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Use the throttle as the heartbeat message.

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This commit is contained in:
Piv
2019-09-22 19:45:49 +09:30
parent d14bae53f6
commit 37622b58f8
4 changed files with 11 additions and 126 deletions
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10
MotorControl/MotorServer.py
View File

@@ -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.

93
MotorControl/motorService_pb2.py
View File

@@ -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_end=534,
serialized_start=193,
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)

23
MotorControl/motorService_pb2_grpc.py
View File

@@ -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)

11
MotorControl/protos/motorService.proto
View File

@@ -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){}
}