Minor refactoring and more support for recording data.

app/src/main/java/org/vato/carcontroller/SimpleController.java

@@ -5,17 +5,28 @@ import android.os.Bundle;
 import android.view.View;
 import android.widget.SeekBar;
 import android.widget.Switch;
+import android.widget.Toast;
 
 import androidx.appcompat.app.AppCompatActivity;
 import androidx.preference.PreferenceManager;
 
+import com.google.protobuf.Empty;
+
+import org.vato.carcontroller.LIDAR.LidarTrackingController;
+
+import java.util.stream.Stream;
+
+import io.grpc.stub.StreamObserver;
+
 public class SimpleController extends AppCompatActivity implements SeekBar.OnSeekBarChangeListener {
 
     private SeekBar steeringSlider;
     private SeekBar throttleSlider;
     private Switch recordSwitch;
+    private Switch recordLidarSwitch;
 
     private static PiLoader grpcController;
+    private PersonTrackingGrpc.PersonTrackingStub trackingStub;
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -32,6 +43,7 @@ public class SimpleController extends AppCompatActivity implements SeekBar.OnSee
         }
 
         recordSwitch = findViewById(R.id.recordSwitch);
+        recordLidarSwitch = findViewById(R.id.lidarSwitch);
     }
 
     @Override
@@ -97,4 +109,24 @@ public class SimpleController extends AppCompatActivity implements SeekBar.OnSee
     public void record(View view) {
         grpcController.record(recordSwitch.isSelected());
     }
+
+    public void recordLidar(View view) {
+        StreamObserver<Empty> response = new StreamObserver<Empty>() {
+            @Override
+            public void onNext(Empty value) {
+                Toast.makeText(getApplicationContext(), "Started Recording Lidar", Toast.LENGTH_SHORT);
+            }
+
+            @Override
+            public void onError(Throwable t) {
+                Toast.makeText(getApplicationContext(), "Failed to set lidar recording", Toast.LENGTH_SHORT);
+            }
+
+            @Override
+            public void onCompleted() {
+
+            }
+        };
+
+    }
 }

app/src/main/res/layout-land/activity_simple_controller.xml

@@ -34,20 +34,10 @@
         android:layout_height="wrap_content"
         android:layout_marginStart="20dp"
         android:layout_marginTop="20dp"
-        android:text="Switch"
+        android:onClick="record"
+        android:text="Record Vehicle"
         app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/textView3" />
+        app:layout_constraintTop_toTopOf="parent" />
-
-    <TextView
-        android:id="@+id/textView3"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginStart="20dp"
-        android:layout_marginTop="20dp"
-        android:text="TextView"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        tools:text="Recording" />
 
     <Button
         android:id="@+id/saveButton"
@@ -55,8 +45,20 @@
         android:layout_height="wrap_content"
         android:layout_marginTop="20dp"
         android:layout_marginEnd="16dp"
+        android:onClick="saveRecording"
         android:text="Save"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <Switch
+        android:id="@+id/lidarSwitch"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="20dp"
+        android:layout_marginTop="20dp"
+        android:onClick="recordLidar"
+        android:text="Record LiDAR"
+        app:layout_constraintStart_toEndOf="@+id/recordSwitch"
+        app:layout_constraintTop_toTopOf="parent" />
+
 </androidx.constraintlayout.widget.ConstraintLayout>

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:

protobuf/src/main/proto/car/control/motorService.proto

@@ -34,8 +34,8 @@ message SaveRequest{
 }
 
 service CarControl{
-    rpc SetThrottle(ThrottleRequest) returns (ThrottleResponse){}
+    rpc set_throttle(ThrottleRequest) returns (ThrottleResponse){}
-    rpc SetSteering(SteeringRequest) returns (SteeringResponse){}
+    rpc set_steering(SteeringRequest) returns (SteeringResponse){}
-    rpc Record(RecordingReqeust) returns (google.protobuf.Empty) {}
+    rpc record(RecordingReqeust) returns (google.protobuf.Empty) {}
-    rpc SaveRecordedData(SaveRequest) returns (google.protobuf.Empty) {}
+    rpc save_recorded_data(SaveRequest) returns (google.protobuf.Empty) {}
 }

protobuf/src/main/proto/car/tracking/lidar_tracker.proto

@@ -7,6 +7,7 @@ option java_package = "org.vato.carcontroller";
 option java_outer_classname = "PersonTrackingProto";
 
 import "google/protobuf/empty.proto";
+import "google/protobuf/wrappers.proto";
 
 message Int32Value{
     int32 value = 1;
@@ -22,10 +23,15 @@ message PointScan{
     repeated Point points = 1;
 }
 
+
+
 service PersonTracking{
     rpc set_tracking_group(Int32Value) returns (google.protobuf.Empty) {}
 
     rpc stop_tracking(google.protobuf.Empty) returns (google.protobuf.Empty) {}
 
     rpc start_tracking(google.protobuf.Empty) returns (google.protobuf.Empty) {}
+
+    rpc record(google.protobuf.BoolValue) returns (google.protobuf.Empty) {}
+
 }