44 lines
1.1 KiB
Python
44 lines
1.1 KiB
Python
"""
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This module contains a MockLidar class, for use in place of RPLidar.
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Importantly, it implements iter_scans, so it can be substituted for RPLidar
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in the lidar_cache for testing (or anywhere else the rplidar may be used)
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"""
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import tracking.lidar_loader as loader
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class MockLidar:
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def __init__(self, scan_iter=None):
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"""
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Create mock lidar with an iterator that can be used as fake (or reused) scan data.
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Examples
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--------
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lidar = MockLidar(scans)
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first_scan = next(lidar.iter_scans(measurements=100))
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Parameters
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----------
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scan_iter: Iterable
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An iterator that will generate/provide the fake/old scan data.
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"""
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self._iter = scan_iter
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def iter_scans(self, min_len=100):
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return iter(self._iter)
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def get_health(self):
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return "Mock Lidar has scans" if self._iter is not None else "Mock lidar won't work properly!"
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def get_info(self):
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return self.get_health()
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def stop(self):
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pass
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def disconnect(self):
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pass
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