Minor refactoring and more support for recording data.

car/src/car/control/motor_servicer.py

@@ -5,6 +5,7 @@ import time
 import car.control.motorService_pb2 as motorService_pb2
 import car.control.motorService_pb2_grpc as motorService_pb2_grpc
 from car.control.gpio.recording_vehicle_decorator import VehicleRecordingDecorator
+import google.protobuf.empty_pb2 as empty
 
 
 class MotorServicer(motorService_pb2_grpc.CarControlServicer):
@@ -12,7 +13,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         self.vehicle = VehicleRecordingDecorator(vehicle)
         self._timer = None
 
-    def SetThrottle(self, request, context):
+    def set_throttle(self, request, context):
         # gRPC streams currently don't work between python and android.
         # If we don't get a response every 3 seconds, stop the car.
         print('Setting throttle to: ' + str(request.throttle))
@@ -20,7 +21,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         self.vehicle.throttle = request.throttle
         return motorService_pb2.ThrottleResponse(throttleSet=True)
 
-    def SetSteering(self, request, context):
+    def set_steering(self, request, context):
         print('Setting steering to: ' + str(request.steering))
         self.vehicle.steering = request.steering
         return motorService_pb2.SteeringResponse(steeringSet=True)
@@ -40,9 +41,11 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         print("Node timeout elapsed")
         self.vehicle.stop()
 
-    def Record(self, request, context):
+    def record(self, request, context):
         """Indicate whether the vehicle data should be recorded."""
         self.vehicle.record = request.record
+        return empty.Empty()        
 
-    def SaveRecordedData(self, request, context):
+    def save_recorded_data(self, request, context):
         self.vehicle.save_data(request.file)
+        return empty.Empty()

car/src/car/tracking/lidar_servicer.py

@@ -9,6 +9,7 @@ from car.tracking.devices.recording_lidar import RecordingLidarDecorator
 from car.messaging import messages
 import car.tracking.algorithms as alg
 import os
+import google.protobuf.empty_pb2 as empty
 
 
 class LidarServicer(PersonTrackingServicer):
@@ -28,15 +29,22 @@ class LidarServicer(PersonTrackingServicer):
     def set_tracking_group(self, request, context):
         # Invalid groups should stop tracking
         self._tracked_group = None if request.value < 0 else request.value
+        return empty.Empty()
 
     def stop_tracking(self, request, context):
         self._should_stream = False
         self.cache.stop_scanning()
+        return empty.Empty()
 
     def start_tracking(self, request, context):
         """Starts the lidar cache, streaming on the provided port."""
         self._should_stream = True
         self.cache.start_cache()
+        return empty.Empty()
+
+    def record(self, request, context):
+        self._lidar.record = True
+        return empty.Empty()
 
     def onGroupsChanged(self, message):
         if self._mFactory is None: