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Merged in ModuleRefactor (pull request #1)

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This commit is contained in:
Michael Pivato
2020-03-05 11:41:45 +00:00
parent 043c8783a4 18ec653962
commit 1ec1e5acc7
25 changed files with 119 additions and 215 deletions
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58
Messaging/clientEx copy.py
View File

@@ -1,58 +0,0 @@
import umsgpack
import paho.mqtt.client as mqtt
import time
import ssl
import json
cfg = None
with open('config.json') as json_config:
cfg = json.load(json_config)
connected = False
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
if rc == 0:
global connected
connected = True
client.subscribe('hello/test', qos=1)
def on_message(client, userdata, message):
p = umsgpack.unpackb(message.payload)
print("Received message '" + p["message"] + "' on topic '"
+ message.topic + "' with QoS " + str(message.qos))
def on_disconnect(client, userdata, rc):
if rc != 0:
print("Unexpected disconnection.")
mqttc = mqtt.Client()
# mqttc.tls_set_context(context = ssl.create_default_context())
mqttc.on_connect = on_connect
mqttc.on_disconnect = on_disconnect
mqttc.on_message = on_message
mqttc.connect(cfg["mqtt"]["host"], cfg["mqtt"]["port"], cfg["mqtt"]["timeout"])
mqttc.loop_start()
# mqttc.will_set("hello/test", "Disconnected", )
pub = input("Enter something to publish: ")
while pub != 'q':
if(connected):
pub = umsgpack.packb({"message":pub})
mqttc.publish('hello/test', pub)
pub = input("Enter something to publish: ")
print('Message is: ' + pub)
else:
pub = input('Would you like to reconnect? ')
if pub == 'y':
mqttc.reconnect()
time.sleep(2)
mqttc.loop_stop()
mqttc.disconnect()

42
Messaging/clientEx.py
View File

@@ -1,42 +0,0 @@
# -*- coding: utf-8 -*-
"""
Created on Tue Nov 27 14:17:45 2018
@author: pivatom
"""
import paho.mqtt.client as mqtt
# These are just the defaults.
mqttc = mqtt.Client(client_id="", clean_session=True, userdata=None, protocol=MQTTv311, transport="tcp")
mqttc.tls_set(ca_certs=None, certfile=None, keyfile=None, cert_reqs=ssl.CERT_REQUIRED,
tls_version=ssl.PROTOCOL_TLS, ciphers=None)
# Use port 8883 for SSL
# Host is just an ip address or hostname of the broker.
mqttc.connect(host, port=1883, keepalive=60, bind_address="")
# Topic is a string of the topic to publish to.
mqttc.publish(topic, payload=None, qos=0, retain=False)
# Just subscribe to a topic.
mqttc.subscribe(topic, qos=0)
def on_message(client, userdata, message):
'''
Do something with the message. Choose based on what the topic is.
Can also just assign different callback functions for different topics
using message_callback_add(sub, callback)
'''
print("Received message '" + str(message.payload) + "' on topic '"
+ message.topic + "' with QoS " + str(message.qos))
mqttc.on_message = on_message
# Or for specific callback:
# Can use foo/# for all subtopics of foo/, or
# +/bar for all topics that include bar.
mqttc.message_callback_add(sub, on_message)

10
MotorControl/MotorServer.py → control/MotorServer.py
View File

@@ -7,11 +7,11 @@ import time
import grpc
import MotorControl.motorService_pb2 as motorService_pb2
import MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
from MotorControl.gpiozero.motor_session import Motor
from SlamController.slam_servicer import SlamServicer
import SlamController.SlamController_pb2_grpc as SlamController_pb2_grpc
import control.motorService_pb2 as motorService_pb2
import control.motorService_pb2_grpc as motorService_pb2_grpc
from control.gpiozero.motor_session import Motor
from slam.slam_servicer import SlamServicer
import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
class MotorServicer(motorService_pb2_grpc.CarControlServicer):

