Use the throttle as the heartbeat message.

MotorControl/MotorServer.py

@@ -16,6 +16,10 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         self._timer = None
 
     def SetThrottle(self, request, context):
+                # If we don't get a response every 3 seconds, stop the car.
+        # This isn't a stream right now, however may change it to be so since we'll constantly
+        # be sending values...
+        self.set_timeout(timeout_length)
         return motorService_pb2.ThrottleResponse(throttleSet = (True if self.motor.set_throttle(request.throttle) else False))
 
     def SetSteering(self, request, context):
@@ -23,12 +27,6 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         self.servo.value = request.steering
         return motorService_pb2.SteeringResponse(steeringSet = True)
 
-    def Heartbeat(self, request, context):
-        # If we don't get a response every 3 seconds, stop the car.
-        # This isn't a stream right now, however may change it to be so since we'll constantly
-        # be sending values...
-        self.set_timeout(timeout_length)
-
     def set_timeout(self, min_timeout):
         """Stops the old timer and restarts it to the specified time.
         

MotorControl/motorService_pb2.py

@@ -20,7 +20,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   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\"\"\n\x0eHeartbeatCheck\x12\x10\n\x08\x63ontinue\x18\x01 \x01(\x08\".\n\x16HeartbeatCheckResponse\x12\x14\n\x0c\x65rrorMessage\x18\x01 \x01(\t2\x81\x02\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\x12S\n\tHeartbeat\x12\x1c.MotorControl.HeartbeatCheck\x1a$.MotorControl.HeartbeatCheckResponse\"\x00(\x01\x62\x06proto3')
+  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\xae\x01\n\nCarControl\x12P\n\x0bSetThrottle\x12\x1d.MotorControl.ThrottleRequest\x1a\x1e.MotorControl.ThrottleResponse\"\x00(\x01\x12N\n\x0bSetSteering\x12\x1d.MotorControl.SteeringRequest\x1a\x1e.MotorControl.SteeringResponse\"\x00\x62\x06proto3')
 )
 
 
@@ -149,74 +149,10 @@ _STEERINGRESPONSE = _descriptor.Descriptor(
   serialized_end=190,
 )
 
-
-_HEARTBEATCHECK = _descriptor.Descriptor(
-  name='HeartbeatCheck',
-  full_name='MotorControl.HeartbeatCheck',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='continue', full_name='MotorControl.HeartbeatCheck.continue', index=0,
-      number=1, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=192,
-  serialized_end=226,
-)
-
-
-_HEARTBEATCHECKRESPONSE = _descriptor.Descriptor(
-  name='HeartbeatCheckResponse',
-  full_name='MotorControl.HeartbeatCheckResponse',
-  filename=None,
-  file=DESCRIPTOR,
-  containing_type=None,
-  fields=[
-    _descriptor.FieldDescriptor(
-      name='errorMessage', full_name='MotorControl.HeartbeatCheckResponse.errorMessage', index=0,
-      number=1, type=9, cpp_type=9, label=1,
-      has_default_value=False, default_value=_b("").decode('utf-8'),
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-  ],
-  extensions=[
-  ],
-  nested_types=[],
-  enum_types=[
-  ],
-  serialized_options=None,
-  is_extendable=False,
-  syntax='proto3',
-  extension_ranges=[],
-  oneofs=[
-  ],
-  serialized_start=228,
-  serialized_end=274,
-)
-
 DESCRIPTOR.message_types_by_name['ThrottleRequest'] = _THROTTLEREQUEST
 DESCRIPTOR.message_types_by_name['ThrottleResponse'] = _THROTTLERESPONSE
 DESCRIPTOR.message_types_by_name['SteeringRequest'] = _STEERINGREQUEST
 DESCRIPTOR.message_types_by_name['SteeringResponse'] = _STEERINGRESPONSE
-DESCRIPTOR.message_types_by_name['HeartbeatCheck'] = _HEARTBEATCHECK
-DESCRIPTOR.message_types_by_name['HeartbeatCheckResponse'] = _HEARTBEATCHECKRESPONSE
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 ThrottleRequest = _reflection.GeneratedProtocolMessageType('ThrottleRequest', (_message.Message,), {
@@ -247,20 +183,6 @@ SteeringResponse = _reflection.GeneratedProtocolMessageType('SteeringResponse',
   })
 _sym_db.RegisterMessage(SteeringResponse)
 
-HeartbeatCheck = _reflection.GeneratedProtocolMessageType('HeartbeatCheck', (_message.Message,), {
-  'DESCRIPTOR' : _HEARTBEATCHECK,
-  '__module__' : 'motorService_pb2'
-  # @@protoc_insertion_point(class_scope:MotorControl.HeartbeatCheck)
-  })
-_sym_db.RegisterMessage(HeartbeatCheck)
-
-HeartbeatCheckResponse = _reflection.GeneratedProtocolMessageType('HeartbeatCheckResponse', (_message.Message,), {
-  'DESCRIPTOR' : _HEARTBEATCHECKRESPONSE,
-  '__module__' : 'motorService_pb2'
-  # @@protoc_insertion_point(class_scope:MotorControl.HeartbeatCheckResponse)
-  })
-_sym_db.RegisterMessage(HeartbeatCheckResponse)
-
 
