Simple Controller UI/gRPC working

CarControlleriOS/CarController/PiLoader.swift

@@ -0,0 +1,76 @@
+//
+//  PiLoader.swift
+//  CarController
+//
+//  Created by Michael Pivato on 4/5/20.
+//  Copyright © 2020 Michael Pivato. All rights reserved.
+//
+
+import Foundation
+import SwiftUI
+import GRPC
+import NIO
+
+class PiLoader: ObservableObject {
+    // Find a cleaner way to handle these properties
+    @Published var throttle: Float = 0.5
+    @Published var steering: Float = 0.5
+    let port: Int = 50051
+    var stopped = false
+    
+    func makeClient(port: Int, group: EventLoopGroup) -> MotorControl_CarControlClient {
+        let channel = ClientConnection.insecure(group: group)
+            // TODO: Pass the host in based on the settings.
+            .connect(host: "10.0.0.55", port: port)
+        
+        return MotorControl_CarControlClient(channel: channel)
+    }
+    
+    func startUpdating() {
+        let group = MultiThreadedEventLoopGroup(numberOfThreads: 1)
+        defer {
+            try? group.syncShutdownGracefully()
+        }
+        let client = makeClient(port: self.port, group: group)
+        let options = CallOptions(timeout: .seconds(rounding: 10))
+        let call = client.stream_vehicle_2d(callOptions: options)
+        
+        call.response.whenFailure { error in
+            print("RecordRoute Failed: \(error)")
+            self.stop()
+        }
+        
+        call.status.whenComplete { _ in
+            print("Finished RecordRoute")
+            self.stop()
+        }
+        
+        call.response.whenSuccess { summary in
+            print("Finished")
+            self.stop()
+        }
+        
+        DispatchQueue.global(qos: .userInteractive).async{
+            // Running in background. Do the update thread stuff.
+            while (!self.stopped){
+                call.sendMessage(self.createProto(), promise: nil)
+                Thread.sleep(forTimeInterval: 0.2)
+            }
+        }
+    }
+    
+    func stop(){
+        stopped = true
+    }
+    
+    func createProto() -> MotorControl_Vehicle2DRequest {
+        return .with{
+            $0.throttle = .with{
+                $0.throttle = self.throttle
+            }
+            $0.steering = .with{
+                $0.steering = self.steering
+            }
+        }
+    }
+}