0
MotorControl/PythonRemoteController.py → control/PythonRemoteController.py
View File

0
MotorControl/__init__.py → control/__init__.py
View File

0
MotorControl/gpiozero/__init__.py → control/gpiozero/__init__.py
View File

0
MotorControl/gpiozero/motor_session.py → control/gpiozero/motor_session.py
View File

34
MotorControl/motorService_pb2.py → control/motorService_pb2.py
View File

@@ -1,6 +1,6 @@
# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
# source: motorService.proto
# source: control/motorService.proto
import sys
_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
@@ -16,11 +16,11 @@ _sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor.FileDescriptor(
name='motorService.proto',
name='control/motorService.proto',
package='MotorControl',
syntax='proto3',
serialized_options=None,
serialized_pb=_b('\n\x12motorService.proto\x12\x0cMotorControl\"#\n\x0fThrottleRequest\x12\x10\n\x08throttle\x18\x01 \x01(\x02\"\'\n\x10ThrottleResponse\x12\x13\n\x0bthrottleSet\x18\x01 \x01(\x08\"#\n\x0fSteeringRequest\x12\x10\n\x08steering\x18\x01 \x01(\x02\"\'\n\x10SteeringResponse\x12\x13\n\x0bsteeringSet\x18\x01 \x01(\x08\x32\xac\x01\n\nCarControl\x12N\n\x0bSetThrottle\x12\x1d.MotorControl.ThrottleRequest\x1a\x1e.MotorControl.ThrottleResponse\"\x00\x12N\n\x0bSetSteering\x12\x1d.MotorControl.SteeringRequest\x1a\x1e.MotorControl.SteeringResponse\"\x00\x62\x06proto3')
serialized_pb=_b('\n\x1a\x63ontrol/motorService.proto\x12\x0cMotorControl\"#\n\x0fThrottleRequest\x12\x10\n\x08throttle\x18\x01 \x01(\x02\"\'\n\x10ThrottleResponse\x12\x13\n\x0bthrottleSet\x18\x01 \x01(\x08\"#\n\x0fSteeringRequest\x12\x10\n\x08steering\x18\x01 \x01(\x02\"\'\n\x10SteeringResponse\x12\x13\n\x0bsteeringSet\x18\x01 \x01(\x08\x32\xac\x01\n\nCarControl\x12N\n\x0bSetThrottle\x12\x1d.MotorControl.ThrottleRequest\x1a\x1e.MotorControl.ThrottleResponse\"\x00\x12N\n\x0bSetSteering\x12\x1d.MotorControl.SteeringRequest\x1a\x1e.MotorControl.SteeringResponse\"\x00\x62\x06proto3')
)
@@ -52,8 +52,8 @@ _THROTTLEREQUEST = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=36,
serialized_end=71,
serialized_start=44,
serialized_end=79,
)
@@ -83,8 +83,8 @@ _THROTTLERESPONSE = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=73,
serialized_end=112,
serialized_start=81,
serialized_end=120,
)
@@ -114,8 +114,8 @@ _STEERINGREQUEST = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=114,
serialized_end=149,
serialized_start=122,
serialized_end=157,
)
@@ -145,8 +145,8 @@ _STEERINGRESPONSE = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=151,
serialized_end=190,
serialized_start=159,
serialized_end=198,
)
DESCRIPTOR.message_types_by_name['ThrottleRequest'] = _THROTTLEREQUEST
@@ -157,28 +157,28 @@ _sym_db.RegisterFileDescriptor(DESCRIPTOR)
ThrottleRequest = _reflection.GeneratedProtocolMessageType('ThrottleRequest', (_message.Message,), {
'DESCRIPTOR' : _THROTTLEREQUEST,
'__module__' : 'motorService_pb2'
'__module__' : 'control.motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.ThrottleRequest)
})
_sym_db.RegisterMessage(ThrottleRequest)
ThrottleResponse = _reflection.GeneratedProtocolMessageType('ThrottleResponse', (_message.Message,), {
'DESCRIPTOR' : _THROTTLERESPONSE,
'__module__' : 'motorService_pb2'
'__module__' : 'control.motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.ThrottleResponse)
})
_sym_db.RegisterMessage(ThrottleResponse)
SteeringRequest = _reflection.GeneratedProtocolMessageType('SteeringRequest', (_message.Message,), {
'DESCRIPTOR' : _STEERINGREQUEST,
'__module__' : 'motorService_pb2'
'__module__' : 'control.motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.SteeringRequest)
})
_sym_db.RegisterMessage(SteeringRequest)
SteeringResponse = _reflection.GeneratedProtocolMessageType('SteeringResponse', (_message.Message,), {
'DESCRIPTOR' : _STEERINGRESPONSE,
'__module__' : 'motorService_pb2'
'__module__' : 'control.motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.SteeringResponse)
})
_sym_db.RegisterMessage(SteeringResponse)
@@ -191,8 +191,8 @@ _CARCONTROL = _descriptor.ServiceDescriptor(
file=DESCRIPTOR,
index=0,
serialized_options=None,
serialized_start=193,
serialized_end=365,
serialized_start=201,
serialized_end=373,
methods=[
_descriptor.MethodDescriptor(
name='SetThrottle',

