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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
View File

@@ -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):
''' '''
@@ -31,6 +31,8 @@ class SlamStreamer:
to calling this method, and changing those values after to calling this method, and changing those values after
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))