Move root car to pycar, put other pycar back to car.

pycar/src/car/controller.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+
+from threading import Timer, Thread
+from concurrent import futures
+import time
+
+import grpc
+
+import car.control.motorService_pb2_grpc as motorService_pb2_grpc
+import car.control.gpio.factory as vehicle_factory
+from car.control.motor_servicer import MotorServicer
+from car.slam.slam_servicer import SlamServicer
+import car.slam.SlamController_pb2_grpc as SlamController_pb2_grpc
+import car.tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
+from car.tracking.lidar_servicer import LidarServicer
+
+
+class CarServer():
+
+    def __init__(self, vehicle):
+        self.vehicle = vehicle
+
+    def start_server(self):
+        server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
+        motorService_pb2_grpc.add_CarControlServicer_to_server(
+            self.create_motor_servicer(), 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 for now.
+        # server.add_secure_port('[::]:50051', self.create_credentials())
+        server.add_insecure_port('[::]:50051')
+        server.start()
+        while True:
+            time.sleep(60*60)
+
+    def create_motor_servicer(self):
+        return MotorServicer(self.vehicle)
+
+    def create_slam_servicer(self):
+        return SlamServicer()
+
+    def create_lidar_servicer(self):
+        return LidarServicer()
+
+    def create_credentials(self):
+        # Relativise this stuff. Should add to source directory.
+        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]])
+
+def main():
+    server = CarServer(vehicle_factory.get_vehicle())
+
+    # Can't remember why I do this, is it even needed?
+    service_thread = Thread(target=server.start_server)
+    service_thread.start()
+
+if __name__ == '__main__':
+    main()