18
MotorControl/motorService_pb2_grpc.py → control/motorService_pb2_grpc.py
View File

@@ -1,7 +1,7 @@
# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
import grpc
import motorService_pb2 as motorService__pb2
from control import motorService_pb2 as control_dot_motorService__pb2
class CarControlStub(object):
@@ -16,13 +16,13 @@ class CarControlStub(object):
"""
self.SetThrottle = channel.unary_unary(
'/MotorControl.CarControl/SetThrottle',
request_serializer=motorService__pb2.ThrottleRequest.SerializeToString,
response_deserializer=motorService__pb2.ThrottleResponse.FromString,
request_serializer=control_dot_motorService__pb2.ThrottleRequest.SerializeToString,
response_deserializer=control_dot_motorService__pb2.ThrottleResponse.FromString,
)
self.SetSteering = channel.unary_unary(
'/MotorControl.CarControl/SetSteering',
request_serializer=motorService__pb2.SteeringRequest.SerializeToString,
response_deserializer=motorService__pb2.SteeringResponse.FromString,
request_serializer=control_dot_motorService__pb2.SteeringRequest.SerializeToString,
response_deserializer=control_dot_motorService__pb2.SteeringResponse.FromString,
)
@@ -49,13 +49,13 @@ def add_CarControlServicer_to_server(servicer, server):
rpc_method_handlers = {
'SetThrottle': grpc.unary_unary_rpc_method_handler(
servicer.SetThrottle,
request_deserializer=motorService__pb2.ThrottleRequest.FromString,
response_serializer=motorService__pb2.ThrottleResponse.SerializeToString,
request_deserializer=control_dot_motorService__pb2.ThrottleRequest.FromString,
response_serializer=control_dot_motorService__pb2.ThrottleResponse.SerializeToString,
),
'SetSteering': grpc.unary_unary_rpc_method_handler(
servicer.SetSteering,
request_deserializer=motorService__pb2.SteeringRequest.FromString,
response_serializer=motorService__pb2.SteeringResponse.SerializeToString,
request_deserializer=control_dot_motorService__pb2.SteeringRequest.FromString,
response_serializer=control_dot_motorService__pb2.SteeringResponse.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(

3
generate-proto Executable file
View File

@@ -0,0 +1,3 @@
python3 -m grpc_tools.protoc -I proto --python_out=. --grpc_python_out=. proto/control/motorService.proto
python3 -m grpc_tools.protoc -I proto --python_out=. --grpc_python_out=. proto/slam/SlamController.proto
python3 -m grpc_tools.protoc -I proto --python_out=. --grpc_python_out=. proto/tracking/lidar_tracker.proto

0
MotorControl/protos/motorService.proto → proto/control/motorService.proto
View File

0
SlamController/proto/SlamController.proto → proto/slam/SlamController.proto
View File

0
persontracking/protos/persontracking/lidar_tracker.proto → proto/tracking/lidar_tracker.proto
View File

