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Merge remote-tracking branch 'origin/master'

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Piv
2020-02-12 20:30:08 +10:30
parent 1d69b7cbbb 5993dc2072
commit 852767b6f2
2 changed files with 7 additions and 5 deletions
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4
MotorControl/MotorServer.py
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@@ -10,7 +10,7 @@ import grpc
import MotorControl.motorService_pb2 as motorService_pb2 import MotorControl.motorService_pb2 as motorService_pb2
import MotorControl.motorService_pb2_grpc as motorService_pb2_grpc import MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
from MotorControl.gpiozero.motor_session import Motor from MotorControl.gpiozero.motor_session import Motor
from SlamController.slam_streamer import SlamStreamer from SlamController.slam_servicer import SlamServicer
import SlamController.SlamController_pb2_grpc as SlamController_pb2_grpc import SlamController.SlamController_pb2_grpc as SlamController_pb2_grpc
@@ -63,7 +63,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
time.sleep(60*60) time.sleep(60*60)
def create_slam_servicer(self): def create_slam_servicer(self):
return SlamStreamer() return SlamServicer('/dev/ttyUSB0')
def create_credentials(self): def create_credentials(self):
pvtKeyPath = '/home/pi/tls/device.key' pvtKeyPath = '/home/pi/tls/device.key'

8
SlamController/slam_streamer.py
View File

@@ -18,7 +18,7 @@ class SlamStreamer:
self._map_meters = map_meters self._map_meters = map_meters
self._lidar_connection = lidar_connection self._lidar_connection = lidar_connection
self._port = port self._port = port
self._socket = self._start_socket(self._create_tcp_pub_socket(), port) self._zmq_context = self._create_context()
def start(self): def start(self):
''' '''
@@ -32,6 +32,8 @@ class SlamStreamer:
calling this method will have no effect. calling this method will have no effect.
''' '''
self._socket = self._start_socket(self._create_socket(self._zmq_context), self._port)
# Block until user opens zmq. # Block until user opens zmq.
self._socket.recv() self._socket.recv()
@@ -80,8 +82,8 @@ class SlamStreamer:
def _create_context(self): def _create_context(self):
return zmq.Context.instance() return zmq.Context.instance()
def _create_tcp_pub_socket(self): def _create_socket(self, context):
return self._create_context().socket(zmq.PAIR) return context.socket(zmq.PAIR)
def _start_socket(self, socket, port): def _start_socket(self, socket, port):
socket.bind('tcp://*:' + str(self._port)) socket.bind('tcp://*:' + str(self._port))