a3d0536ed1493defe29ddf1e5afd0607d45adc61,donkeycar/parts/lidar.py,RPLidar,run_threaded,#RPLidar#,40

Before Change

                print("serial.serialutil.SerialException from Lidar. common when shutting down.")

    def run_threaded(self):
        return self.distances, self.angles

    def shutdown(self):
        self.on = False
        time.sleep(2)

After Change

                print("serial.serialutil.SerialException from Lidar. common when shutting down.")

    def run_threaded(self):
        sorted_distances = []
        if (self.angles != []) and (self.distances != []):
            angs = np.copy(self.angles)
            dists = np.copy(self.distances)

            filter_angs = angs[(angs > self.lower_limit) & (angs < self.upper_limit)]
            filter_dist = dists[(angs > self.lower_limit) & (angs < self.upper_limit)] //sorts distances based on angle values

            angles_ind = np.argsort(filter_angs)         // returns the indexes that sorts filter_angs
            if angles_ind != []:
                sorted_distances = np.argsort(filter_dist) // sorts distances based on angle indexes
        return sorted_distances


    def shutdown(self):
        self.on = False

Instances