40
SlamController/SlamController_pb2.py → slam/SlamController_pb2.py
View File

@@ -1,6 +1,6 @@
# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
# source: SlamController.proto
# source: slam/SlamController.proto
import sys
_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
@@ -16,11 +16,11 @@ _sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor.FileDescriptor(
name='SlamController.proto',
name='slam/SlamController.proto',
package='',
syntax='proto3',
serialized_options=None,
serialized_pb=_b('\n\x14SlamController.proto\"M\n\x0bSlamDetails\x12\x17\n\x0fmap_size_pixels\x18\x01 \x01(\x05\x12\x17\n\x0fmap_size_meters\x18\x02 \x01(\x05\x12\x0c\n\x04port\x18\x03 \x01(\x05\"\x19\n\x07SlamRow\x12\x0e\n\x06points\x18\x01 \x03(\x05\"3\n\x0cSlamLocation\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\r\n\x05theta\x18\x03 \x01(\x02\"8\n\x08SlamScan\x12\x0b\n\x03map\x18\x01 \x01(\x0c\x12\x1f\n\x08location\x18\x02 \x01(\x0b\x32\r.SlamLocation\"\x07\n\x05\x45mpty2`\n\x0bSlamControl\x12-\n\x13start_map_streaming\x12\x0c.SlamDetails\x1a\x06.Empty\"\x00\x12\"\n\x0estop_streaming\x12\x06.Empty\x1a\x06.Empty\"\x00\x62\x06proto3')
serialized_pb=_b('\n\x19slam/SlamController.proto\"M\n\x0bSlamDetails\x12\x17\n\x0fmap_size_pixels\x18\x01 \x01(\x05\x12\x17\n\x0fmap_size_meters\x18\x02 \x01(\x05\x12\x0c\n\x04port\x18\x03 \x01(\x05\"\x19\n\x07SlamRow\x12\x0e\n\x06points\x18\x01 \x03(\x05\"3\n\x0cSlamLocation\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\r\n\x05theta\x18\x03 \x01(\x02\"8\n\x08SlamScan\x12\x0b\n\x03map\x18\x01 \x01(\x0c\x12\x1f\n\x08location\x18\x02 \x01(\x0b\x32\r.SlamLocation\"\x07\n\x05\x45mpty2`\n\x0bSlamControl\x12-\n\x13start_map_streaming\x12\x0c.SlamDetails\x1a\x06.Empty\"\x00\x12\"\n\x0estop_streaming\x12\x06.Empty\x1a\x06.Empty\"\x00\x62\x06proto3')
)
@@ -66,8 +66,8 @@ _SLAMDETAILS = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=24,
serialized_end=101,
serialized_start=29,
serialized_end=106,
)
@@ -97,8 +97,8 @@ _SLAMROW = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=103,
serialized_end=128,
serialized_start=108,
serialized_end=133,
)
@@ -142,8 +142,8 @@ _SLAMLOCATION = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=130,
serialized_end=181,
serialized_start=135,
serialized_end=186,
)
@@ -180,8 +180,8 @@ _SLAMSCAN = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=183,
serialized_end=239,
serialized_start=188,
serialized_end=244,
)
@@ -204,8 +204,8 @@ _EMPTY = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=241,
serialized_end=248,
serialized_start=246,
serialized_end=253,
)
_SLAMSCAN.fields_by_name['location'].message_type = _SLAMLOCATION
@@ -218,35 +218,35 @@ _sym_db.RegisterFileDescriptor(DESCRIPTOR)
SlamDetails = _reflection.GeneratedProtocolMessageType('SlamDetails', (_message.Message,), {
'DESCRIPTOR' : _SLAMDETAILS,
'__module__' : 'SlamController_pb2'
'__module__' : 'slam.SlamController_pb2'
# @@protoc_insertion_point(class_scope:SlamDetails)
})
_sym_db.RegisterMessage(SlamDetails)
SlamRow = _reflection.GeneratedProtocolMessageType('SlamRow', (_message.Message,), {
'DESCRIPTOR' : _SLAMROW,
'__module__' : 'SlamController_pb2'
'__module__' : 'slam.SlamController_pb2'
# @@protoc_insertion_point(class_scope:SlamRow)
})
_sym_db.RegisterMessage(SlamRow)
SlamLocation = _reflection.GeneratedProtocolMessageType('SlamLocation', (_message.Message,), {
'DESCRIPTOR' : _SLAMLOCATION,
'__module__' : 'SlamController_pb2'
'__module__' : 'slam.SlamController_pb2'
# @@protoc_insertion_point(class_scope:SlamLocation)
})
_sym_db.RegisterMessage(SlamLocation)
SlamScan = _reflection.GeneratedProtocolMessageType('SlamScan', (_message.Message,), {
'DESCRIPTOR' : _SLAMSCAN,
'__module__' : 'SlamController_pb2'
'__module__' : 'slam.SlamController_pb2'
# @@protoc_insertion_point(class_scope:SlamScan)
})
_sym_db.RegisterMessage(SlamScan)
Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), {
'DESCRIPTOR' : _EMPTY,
'__module__' : 'SlamController_pb2'
'__module__' : 'slam.SlamController_pb2'
# @@protoc_insertion_point(class_scope:Empty)
})
_sym_db.RegisterMessage(Empty)
@@ -259,8 +259,8 @@ _SLAMCONTROL = _descriptor.ServiceDescriptor(
file=DESCRIPTOR,
index=0,
serialized_options=None,
serialized_start=250,
serialized_end=346,
serialized_start=255,
serialized_end=351,
methods=[
_descriptor.MethodDescriptor(
name='start_map_streaming',

