From 17f3fceab97b91002ee2c029c5dddea1791951e3 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Sun, 29 Sep 2019 10:29:09 +0930
Subject: [PATCH] Add debug stuff for the MotorServer

---
 MotorControl/MotorServer.py | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/MotorControl/MotorServer.py b/MotorControl/MotorServer.py
index e7ea7e5..ed1b3b4 100644
--- a/MotorControl/MotorServer.py
+++ b/MotorControl/MotorServer.py
@@ -1,9 +1,11 @@
 from threading import Timer, Thread
 from gpiozero import Servo
+from concurrent import futures
+
+import grpc
 
 from . import motorService_pb2
 from . import motorService_pb2_grpc
-
 from MotorControl.gpiozero.motor_session import Motor
 
 servo_pin = 18
@@ -21,6 +23,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         # be sending values...
         throttleFailed = False
         for throttleRequest in request_iterator:
+            print('Setting throttle to: ' + throttleRequest.throttle)
             self.set_timeout(timeout_length)
             throttleFailed = self.motor.set_throttle(throttleRequest.throttle)
             if throttleFailed:
@@ -48,3 +51,11 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         print("Node timeout elapsed")
         self.motor.stop()
 
+    def start_server(self):
+        server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
+        motorService_pb2_grpc.add_CarControlServicer_to_server(MotorServicer(), server)
+        server.add_insecure_port('[::]:50051')
+        server.start()
+
+servicer = MotorServicer()
+servicer.start_server()
\ No newline at end of file