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iOS simple controller works

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Piv
2020-05-06 21:44:42 +09:30
parent 9376bd70ed
commit 4b3b960d22
7 changed files with 90 additions and 97 deletions
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67
CarControlleriOS/CarController/PiLoader.swift
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@@ -15,42 +15,32 @@ class PiLoader: ObservableObject {
// Find a cleaner way to handle these properties
@Published var throttle: Float = 0.5
@Published var steering: Float = 0.5
let port: Int = 50051
var stopped = false
func makeClient(port: Int, group: EventLoopGroup) -> MotorControl_CarControlClient {
let channel = ClientConnection.insecure(group: group)
// TODO: Pass the host in based on the settings.
.connect(host: "10.0.0.55", port: port)
return MotorControl_CarControlClient(channel: channel)
}
func startUpdating() {
let group = MultiThreadedEventLoopGroup(numberOfThreads: 1)
defer {
try? group.syncShutdownGracefully()
}
let client = makeClient(port: self.port, group: group)
let options = CallOptions(timeout: .seconds(rounding: 10))
let call = client.stream_vehicle_2d(callOptions: options)
call.response.whenFailure { error in
print("RecordRoute Failed: \(error)")
self.stop()
}
call.status.whenComplete { _ in
print("Finished RecordRoute")
self.stop()
}
call.response.whenSuccess { summary in
print("Finished")
self.stop()
}
DispatchQueue.global(qos: .userInteractive).async{
func startUpdating(forPort port: Int, atHost host: String) {
DispatchQueue.global(qos: .background).async{
let group = PlatformSupport.makeEventLoopGroup(loopCount: 1)
defer {
try? group.syncShutdownGracefully()
}
let client = makeClient(port: port, host: host, group: group)
let options = CallOptions(timeout: .seconds(rounding: 10))
let call = client.stream_vehicle_2d(callOptions: options)
call.response.whenFailure { error in
print("Failed: \(error)")
self.stop()
}
call.status.whenComplete { _ in
print("Finished")
self.stop()
}
call.response.whenSuccess { summary in
print("Finished")
self.stop()
}
// Running in background. Do the update thread stuff.
while (!self.stopped){
call.sendMessage(self.createProto(), promise: nil)
@@ -74,3 +64,12 @@ class PiLoader: ObservableObject {
}
}
}
func makeClient(port: Int, host: String, group: EventLoopGroup) -> MotorControl_CarControlClient {
let channel = ClientConnection.insecure(group: group)
// TODO: Pass the host in based on the settings.
.connect(host: host, port: port)
return MotorControl_CarControlClient(channel: channel)
}