18
SlamController/SlamController_pb2_grpc.py → slam/SlamController_pb2_grpc.py
View File

@@ -1,7 +1,7 @@
# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
import grpc
from . import SlamController_pb2 as SlamController__pb2
from slam import SlamController_pb2 as slam_dot_SlamController__pb2
class SlamControlStub(object):
@@ -16,13 +16,13 @@ class SlamControlStub(object):
"""
self.start_map_streaming = channel.unary_unary(
'/SlamControl/start_map_streaming',
request_serializer=SlamController__pb2.SlamDetails.SerializeToString,
response_deserializer=SlamController__pb2.Empty.FromString,
request_serializer=slam_dot_SlamController__pb2.SlamDetails.SerializeToString,
response_deserializer=slam_dot_SlamController__pb2.Empty.FromString,
)
self.stop_streaming = channel.unary_unary(
'/SlamControl/stop_streaming',
request_serializer=SlamController__pb2.Empty.SerializeToString,
response_deserializer=SlamController__pb2.Empty.FromString,
request_serializer=slam_dot_SlamController__pb2.Empty.SerializeToString,
response_deserializer=slam_dot_SlamController__pb2.Empty.FromString,
)
@@ -49,13 +49,13 @@ def add_SlamControlServicer_to_server(servicer, server):
rpc_method_handlers = {
'start_map_streaming': grpc.unary_unary_rpc_method_handler(
servicer.start_map_streaming,
request_deserializer=SlamController__pb2.SlamDetails.FromString,
response_serializer=SlamController__pb2.Empty.SerializeToString,
request_deserializer=slam_dot_SlamController__pb2.SlamDetails.FromString,
response_serializer=slam_dot_SlamController__pb2.Empty.SerializeToString,
),
'stop_streaming': grpc.unary_unary_rpc_method_handler(
servicer.stop_streaming,
request_deserializer=SlamController__pb2.Empty.FromString,
response_serializer=SlamController__pb2.Empty.SerializeToString,
request_deserializer=slam_dot_SlamController__pb2.Empty.FromString,
response_serializer=slam_dot_SlamController__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(

0
SlamController/__init__.py → slam/__init__.py
View File

12
SlamController/slam_servicer.py → slam/slam_servicer.py
View File

@@ -1,10 +1,10 @@
from . import SlamController_pb2_grpc
from . import SlamController_pb2
from . import slam_streamer as slam
import slam.SlamController_pb2_grpc as grpc
import slam.SlamController_pb2 as proto
import slam.slam_streamer as slam
from multiprocessing import Process
class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
class SlamServicer(grpc.SlamControlServicer):
slam_thread = None
def __init__(self, lidar_connection):
@@ -21,11 +21,11 @@ class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
self.slam.map_meters = request.map_size_meters
self.slam_thread = Process(target=self.slam.start)
self.slam_thread.start()
return SlamController_pb2.Empty()
return proto.Empty()
def stop_streaming(self, request, context):
if self.slam_thread is not None:
self.slam.stop_scanning()
self.slam_thread.join()
self.slam = None
return SlamController_pb2.Empty()
return proto.Empty()

4
SlamController/slam_streamer.py → slam/slam_streamer.py
View File

@@ -3,8 +3,8 @@ from breezyslam.algorithms import RMHC_SLAM
from breezyslam.sensors import RPLidarA1 as LaserModel
from rplidar import RPLidar as Lidar
from .SlamController_pb2 import SlamScan, SlamLocation
import Messaging.message_factory as mf
import Messaging.messages as messages
import messaging.message_factory as mf
import messaging.messages as messages
# Left here as was used in the example, configure as necessary.

