From a968a4ce9712cbc983895214aef23ed769a679e4 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Thu, 14 Nov 2019 20:48:46 +1030
Subject: [PATCH] Fix Motor Server and python controller

---
 MotorControl/MotorServer.py            | 31 ++++++++++++--------------
 MotorControl/PythonRemoteController.py |  9 ++++----
 2 files changed, 18 insertions(+), 22 deletions(-)

diff --git a/MotorControl/MotorServer.py b/MotorControl/MotorServer.py
index fbceb20..7e0970f 100755
--- a/MotorControl/MotorServer.py
+++ b/MotorControl/MotorServer.py
@@ -3,6 +3,7 @@
 from threading import Timer, Thread
 from gpiozero import Servo
 from concurrent import futures
+import time
 
 import grpc
 
@@ -11,14 +12,9 @@ import car.MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
 from MotorControl.gpiozero.motor_session import Motor
 
 servo_pin = 18
-timeout_length = 3
-
-motor = Motor()
-servo = Servo(servo_pin)
 
 class MotorServicer(motorService_pb2_grpc.CarControlServicer):
-    def __init__(self):
-        global motor, servo
+    def __init__(self, motor, servo):
         self.motor = motor
         self.servo = servo
         self._timer = None
@@ -29,15 +25,16 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         # be sending values...
         throttleFailed = False
         for throttleRequest in request_iterator:
-            print('Setting throttle to: ' + throttleRequest.throttle)
-            self.set_timeout(timeout_length)
+            print('Setting throttle to: ' + str(throttleRequest.throttle))
+            self.set_timeout(3)
             throttleFailed = self.motor.set_throttle(throttleRequest.throttle)
-            if throttleFailed:
+            if not throttleFailed:
                 break
         return motorService_pb2.ThrottleResponse(throttleSet = throttleFailed)
 
     def SetSteering(self, request, context):
         # TODO: Fix this to use the motor object as well to check for bounds.
+        print('Setting steering to: ' + str(request.steering))
         self.servo.value = request.steering
         return motorService_pb2.SteeringResponse(steeringSet = True)
 
@@ -59,15 +56,15 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
 
     def start_server(self):
         server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
-        motorService_pb2_grpc.add_CarControlServicer_to_server(MotorServicer(), server)
+        motorService_pb2_grpc.add_CarControlServicer_to_server(self, server)
         server.add_insecure_port('[::]:50051')
         server.start()
+        while True:
+            time.sleep(60*60)
 
-servicer = MotorServicer()
-servicer.start_server()
+motor = Motor()
+servo = Servo(servo_pin)
+servicer = MotorServicer(motor, servo)
 
-run = True
-while run:
-    inp = input('Please press q to stop the server')
-    if inp == 'q' or inp == 'Q':
-        run = False
+service_thread = Thread(target=servicer.start_server)
+service_thread.start()
diff --git a/MotorControl/PythonRemoteController.py b/MotorControl/PythonRemoteController.py
index 4777853..4b2a5af 100644
--- a/MotorControl/PythonRemoteController.py
+++ b/MotorControl/PythonRemoteController.py
@@ -3,10 +3,10 @@ print("Connecting to pi")
 import grpc
 from concurrent import futures
 import motorService_pb2_grpc
-from motorService_pb2 import ThrottleRequest
+from motorService_pb2 import SteeringRequest, ThrottleRequest
 import time
 
-throttle = 0
+throttle = 0.1
 timer = None
 
 class ThrottleIterator:
@@ -27,8 +27,7 @@ class ThrottleIterator:
 channel = grpc.insecure_channel('10.0.0.53:50051')
 stub = motorService_pb2_grpc.CarControlStub(channel)
 
-stub.SetThrottle(ThrottleIterator())
+response = stub.SetThrottle(ThrottleIterator())
 
 while True:
-    inp = int(input('Please enter a value for the throttle between -100 and 100'))
-    throttle = inp / 100
+    throttle = int(input('Please enter a value for the throttle between -100 and 100'))