Refactor python module structure

Messaging/clientEx copy.py

@@ -1,58 +0,0 @@
-import umsgpack
-import paho.mqtt.client as mqtt
-import time
-import ssl
-import json
-
-cfg = None
-with open('config.json') as json_config:
-    cfg = json.load(json_config)
-connected = False
-
-def on_connect(client, userdata, flags, rc):
-    print("Connected with result code " + str(rc))
-    if rc == 0:
-        global connected
-        connected = True
-
-    client.subscribe('hello/test', qos=1)
-
-def on_message(client, userdata, message):
-    p = umsgpack.unpackb(message.payload)
-    print("Received message '" + p["message"] + "' on topic '" 
-    + message.topic + "' with QoS " + str(message.qos))
-
-def on_disconnect(client, userdata, rc):
-    if rc != 0:
-        print("Unexpected disconnection.")
-
-mqttc = mqtt.Client()
-
-# mqttc.tls_set_context(context = ssl.create_default_context())
-
-mqttc.on_connect = on_connect
-mqttc.on_disconnect = on_disconnect
-mqttc.on_message = on_message
-
-mqttc.connect(cfg["mqtt"]["host"], cfg["mqtt"]["port"], cfg["mqtt"]["timeout"])
-
-mqttc.loop_start()
-
-# mqttc.will_set("hello/test", "Disconnected", )
-
-pub = input("Enter something to publish: ")
-
-while pub != 'q':
-    if(connected):
-        pub = umsgpack.packb({"message":pub})
-        mqttc.publish('hello/test', pub)
-        pub = input("Enter something to publish: ")
-        print('Message is: ' + pub)
-    else:
-        pub = input('Would you like to reconnect? ')
-        if pub == 'y':
-            mqttc.reconnect()
-        time.sleep(2)
-
-mqttc.loop_stop()
-mqttc.disconnect()

Messaging/clientEx.py

@@ -1,42 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-Created on Tue Nov 27 14:17:45 2018
-
-@author: pivatom
-"""
-
-import paho.mqtt.client as mqtt
-
-# These are just the defaults.
-mqttc = mqtt.Client(client_id="", clean_session=True, userdata=None, protocol=MQTTv311, transport="tcp")
-
-mqttc.tls_set(ca_certs=None, certfile=None, keyfile=None, cert_reqs=ssl.CERT_REQUIRED,
-    tls_version=ssl.PROTOCOL_TLS, ciphers=None)
-
-# Use port 8883 for SSL
-# Host is just an ip address or hostname of the broker.
-mqttc.connect(host, port=1883, keepalive=60, bind_address="")
-
-# Topic is a string of the topic to publish to.
-mqttc.publish(topic, payload=None, qos=0, retain=False)
-
-# Just subscribe to a topic.
-mqttc.subscribe(topic, qos=0)
-
-def on_message(client, userdata, message):
-    '''
-    Do something with the message. Choose based on what the topic is.
-
-    Can also just assign different callback functions for different topics 
-    using message_callback_add(sub, callback)
-    '''
-    print("Received message '" + str(message.payload) + "' on topic '"
-        + message.topic + "' with QoS " + str(message.qos))
-
-mqttc.on_message = on_message
-
-# Or for specific callback:
-# Can use foo/# for all subtopics of foo/, or
-# +/bar for all topics that include bar.
-mqttc.message_callback_add(sub, on_message)
-

control/MotorServer.py

@@ -7,11 +7,11 @@ import time
 
 import grpc
 
-import MotorControl.motorService_pb2 as motorService_pb2
-import MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
-from MotorControl.gpiozero.motor_session import Motor
-from SlamController.slam_servicer import SlamServicer
-import SlamController.SlamController_pb2_grpc as SlamController_pb2_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):

control/motorService_pb2_grpc.py

@@ -1,7 +1,7 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 import grpc
 
-import motorService_pb2 as motorService__pb2
+import control.motorService_pb2 as motorService__pb2
 
 
 class CarControlStub(object):

slam/slam_servicer.py

@@ -1,10 +1,10 @@
-from . import SlamController_pb2_grpc
-from . import SlamController_pb2
-from . import slam_streamer as slam
+import slam.SlamController_pb2_grpc as grpc
+import slam.SlamController_pb2 as proto
+import slam.slam_streamer as slam
 from multiprocessing import Process
 
 
-class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
+class SlamServicer(grpc.SlamControlServicer):
     slam_thread = None
 
     def __init__(self, lidar_connection):
@@ -21,11 +21,11 @@ class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
             self.slam.map_meters = request.map_size_meters
             self.slam_thread = Process(target=self.slam.start)
             self.slam_thread.start()
-        return SlamController_pb2.Empty()
+        return proto.Empty()
 
     def stop_streaming(self, request, context):
         if self.slam_thread is not None:
             self.slam.stop_scanning()
             self.slam_thread.join()
             self.slam = None
-        return SlamController_pb2.Empty()
+        return proto.Empty()

slam/slam_streamer.py

@@ -3,8 +3,8 @@ from breezyslam.algorithms import RMHC_SLAM
 from breezyslam.sensors import RPLidarA1 as LaserModel
 from rplidar import RPLidar as Lidar
 from .SlamController_pb2 import SlamScan, SlamLocation
-import Messaging.message_factory as mf
-import Messaging.messages as messages
+import messaging.message_factory as mf
+import messaging.messages as messages
 
 
 # Left here as was used in the example, configure as necessary.

tracking/lidar_cache.py

@@ -1,8 +1,8 @@
 import rplidar
 from rplidar import RPLidar
 from threading import Thread
-from persontracking import algorithms
-import persontracking.lidar_tracker_pb2 as tracker_pb
+from tracking import algorithms
+import tracking.lidar_tracker_pb2 as tracker_pb
 import zmq
 import Messaging.message_factory as mf
 import Messaging.messages as messages

tracking/lidar_servicer.py

@@ -1,6 +1,6 @@
-import persontracking.lidar_tracker_pb2 as lidar_tracker_pb2
-from persontracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
-from persontracking.lidar_cache import LidarCache
+import tracking.lidar_tracker_pb2 as lidar_tracker_pb2
+from tracking.lidar_tracker_pb2_grpc import PersonTrackingServicer
+from tracking.lidar_cache import LidarCache
 from multiprocessing import Process
 
 

tracking/lidar_tracker_pb2_grpc.py

@@ -1,7 +1,7 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 import grpc
 
-from persontracking import lidar_tracker_pb2 as persontracking_dot_lidar__tracker__pb2
+from tracking import lidar_tracker_pb2 as persontracking_dot_lidar__tracker__pb2
 
 
 class PersonTrackingStub(object):