0
SlamController/zmq_pair_testing/pair.py → slam/zmq_pair_testing/pair.py
View File

0
persontracking/__init__.py → tracking/__init__.py
View File

0
persontracking/algorithms.py → tracking/algorithms.py
View File

4
persontracking/lidar_cache.py → tracking/lidar_cache.py
View File

@@ -1,8 +1,8 @@
import rplidar
from rplidar import RPLidar
from threading import Thread
from persontracking import algorithms
import persontracking.lidar_tracker_pb2 as tracker_pb
from tracking import algorithms
import tracking.lidar_tracker_pb2 as tracker_pb
import zmq
import Messaging.message_factory as mf
import Messaging.messages as messages

6
persontracking/lidar_servicer.py → tracking/lidar_servicer.py
View File

@@ -1,6 +1,6 @@
import persontracking.lidar_tracker_pb2 as lidar_tracker_pb2
from persontracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
from persontracking.lidar_cache import LidarCache
import tracking.lidar_tracker_pb2 as lidar_tracker_pb2
from tracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
from tracking.lidar_cache import LidarCache
from multiprocessing import Process

59
persontracking/lidar_tracker_pb2.py → tracking/lidar_tracker_pb2.py
View File

@@ -1,5 +1,6 @@
# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
# source: persontracking/lidar_tracker.proto
# source: tracking/lidar_tracker.proto
import sys
_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
@@ -15,11 +16,11 @@ _sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor.FileDescriptor(
name='persontracking/lidar_tracker.proto',
name='tracking/lidar_tracker.proto',
package='persontracking',
syntax='proto3',
serialized_options=_b('\n\031com.example.carcontrollerB\021MotorServiceProtoP\001'),
serialized_pb=_b('\n\"persontracking/lidar_tracker.proto\x12\x0epersontracking\"\x1b\n\nInt32Value\x12\r\n\x05value\x18\x01 \x01(\x05\"\x07\n\x05\x45mpty\">\n\x05Point\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\x12\x14\n\x0cgroup_number\x18\x03 \x01(\x05\"2\n\tPointScan\x12%\n\x06points\x18\x01 \x03(\x0b\x32\x15.persontracking.Point2\xe3\x01\n\x0ePersonTracking\x12I\n\x12set_tracking_group\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x12?\n\rstop_tracking\x12\x15.persontracking.Empty\x1a\x15.persontracking.Empty\"\x00\x12\x45\n\x0estart_tracking\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x42\x30\n\x19\x63om.example.carcontrollerB\x11MotorServiceProtoP\x01\x62\x06proto3')
serialized_pb=_b('\n\x1ctracking/lidar_tracker.proto\x12\x0epersontracking\"\x1b\n\nInt32Value\x12\r\n\x05value\x18\x01 \x01(\x05\"\x07\n\x05\x45mpty\">\n\x05Point\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\x12\x14\n\x0cgroup_number\x18\x03 \x01(\x05\"2\n\tPointScan\x12%\n\x06points\x18\x01 \x03(\x0b\x32\x15.persontracking.Point2\xe3\x01\n\x0ePersonTracking\x12I\n\x12set_tracking_group\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x12?\n\rstop_tracking\x12\x15.persontracking.Empty\x1a\x15.persontracking.Empty\"\x00\x12\x45\n\x0estart_tracking\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x42\x30\n\x19\x63om.example.carcontrollerB\x11MotorServiceProtoP\x01\x62\x06proto3')
)
@@ -51,8 +52,8 @@ _INT32VALUE = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=54,
serialized_end=81,
serialized_start=48,
serialized_end=75,
)
@@ -75,8 +76,8 @@ _EMPTY = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=83,
serialized_end=90,
serialized_start=77,
serialized_end=84,
)
@@ -120,8 +121,8 @@ _POINT = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=92,
serialized_end=154,
serialized_start=86,
serialized_end=148,
)
@@ -151,8 +152,8 @@ _POINTSCAN = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=156,
serialized_end=206,
serialized_start=150,
serialized_end=200,
)
_POINTSCAN.fields_by_name['points'].message_type = _POINT
@@ -162,32 +163,32 @@ DESCRIPTOR.message_types_by_name['Point'] = _POINT
DESCRIPTOR.message_types_by_name['PointScan'] = _POINTSCAN
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
Int32Value = _reflection.GeneratedProtocolMessageType('Int32Value', (_message.Message,), dict(
DESCRIPTOR = _INT32VALUE,
__module__ = 'persontracking.lidar_tracker_pb2'
Int32Value = _reflection.GeneratedProtocolMessageType('Int32Value', (_message.Message,), {
'DESCRIPTOR' : _INT32VALUE,
'__module__' : 'tracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.Int32Value)
))
})
_sym_db.RegisterMessage(Int32Value)
Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), dict(
DESCRIPTOR = _EMPTY,
__module__ = 'persontracking.lidar_tracker_pb2'
Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), {
'DESCRIPTOR' : _EMPTY,
'__module__' : 'tracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.Empty)
))
})
_sym_db.RegisterMessage(Empty)
Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), dict(
DESCRIPTOR = _POINT,
__module__ = 'persontracking.lidar_tracker_pb2'
Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), {
'DESCRIPTOR' : _POINT,
'__module__' : 'tracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.Point)
))
})
_sym_db.RegisterMessage(Point)
PointScan = _reflection.GeneratedProtocolMessageType('PointScan', (_message.Message,), dict(
DESCRIPTOR = _POINTSCAN,
__module__ = 'persontracking.lidar_tracker_pb2'
PointScan = _reflection.GeneratedProtocolMessageType('PointScan', (_message.Message,), {
'DESCRIPTOR' : _POINTSCAN,
'__module__' : 'tracking.lidar_tracker_pb2'
# @@protoc_insertion_point(class_scope:persontracking.PointScan)
))
})
_sym_db.RegisterMessage(PointScan)
@@ -199,8 +200,8 @@ _PERSONTRACKING = _descriptor.ServiceDescriptor(
file=DESCRIPTOR,
index=0,
serialized_options=None,
serialized_start=209,
serialized_end=436,
serialized_start=203,
serialized_end=430,
methods=[
_descriptor.MethodDescriptor(
name='set_tracking_group',

