d78d0732117d256aafb669b303e79a1da6fe0b26,donkeycar/parts/lidar.py,RPLidar,update,#RPLidar#,25

Before Change

        measurements = self.lidar.iter_measurments()
        while self.on:
            for quality, angles, distances in measurements:
                self.distances = distances.copy()
                self.angles = angles.copy()

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

After Change

    def update(self):
        scans = self.lidar.iter_scans(550)
        while self.on:
            try:
                for scan in scans:
                    self.distances = [item[2] for item in scan]
                    self.angles = [item[1] for item in scan]
            except serial.serialutil.SerialException:
                print("serial.serialutil.SerialException from Lidar. common when shutting down.")

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

    def shutdown(self):

Instances