self.currentGroups = algorithms.assign_groups(self.currentGroups, algorithms.calc_groups(scan))
+                self.currentGroups = algorithms.assign_groups(
+                    self.currentGroups, algorithms.calc_groups(scan))
             else:
                 self.currentGroups = algorithms.calc_groups(scan)
 
@@ -56,4 +60,3 @@ class LidarCache():
 
     def _create_socket(self):
         return zmq.Context.instance().socket(zmq.PUB)
-        

persontracking/lidar_servicer.py

@@ -1,27 +1,26 @@
 import persontracking.lidar_tracker_pb2 as lidar_tracker_pb2
 from persontracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
-from persontracking.lidar_cache import LidarCache\
+from persontracking.lidar_cache import LidarCache
-
+from multiprocessing import Process
 
 
 class LidarServicer(PersonTrackingServicer):
+    lidar_thread = None
 
     def __init__(self):
         self.cache = LidarCache(measurements=100)
-        self.cache.do_scanning()
 
     def set_tracking_group(self, request, context):
         pass
 
     def stop_tracking(self, request, context):
         self.cache.stop_scanning()
-
+        self.lidar_thread.join()
-    def get_scan_data(self, request, context):
+        self.lidar_thread = None
-        pass
 
     def start_tracking(self, request, context):
         '''
         Starts the lidar cache. 
         '''
-        pass
+        if self.lidar_thread is None:
-    
+            self.lidar_thread = Process(target=self.cache.do_scanning)

persontracking/lidar_tracker_pb2.py

@@ -1,6 +1,5 @@
-# -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: lidar_tracker.proto
+# source: persontracking/lidar_tracker.proto
 
 import sys
 _b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
@@ -16,11 +15,11 @@ _sym_db = _symbol_database.Default()
 
 
 DESCRIPTOR = _descriptor.FileDescriptor(
-  name='lidar_tracker.proto',
+  name='persontracking/lidar_tracker.proto',
   package='persontracking',
   syntax='proto3',
   serialized_options=_b('\n\031com.example.carcontrollerB\021MotorServiceProtoP\001'),
-  serialized_pb=_b('\n\x13lidar_tracker.proto\x12\x0epersontracking\"\x1b\n\nInt32Value\x12\r\n\x05value\x18\x01 \x01(\x05\"\x07\n\x05\x45mpty\">\n\x05Point\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\x12\x14\n\x0cgroup_number\x18\x03 \x01(\x05\"2\n\tPointScan\x12%\n\x06points\x18\x01 \x03(\x0b\x32\x15.persontracking.Point2\xe1\x01\n\x0ePersonTracking\x12I\n\x12set_tracking_group\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x12?\n\rstop_tracking\x12\x15.persontracking.Empty\x1a\x15.persontracking.Empty\"\x00\x12\x43\n\rget_scan_data\x12\x15.persontracking.Empty\x1a\x19.persontracking.PointScan\"\x00\x42\x30\n\x19\x63om.example.carcontrollerB\x11MotorServiceProtoP\x01\x62\x06proto3')
+  serialized_pb=_b('\n\"persontracking/lidar_tracker.proto\x12\x0epersontracking\"\x1b\n\nInt32Value\x12\r\n\x05value\x18\x01 \x01(\x05\"\x07\n\x05\x45mpty\">\n\x05Point\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\x12\x14\n\x0cgroup_number\x18\x03 \x01(\x05\"2\n\tPointScan\x12%\n\x06points\x18\x01 \x03(\x0b\x32\x15.persontracking.Point2\xe3\x01\n\x0ePersonTracking\x12I\n\x12set_tracking_group\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x12?\n\rstop_tracking\x12\x15.persontracking.Empty\x1a\x15.persontracking.Empty\"\x00\x12\x45\n\x0estart_tracking\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x42\x30\n\x19\x63om.example.carcontrollerB\x11MotorServiceProtoP\x01\x62\x06proto3')
 )
 
 
@@ -52,8 +51,8 @@ _INT32VALUE = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=39,
+  serialized_start=54,
-  serialized_end=66,
+  serialized_end=81,
 )
 
 
@@ -76,8 +75,8 @@ _EMPTY = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=68,
+  serialized_start=83,
-  serialized_end=75,
+  serialized_end=90,
 )
 
 
@@ -121,8 +120,8 @@ _POINT = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=77,
+  serialized_start=92,
-  serialized_end=139,
+  serialized_end=154,
 )
 
 
@@ -152,8 +151,8 @@ _POINTSCAN = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=141,
+  serialized_start=156,
-  serialized_end=191,
+  serialized_end=206,
 )
 
 _POINTSCAN.fields_by_name['points'].message_type = _POINT
@@ -163,32 +162,32 @@ DESCRIPTOR.message_types_by_name['Point'] = _POINT
 DESCRIPTOR.message_types_by_name['PointScan'] = _POINTSCAN
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
-Int32Value = _reflection.GeneratedProtocolMessageType('Int32Value', (_message.Message,), {
+Int32Value = _reflection.GeneratedProtocolMessageType('Int32Value', (_message.Message,), dict(
-  'DESCRIPTOR' : _INT32VALUE,
+  DESCRIPTOR = _INT32VALUE,
-  '__module__' : 'lidar_tracker_pb2'
+  __module__ = 'persontracking.lidar_tracker_pb2'
   # @@protoc_insertion_point(class_scope:persontracking.Int32Value)
-  })
+  ))
 _sym_db.RegisterMessage(Int32Value)
 
-Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), {
+Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), dict(
-  'DESCRIPTOR' : _EMPTY,
+  DESCRIPTOR = _EMPTY,
-  '__module__' : 'lidar_tracker_pb2'
+  __module__ = 'persontracking.lidar_tracker_pb2'
   # @@protoc_insertion_point(class_scope:persontracking.Empty)
-  })
+  ))
 _sym_db.RegisterMessage(Empty)
 
-Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), {
+Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), dict(
-  'DESCRIPTOR' : _POINT,
+  DESCRIPTOR = _POINT,
-  '__module__' : 'lidar_tracker_pb2'
+  __module__ = 'persontracking.lidar_tracker_pb2'
   # @@protoc_insertion_point(class_scope:persontracking.Point)
-  })
+  ))
 _sym_db.RegisterMessage(Point)
 
-PointScan = _reflection.GeneratedProtocolMessageType('PointScan', (_message.Message,), {
+PointScan = _reflection.GeneratedProtocolMessageType('PointScan', (_message.Message,), dict(
-  'DESCRIPTOR' : _POINTSCAN,
+  DESCRIPTOR = _POINTSCAN,
-  '__module__' : 'lidar_tracker_pb2'
+  __module__ = 'persontracking.lidar_tracker_pb2'
   # @@protoc_insertion_point(class_scope:persontracking.PointScan)
-  })
+  ))
 _sym_db.RegisterMessage(PointScan)
 
 
@@ -200,8 +199,8 @@ _PERSONTRACKING = _descriptor.ServiceDescriptor(
   file=DESCRIPTOR,
   index=0,
   serialized_options=None,
-  serialized_start=194,
+  serialized_start=209,
-  serialized_end=419,
+  serialized_end=436,
   methods=[
   _descriptor.MethodDescriptor(
     name='set_tracking_group',
@@ -222,12 +221,12 @@ _PERSONTRACKING = _descriptor.ServiceDescriptor(
     serialized_options=None,
   ),
   _descriptor.MethodDescriptor(
-    name='get_scan_data',
+    name='start_tracking',
-    full_name='persontracking.PersonTracking.get_scan_data',
+    full_name='persontracking.PersonTracking.start_tracking',
     index=2,
     containing_service=None,
-    input_type=_EMPTY,
+    input_type=_INT32VALUE,
-    output_type=_POINTSCAN,
+    output_type=_EMPTY,
     serialized_options=None,
   ),
 ])

persontracking/lidar_tracker_pb2_grpc.py

@@ -1,7 +1,7 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 import grpc
 
-import lidar_tracker_pb2 as lidar__tracker__pb2
+from persontracking import lidar_tracker_pb2 as persontracking_dot_lidar__tracker__pb2
 
 
 class PersonTrackingStub(object):
@@ -16,18 +16,18 @@ class PersonTrackingStub(object):
     """
     self.set_tracking_group = channel.unary_unary(
         '/persontracking.PersonTracking/set_tracking_group',
-        request_serializer=lidar__tracker__pb2.Int32Value.SerializeToString,
+        request_serializer=persontracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
-        response_deserializer=lidar__tracker__pb2.Empty.FromString,
+        response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
         )
     self.stop_tracking = channel.unary_unary(
         '/persontracking.PersonTracking/stop_tracking',
-        request_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+        request_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
-        response_deserializer=lidar__tracker__pb2.Empty.FromString,
+        response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
         )
-    self.get_scan_data = channel.unary_unary(
+    self.start_tracking = channel.unary_unary(
-        '/persontracking.PersonTracking/get_scan_data',
+        '/persontracking.PersonTracking/start_tracking',
-        request_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+        request_serializer=persontracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
-        response_deserializer=lidar__tracker__pb2.PointScan.FromString,
+        response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
         )
 
 
@@ -49,7 +49,7 @@ class PersonTrackingServicer(object):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def get_scan_data(self, request, context):
+  def start_tracking(self, request, context):
     # missing associated documentation comment in .proto file
     pass
     context.set_code(grpc.StatusCode.UNIMPLEMENTED)
@@ -61,18 +61,18 @@ def add_PersonTrackingServicer_to_server(servicer, server):
   rpc_method_handlers = {
       'set_tracking_group': grpc.unary_unary_rpc_method_handler(
           servicer.set_tracking_group,
-          request_deserializer=lidar__tracker__pb2.Int32Value.FromString,
+          request_deserializer=persontracking_dot_lidar__tracker__pb2.Int32Value.FromString,
-          response_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+          response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
       ),
       'stop_tracking': grpc.unary_unary_rpc_method_handler(
           servicer.stop_tracking,
-          request_deserializer=lidar__tracker__pb2.Empty.FromString,
+          request_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
-          response_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+          response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
       ),
-      'get_scan_data': grpc.unary_unary_rpc_method_handler(
+      'start_tracking': grpc.unary_unary_rpc_method_handler(
-          servicer.get_scan_data,
+          servicer.start_tracking,
-          request_deserializer=lidar__tracker__pb2.Empty.FromString,
+          request_deserializer=persontracking_dot_lidar__tracker__pb2.Int32Value.FromString,
-          response_serializer=lidar__tracker__pb2.PointScan.SerializeToString,
+          response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
       ),
   }
   generic_handler = grpc.method_handlers_generic_handler(

persontracking/protos/persontracking/lidar_tracker.proto

@@ -24,16 +24,10 @@ message PointScan{
     repeated Point points = 1;
 }
 
-message TrackingInfo{
-    int32 port = 1;
-}
-
 service PersonTracking{
     rpc set_tracking_group(Int32Value) returns (Empty) {}
 
     rpc stop_tracking(Empty) returns (Empty) {}
 
-    rpc get_scan_data(Empty) returns (PointScan) {}
+    rpc start_tracking(Int32Value) returns (Empty) {}
-
-    rpc start_tracking(TrackingInfo) returns (Empty) {}
 }