26
persontracking/lidar_tracker_pb2_grpc.py → tracking/lidar_tracker_pb2_grpc.py
View File

@@ -1,7 +1,7 @@
# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
import grpc
from persontracking import lidar_tracker_pb2 as persontracking_dot_lidar__tracker__pb2
from tracking import lidar_tracker_pb2 as tracking_dot_lidar__tracker__pb2
class PersonTrackingStub(object):
@@ -16,18 +16,18 @@ class PersonTrackingStub(object):
"""
self.set_tracking_group = channel.unary_unary(
'/persontracking.PersonTracking/set_tracking_group',
request_serializer=persontracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
request_serializer=tracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
response_deserializer=tracking_dot_lidar__tracker__pb2.Empty.FromString,
)
self.stop_tracking = channel.unary_unary(
'/persontracking.PersonTracking/stop_tracking',
request_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
request_serializer=tracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
response_deserializer=tracking_dot_lidar__tracker__pb2.Empty.FromString,
)
self.start_tracking = channel.unary_unary(
'/persontracking.PersonTracking/start_tracking',
request_serializer=persontracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
response_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
request_serializer=tracking_dot_lidar__tracker__pb2.Int32Value.SerializeToString,
response_deserializer=tracking_dot_lidar__tracker__pb2.Empty.FromString,
)
@@ -61,18 +61,18 @@ def add_PersonTrackingServicer_to_server(servicer, server):
rpc_method_handlers = {
'set_tracking_group': grpc.unary_unary_rpc_method_handler(
servicer.set_tracking_group,
request_deserializer=persontracking_dot_lidar__tracker__pb2.Int32Value.FromString,
response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
request_deserializer=tracking_dot_lidar__tracker__pb2.Int32Value.FromString,
response_serializer=tracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
),
'stop_tracking': grpc.unary_unary_rpc_method_handler(
servicer.stop_tracking,
request_deserializer=persontracking_dot_lidar__tracker__pb2.Empty.FromString,
response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
request_deserializer=tracking_dot_lidar__tracker__pb2.Empty.FromString,
response_serializer=tracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
),
'start_tracking': grpc.unary_unary_rpc_method_handler(
servicer.start_tracking,
request_deserializer=persontracking_dot_lidar__tracker__pb2.Int32Value.FromString,
response_serializer=persontracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
request_deserializer=tracking_dot_lidar__tracker__pb2.Int32Value.FromString,
response_serializer=tracking_dot_lidar__tracker__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(