Add SlamController stuff

MotorControl/MotorServer.py

@@ -10,8 +10,9 @@ 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_streamer import SlamStreamer
+import SlamController.SlamController_pb2_grpc as SlamController_pb2_grpc
 
-servo_pin = 18
 
 class MotorServicer(motorService_pb2_grpc.CarControlServicer):
     def __init__(self, motor, servo):
@@ -53,13 +54,17 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
     def start_server(self):
         server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
         motorService_pb2_grpc.add_CarControlServicer_to_server(self, server)
-        # Disable security for local testing.
+        SlamController_pb2_grpc.add_SlamControlServicer_to_server(self.create_slam_servicer(), server)
+        # Disable tls for local testing.
         # server.add_secure_port('[::]:50051', self.create_credentials())
         server.add_insecure_port('[::]:50051')
         server.start()
         while True:
             time.sleep(60*60)
 
+    def create_slam_servicer(self):
+        return SlamStreamer()
+
     def create_credentials(self):
         pvtKeyPath = '/home/pi/tls/device.key'
         pvtCertPath = '/home/pi/tls/device.crt'
@@ -70,7 +75,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         return grpc.ssl_server_credentials([[pvtKeyBytes, pvtCertBytes]])
 
 motor = Motor()
-servo = Servo(servo_pin)
+servo = Servo(18)
 servicer = MotorServicer(motor, servo)
 
 service_thread = Thread(target=servicer.start_server)