From 5024796785088d336f0c9e24fb39c73af93d1981 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Thu, 14 Nov 2019 18:50:26 +1030
Subject: [PATCH] Fix server, add dummy python controller.

---
 MotorControl/MotorServer.py            |  6 ++---
 MotorControl/PythonRemoteController.py | 34 +++++++-------------------
 MotorControl/motorService_pb2_grpc.py  |  2 +-
 3 files changed, 13 insertions(+), 29 deletions(-)

diff --git a/MotorControl/MotorServer.py b/MotorControl/MotorServer.py
index e042e5a..fbceb20 100755
--- a/MotorControl/MotorServer.py
+++ b/MotorControl/MotorServer.py
@@ -14,7 +14,7 @@ servo_pin = 18
 timeout_length = 3
 
 motor = Motor()
-servo = Servo()
+servo = Servo(servo_pin)
 
 class MotorServicer(motorService_pb2_grpc.CarControlServicer):
     def __init__(self):
@@ -24,7 +24,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         self._timer = None
 
     def SetThrottle(self, request_iterator, context):
-                # If we don't get a response every 3 seconds, stop the car.
+        # 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...
         throttleFailed = False
@@ -58,7 +58,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         self.motor.stop()
 
     def start_server(self):
-        server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
+        server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
         motorService_pb2_grpc.add_CarControlServicer_to_server(MotorServicer(), server)
         server.add_insecure_port('[::]:50051')
         server.start()
diff --git a/MotorControl/PythonRemoteController.py b/MotorControl/PythonRemoteController.py
index ab4e20d..4777853 100644
--- a/MotorControl/PythonRemoteController.py
+++ b/MotorControl/PythonRemoteController.py
@@ -2,10 +2,9 @@ print("Connecting to pi")
 
 import grpc
 from concurrent import futures
-from .MotorServer import MotorServicer
-from . import motorService_pb2_grpc
-import random
-from threading import Timer
+import motorService_pb2_grpc
+from motorService_pb2 import ThrottleRequest
+import time
 
 throttle = 0
 timer = None
@@ -21,30 +20,15 @@ class ThrottleIterator:
     def __next__(self):
         if throttle > 1 or throttle < -1:
             raise StopIteration
-        return throttle
+        time.sleep(1)
+        return ThrottleRequest(throttle=throttle)
 
 
-def serve():
-  server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
-  motorService_pb2_grpc.add_CarControlServicer_to_server(
-      MotorServicer(), server)
-  server.add_insecure_port('[::]:50051')
-  server.start()
-
-def resetThrottle():
-    global throttle
-    throttle = random.random() * 2 - 1
-    global timer
-    if timer is not None:
-        timer.cancel()
-    timer = Timer(10, resetThrottle)
-
-serve()
-
-timer = Timer(10, resetThrottle)
-
-channel = grpc.insecure_channel('localhost:50051')
+channel = grpc.insecure_channel('10.0.0.53:50051')
 stub = motorService_pb2_grpc.CarControlStub(channel)
 
 stub.SetThrottle(ThrottleIterator())
 
+while True:
+    inp = int(input('Please enter a value for the throttle between -100 and 100'))
+    throttle = inp / 100
diff --git a/MotorControl/motorService_pb2_grpc.py b/MotorControl/motorService_pb2_grpc.py
index 93e3a6d..e6b1eff 100644
--- a/MotorControl/motorService_pb2_grpc.py
+++ b/MotorControl/motorService_pb2_grpc.py
@@ -1,7 +1,7 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 import grpc
 
-import car.MotorControl.motorService_pb2 as motorService__pb2
+import MotorControl.motorService_pb2 as motorService__pb2
 
 
 class CarControlStub(object):