Classinated lidar.py, worldview.py (#126)

* Classinated lidar.py

* Classinated worldview.py

* Adapted A_Star_Navigator to use the Classinated worldview

unified_frameworks/a_star_navigator.py

@@ -66,12 +66,12 @@ def service_func(is_running):
                     sleep(1/config['grow_frequency'])
                 self._update_path()
         self._service = Service(service_func, service_name)
-        self.worldview.start_worldview_service()
+        self.worldview.start_service()
         self._service.start_service()
         pass
     def stop_pathfinder_service(self):
         self._service.stop_service()
-        self.worldview.stop_worldview_service()
+        self.worldview.stop_service()
         pass
     def _is_colision(self,cart1, cart2, cart_obstacles: list[Geometry]):
         if cart1 is None or cart2 is None: return False

unified_frameworks/pathfinder.py

@@ -42,7 +42,7 @@
 
 import a_star_navigator # Import any other navigator you like
 importlib.reload(a_star_navigator) # Ensures you have instance with latest code reloaded from changes made on the fly
-pf = a_star_navigator.A_Star_Navigator(worldview)
+pf = a_star_navigator.A_Star_Navigator(worldview.Worldview())
 # pf = Pf(worldview)
 def get_pathfinder():
     return pf

unified_frameworks/pathfinder_visualizer.py

@@ -110,9 +110,6 @@ def on_hover_point(point_polar):
 
 if __name__=='__main__':
     import pathfinder
-    # import worldview # At least for when this comment is written path finder has its own worldview
-    # pathfinder = StraightShot(worldview)
-    # import pathfinder
     import matplotlib
     from unified_utils import time_tracking_service
     time_tracking_service.start_service()

unified_frameworks/sensor_array/LidarClass.py

@@ -1,7 +1,7 @@
 from abc import ABC, abstractmethod
 class LidarDisconnectException(Exception):
     pass
-class Lidar(ABC):
+class _Lidar(ABC):
     @abstractmethod
     def connect(self, max_attempts=3, wait_seconds=1, verbose_attempts=False) -> bool:
         """Make attempts to connect to the Lidar
@@ -22,7 +22,7 @@ def disconnect(self):
         pass
     @abstractmethod
     def get_measures(self):
-        """Get measures from the lidar as a list of 3-tuples (quality, angle degrees, distance meter)"""
+        """Get measures from the lidar as a list of 3-tuples (quality, angle degrees, distance millimeter)"""
         pass
     def test_Lidar(lidar, connection_attempts=3):
         import sys, time

unified_frameworks/sensor_array/actual_lidar.py

@@ -3,13 +3,13 @@
 import traceback
 
 try:
-    from sensor_array.LidarClass import Lidar
+    from sensor_array.LidarClass import _Lidar
 except ModuleNotFoundError:
     import sys
     import re
 
     sys.path.append((next(re.finditer(".*unified_frameworks", __file__)).group()))
-    from sensor_array.LidarClass import Lidar
+    from sensor_array.LidarClass import _Lidar
 from rplidar import RPLidar, RPLidarException
 import serial.tools.list_ports
 from serial.serialutil import PortNotOpenError
@@ -29,7 +29,7 @@ def getDevicePort():
     return None
 
 
-class ActualLidar(Lidar):
+class ActualLidar(_Lidar):
     def __init__(self, port=getDevicePort()) -> None:
         self.serial_port = port
         self.measures = []

unified_frameworks/sensor_array/bridge_lidar.py

@@ -3,7 +3,7 @@
 root = (next(re.finditer(".*unified_frameworks", __file__)).group())
 sys.path.append(root) if root not in sys.path else None
 from sensor_array.actual_lidar import ActualLidar
-from sensor_array.LidarClass import Lidar
+from sensor_array.LidarClass import _Lidar
 from bridge import rover_side, client_side
 from bridge.exceptions import NoOpenBridgeException
 from unified_utils import Service
@@ -13,7 +13,7 @@
 config = {
     "update_frequency": 20, #Hz
 }
-class BridgeLidar(Lidar):
+class BridgeLidar(_Lidar):
     PATH = '/lidar'
     def __init__(self) -> None:
         if rover_side.bridge_is_up():

unified_frameworks/sensor_array/fake_lidar.py

@@ -8,13 +8,13 @@
 import sys
 import re
 sys.path.append((next(re.finditer(".*unified_frameworks", __file__)).group()))
-from sensor_array.LidarClass import Lidar
+from sensor_array.LidarClass import _Lidar
 from unified_utils import Service, polar_sum
 
 config = {
     "verbose":False
 }
-class FakeLidar(Lidar):
+class FakeLidar(_Lidar):
     def __init__(self, points=100, angular_rate=1, translational_rate=1, jitter=0, noise=0, empty_scans=False) -> None:
         self.n = points
         angles = np.linspace(0, 360, self.n)