Rename MotorServer and place in root directory.

control/MotorServer.py

@@ -1,88 +0,0 @@
-#!/usr/bin/env python3
-
-from threading import Timer, Thread
-from concurrent import futures
-import time
-
-import grpc
-
-import control.motorService_pb2 as motorService_pb2
-import control.motorService_pb2_grpc as motorService_pb2_grpc
-from control.gpio.vehicle import Vehicle
-from slam.slam_servicer import SlamServicer
-import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
-import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
-from tracking.lidar_servicer import LidarServicer
-
-
-class MotorServicer(motorService_pb2_grpc.CarControlServicer):
-    def __init__(self, vehicle):
-        self.vehicle = vehicle
-        self._timer = None
-
-    def SetThrottle(self, request, context):
-        # gRPC streams currently don't work between python and android.
-        # If we don't get a response every 3 seconds, stop the car.
-        print('Setting throttle to: ' + str(request.throttle))
-        self.set_timeout(3)
-        self.vehicle.throttle = request.throttle
-        return motorService_pb2.ThrottleResponse(throttleSet=True)
-
-    def SetSteering(self, request, context):
-        print('Setting steering to: ' + str(request.steering))
-        self.vehicle.steering = request.steering
-        return motorService_pb2.SteeringResponse(steeringSet=True)
-
-    def set_timeout(self, min_timeout):
-        """Stops the old timer and restarts it to the specified time.
-
-        min_timeout -- The minimum time that can be used for the timer.
-        """
-        if self._timer is not None:
-            self._timer.cancel()
-        self._timer = Timer(min_timeout, self.timeout_elapsed)
-        self._timer.start()
-
-    def timeout_elapsed(self):
-        """Election or heartbeat timeout has elapsed."""
-        print("Node timeout elapsed")
-        self.vehicle.stop()
-
-    def start_server(self):
-        server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
-        motorService_pb2_grpc.add_CarControlServicer_to_server(self, server)
-        SlamController_pb2_grpc.add_SlamControlServicer_to_server(
-            self.create_slam_servicer(), server)
-        lidar_tracker_pb2_grpc.add_PersonTrackingServicer_to_server(
-            self.create_lidar_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 SlamServicer('/dev/ttyUSB0')
-
-    def create_lidar_servicer(self):
-        return LidarServicer()
-
-    def create_credentials(self):
-        # Relativise this stuff.
-        pvtKeyPath = '/home/pi/tls/device.key'
-        pvtCertPath = '/home/pi/tls/device.crt'
-
-        pvtKeyBytes = open(pvtKeyPath, 'rb').read()
-        pvtCertBytes = open(pvtCertPath, 'rb').read()
-
-        return grpc.ssl_server_credentials([[pvtKeyBytes, pvtCertBytes]])
-
-
-if __name__ == '__main__':
-    vehicle = Vehicle()
-    servicer = MotorServicer(vehicle)
-
-    # Can't remember why I do this, is it even needed?
-    service_thread = Thread(target=servicer.start_server)
-    service_thread.start()