 
 _CARCONTROL = _descriptor.ServiceDescriptor(
@@ -269,8 +191,8 @@ _CARCONTROL = _descriptor.ServiceDescriptor(
   file=DESCRIPTOR,
   index=0,
   serialized_options=None,
-  serialized_start=277,
+  serialized_start=193,
-  serialized_end=534,
+  serialized_end=367,
   methods=[
   _descriptor.MethodDescriptor(
     name='SetThrottle',
@@ -290,15 +212,6 @@ _CARCONTROL = _descriptor.ServiceDescriptor(
     output_type=_STEERINGRESPONSE,
     serialized_options=None,
   ),
-  _descriptor.MethodDescriptor(
-    name='Heartbeat',
-    full_name='MotorControl.CarControl.Heartbeat',
-    index=2,
-    containing_service=None,
-    input_type=_HEARTBEATCHECK,
-    output_type=_HEARTBEATCHECKRESPONSE,
-    serialized_options=None,
-  ),
 ])
 _sym_db.RegisterServiceDescriptor(_CARCONTROL)
 

MotorControl/motorService_pb2_grpc.py

@@ -14,7 +14,7 @@ class CarControlStub(object):
     Args:
       channel: A grpc.Channel.
     """
-    self.SetThrottle = channel.unary_unary(
+    self.SetThrottle = channel.stream_unary(
         '/MotorControl.CarControl/SetThrottle',
         request_serializer=motorService__pb2.ThrottleRequest.SerializeToString,
         response_deserializer=motorService__pb2.ThrottleResponse.FromString,
@@ -24,18 +24,13 @@ class CarControlStub(object):
         request_serializer=motorService__pb2.SteeringRequest.SerializeToString,
         response_deserializer=motorService__pb2.SteeringResponse.FromString,
         )
-    self.Heartbeat = channel.stream_unary(
-        '/MotorControl.CarControl/Heartbeat',
-        request_serializer=motorService__pb2.HeartbeatCheck.SerializeToString,
-        response_deserializer=motorService__pb2.HeartbeatCheckResponse.FromString,
-        )
 
 
 class CarControlServicer(object):
   # missing associated documentation comment in .proto file
   pass
 
-  def SetThrottle(self, request, context):
+  def SetThrottle(self, request_iterator, context):
     # missing associated documentation comment in .proto file
     pass
     context.set_code(grpc.StatusCode.UNIMPLEMENTED)
@@ -49,17 +44,10 @@ class CarControlServicer(object):
     context.set_details('Method not implemented!')
     raise NotImplementedError('Method not implemented!')
 
-  def Heartbeat(self, request_iterator, context):
-    # missing associated documentation comment in .proto file
-    pass
-    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-    context.set_details('Method not implemented!')
-    raise NotImplementedError('Method not implemented!')
-
 
 def add_CarControlServicer_to_server(servicer, server):
   rpc_method_handlers = {
-      'SetThrottle': grpc.unary_unary_rpc_method_handler(
+      'SetThrottle': grpc.stream_unary_rpc_method_handler(
           servicer.SetThrottle,
           request_deserializer=motorService__pb2.ThrottleRequest.FromString,
           response_serializer=motorService__pb2.ThrottleResponse.SerializeToString,
@@ -69,11 +57,6 @@ def add_CarControlServicer_to_server(servicer, server):
           request_deserializer=motorService__pb2.SteeringRequest.FromString,
           response_serializer=motorService__pb2.SteeringResponse.SerializeToString,
       ),
-      'Heartbeat': grpc.stream_unary_rpc_method_handler(
-          servicer.Heartbeat,
-          request_deserializer=motorService__pb2.HeartbeatCheck.FromString,
-          response_serializer=motorService__pb2.HeartbeatCheckResponse.SerializeToString,
-      ),
   }
   generic_handler = grpc.method_handlers_generic_handler(
       'MotorControl.CarControl', rpc_method_handlers)

MotorControl/protos/motorService.proto

@@ -18,16 +18,7 @@ message SteeringResponse{
     bool steeringSet = 1;
 }
 
-message HeartbeatCheck{
-    bool continue = 1;
-}
-
-message HeartbeatCheckResponse{
-    string errorMessage = 1;
-}
-
 service CarControl{
-    rpc SetThrottle(ThrottleRequest) returns (ThrottleResponse){}
+    rpc SetThrottle(stream ThrottleRequest) returns (ThrottleResponse){}
     rpc SetSteering(SteeringRequest) returns (SteeringResponse){}
-    rpc Heartbeat(HeartbeatCheck) returns (HeartbeatCheckResponse){}
 }