Refactor python module structure

control/MotorServer.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+
+from threading import Timer, Thread
+from gpiozero import Servo, Device
+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.gpiozero.motor_session import Motor
+from slam.slam_servicer import SlamServicer
+import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
+
+
+class MotorServicer(motorService_pb2_grpc.CarControlServicer):
+    def __init__(self, motor, servo):
+        self.motor = motor
+        self.servo = servo
+        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.
+        throttleFailed = False
+        print('Setting throttle to: ' + str(request.throttle))
+        self.set_timeout(3)
+        throttleFailed = self.motor.set_throttle(request.throttle)
+        return motorService_pb2.ThrottleResponse(throttleSet=throttleFailed)
+
+    def SetSteering(self, request, context):
+        # TODO: Fix this to use the motor object as well to check for bounds.
+        print('Setting steering to: ' + str(request.steering))
+        self.servo.value = 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.motor.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)
+        # 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_credentials(self):
+        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]])
+
+
+motor = Motor()
+servo = Servo(18)
+servicer = MotorServicer(motor, servo)
+
+service_thread = Thread(target=servicer.start_server)
+service_thread.start()

control/PythonRemoteController.py

@@ -0,0 +1,33 @@
+print("Connecting to pi")
+
+import grpc
+from concurrent import futures
+import motorService_pb2_grpc
+from motorService_pb2 import SteeringRequest, ThrottleRequest
+import time
+
+throttle = 0.1
+timer = None
+
+class ThrottleIterator:
+    '''
+    Class to get the current throttle for the car.
+    Will return a random throttle between 
+    '''
+    def __iter__(self):
+       return self
+
+    def __next__(self):
+        if throttle > 1 or throttle < -1:
+            raise StopIteration
+        time.sleep(1)
+        return ThrottleRequest(throttle=throttle)
+
+
+channel = grpc.insecure_channel('10.0.0.53:50051')
+stub = motorService_pb2_grpc.CarControlStub(channel)
+
+response = stub.SetThrottle(ThrottleIterator())
+
+while True:
+    throttle = int(input('Please enter a value for the throttle between -100 and 100'))

control/gpiozero/motor_session.py

@@ -0,0 +1,43 @@
+from gpiozero import Servo, Device
+from gpiozero.pins.pigpio import PiGPIOFactory
+import subprocess
+
+class Motor:
+    def __init__(self, motor_pin=19):
+        subprocess.call(['sudo', 'pigpiod'])
+        Device.pin_factory = PiGPIOFactory()
+        print('Using pin factory:')
+        print(Device.pin_factory)
+        self.set_motor_pin(motor_pin)
+        self.initialise_motor()
+
+    def initialise_motor(self):
+        if self._motor_pin is None:
+            print("Motor pin number is not set.")
+            return
+        self._servo = Servo(self._motor_pin, pin_factory=Device.pin_factory)
+
+    def set_throttle(self, throttle):
+        try:
+            if throttle < -1 or throttle > 1:
+                print("Not setting throttle, invalid value set.")
+                return False
+            self._servo.value = throttle
+        except TypeError:
+            print("throttle should be a number, preferably a float.")
+            return False
+        return True
+
+    def set_motor_pin(self, value):
+        if isinstance(value, int):
+            if value < 2 or value > 21:
+                print("Invalid GPIO pin")
+                return False
+            self._motor_pin = value
+            return True
+        else:
+            print("Value must be an int.")
+            return False
+
+    def stop(self):
+        self.set_throttle(0)

