# -*- coding: utf-8 -*-
"""
This module is a utility to load and save lidar 
scans to disk. 
As such, it is useful for testing, to create real lidar
data that can be reused later, without needing to connect the lidar.
"""

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)