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Add debug stuff for the MotorServer

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Piv
2019-09-29 10:29:09 +09:30
parent 34fc2f95f8
commit 17f3fceab9
1 changed files with 12 additions and 1 deletions
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13
MotorControl/MotorServer.py
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@@ -1,9 +1,11 @@
from threading import Timer, Thread from threading import Timer, Thread
from gpiozero import Servo from gpiozero import Servo
from concurrent import futures
import grpc
from . import motorService_pb2 from . import motorService_pb2
from . import motorService_pb2_grpc from . import motorService_pb2_grpc
from MotorControl.gpiozero.motor_session import Motor from MotorControl.gpiozero.motor_session import Motor
servo_pin = 18 servo_pin = 18
@@ -21,6 +23,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
# be sending values... # be sending values...
throttleFailed = False throttleFailed = False
for throttleRequest in request_iterator: for throttleRequest in request_iterator:
print('Setting throttle to: ' + throttleRequest.throttle)
self.set_timeout(timeout_length) self.set_timeout(timeout_length)
throttleFailed = self.motor.set_throttle(throttleRequest.throttle) throttleFailed = self.motor.set_throttle(throttleRequest.throttle)
if throttleFailed: if throttleFailed:
@@ -48,3 +51,11 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
print("Node timeout elapsed") print("Node timeout elapsed")
self.motor.stop() 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()