control/motorService_pb2.py

@@ -0,0 +1,220 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: motorService.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='motorService.proto',
+  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\x32\xac\x01\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\x62\x06proto3')
+)
+
+
+
+
+_THROTTLEREQUEST = _descriptor.Descriptor(
+  name='ThrottleRequest',
+  full_name='MotorControl.ThrottleRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='throttle', full_name='MotorControl.ThrottleRequest.throttle', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      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=36,
+  serialized_end=71,
+)
+
+
+_THROTTLERESPONSE = _descriptor.Descriptor(
+  name='ThrottleResponse',
+  full_name='MotorControl.ThrottleResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='throttleSet', full_name='MotorControl.ThrottleResponse.throttleSet', 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=73,
+  serialized_end=112,
+)
+
+
+_STEERINGREQUEST = _descriptor.Descriptor(
+  name='SteeringRequest',
+  full_name='MotorControl.SteeringRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='steering', full_name='MotorControl.SteeringRequest.steering', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      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=114,
+  serialized_end=149,
+)
+
+
+_STEERINGRESPONSE = _descriptor.Descriptor(
+  name='SteeringResponse',
+  full_name='MotorControl.SteeringResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='steeringSet', full_name='MotorControl.SteeringResponse.steeringSet', 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=151,
+  serialized_end=190,
+)
+
+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
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+ThrottleRequest = _reflection.GeneratedProtocolMessageType('ThrottleRequest', (_message.Message,), {
+  'DESCRIPTOR' : _THROTTLEREQUEST,
+  '__module__' : 'motorService_pb2'
+  # @@protoc_insertion_point(class_scope:MotorControl.ThrottleRequest)
+  })
+_sym_db.RegisterMessage(ThrottleRequest)
+
+ThrottleResponse = _reflection.GeneratedProtocolMessageType('ThrottleResponse', (_message.Message,), {
+  'DESCRIPTOR' : _THROTTLERESPONSE,
+  '__module__' : 'motorService_pb2'
+  # @@protoc_insertion_point(class_scope:MotorControl.ThrottleResponse)
+  })
+_sym_db.RegisterMessage(ThrottleResponse)
+
+SteeringRequest = _reflection.GeneratedProtocolMessageType('SteeringRequest', (_message.Message,), {
+  'DESCRIPTOR' : _STEERINGREQUEST,
+  '__module__' : 'motorService_pb2'
+  # @@protoc_insertion_point(class_scope:MotorControl.SteeringRequest)
+  })
+_sym_db.RegisterMessage(SteeringRequest)
+
+SteeringResponse = _reflection.GeneratedProtocolMessageType('SteeringResponse', (_message.Message,), {
+  'DESCRIPTOR' : _STEERINGRESPONSE,
+  '__module__' : 'motorService_pb2'
+  # @@protoc_insertion_point(class_scope:MotorControl.SteeringResponse)
+  })
+_sym_db.RegisterMessage(SteeringResponse)
+
+
+
+_CARCONTROL = _descriptor.ServiceDescriptor(
+  name='CarControl',
+  full_name='MotorControl.CarControl',
+  file=DESCRIPTOR,
+  index=0,
+  serialized_options=None,
+  serialized_start=193,
+  serialized_end=365,
+  methods=[
+  _descriptor.MethodDescriptor(
+    name='SetThrottle',
+    full_name='MotorControl.CarControl.SetThrottle',
+    index=0,
+    containing_service=None,
+    input_type=_THROTTLEREQUEST,
+    output_type=_THROTTLERESPONSE,
+    serialized_options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='SetSteering',
+    full_name='MotorControl.CarControl.SetSteering',
+    index=1,
+    containing_service=None,
+    input_type=_STEERINGREQUEST,
+    output_type=_STEERINGRESPONSE,
+    serialized_options=None,
+  ),
+])
+_sym_db.RegisterServiceDescriptor(_CARCONTROL)
+
+DESCRIPTOR.services_by_name['CarControl'] = _CARCONTROL
+
+# @@protoc_insertion_point(module_scope)

control/motorService_pb2_grpc.py

@@ -0,0 +1,63 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+import grpc
+
+import control.motorService_pb2 as motorService__pb2
+
+
+class CarControlStub(object):
+  # missing associated documentation comment in .proto file
+  pass
+
+  def __init__(self, channel):
+    """Constructor.
+
+    Args:
+      channel: A grpc.Channel.
+    """
+    self.SetThrottle = channel.unary_unary(
+        '/MotorControl.CarControl/SetThrottle',
+        request_serializer=motorService__pb2.ThrottleRequest.SerializeToString,
+        response_deserializer=motorService__pb2.ThrottleResponse.FromString,
+        )
+    self.SetSteering = channel.unary_unary(
+        '/MotorControl.CarControl/SetSteering',
+        request_serializer=motorService__pb2.SteeringRequest.SerializeToString,
+        response_deserializer=motorService__pb2.SteeringResponse.FromString,
+        )
+
+
+class CarControlServicer(object):
+  # missing associated documentation comment in .proto file
+  pass
+
+  def SetThrottle(self, request, 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 SetSteering(self, request, 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(
+          servicer.SetThrottle,
+          request_deserializer=motorService__pb2.ThrottleRequest.FromString,
+          response_serializer=motorService__pb2.ThrottleResponse.SerializeToString,
+      ),
+      'SetSteering': grpc.unary_unary_rpc_method_handler(
+          servicer.SetSteering,
+          request_deserializer=motorService__pb2.SteeringRequest.FromString,
+          response_serializer=motorService__pb2.SteeringResponse.SerializeToString,
+      ),
+  }
+  generic_handler = grpc.method_handlers_generic_handler(
+      'MotorControl.CarControl', rpc_method_handlers)
+  server.add_generic_rpc_handlers((generic_handler,))