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Fix Motor Server and python controller

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This commit is contained in:
Piv
2019-11-14 20:48:46 +10:30
parent 5024796785
commit a968a4ce97
2 changed files with 18 additions and 22 deletions
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31
MotorControl/MotorServer.py
View File

@@ -3,6 +3,7 @@
from threading import Timer, Thread from threading import Timer, Thread
from gpiozero import Servo from gpiozero import Servo
from concurrent import futures from concurrent import futures
import time
import grpc import grpc
@@ -11,14 +12,9 @@ import car.MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
from MotorControl.gpiozero.motor_session import Motor from MotorControl.gpiozero.motor_session import Motor
servo_pin = 18 servo_pin = 18
timeout_length = 3
motor = Motor()
servo = Servo(servo_pin)
class MotorServicer(motorService_pb2_grpc.CarControlServicer): class MotorServicer(motorService_pb2_grpc.CarControlServicer):
def __init__(self): def __init__(self, motor, servo):
global motor, servo
self.motor = motor self.motor = motor
self.servo = servo self.servo = servo
self._timer = None self._timer = None
@@ -29,15 +25,16 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
# be sending values... # be sending values...
throttleFailed = False throttleFailed = False
for throttleRequest in request_iterator: for throttleRequest in request_iterator:
print('Setting throttle to: ' + throttleRequest.throttle) print('Setting throttle to: ' + str(throttleRequest.throttle))
self.set_timeout(timeout_length) self.set_timeout(3)
throttleFailed = self.motor.set_throttle(throttleRequest.throttle) throttleFailed = self.motor.set_throttle(throttleRequest.throttle)
if throttleFailed: if not throttleFailed:
break break
return motorService_pb2.ThrottleResponse(throttleSet = throttleFailed) return motorService_pb2.ThrottleResponse(throttleSet = throttleFailed)
def SetSteering(self, request, context): def SetSteering(self, request, context):
# TODO: Fix this to use the motor object as well to check for bounds. # 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 self.servo.value = request.steering
return motorService_pb2.SteeringResponse(steeringSet = True) return motorService_pb2.SteeringResponse(steeringSet = True)
@@ -59,15 +56,15 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
def start_server(self): def start_server(self):
server = grpc.server(futures.ThreadPoolExecutor(max_workers=8)) 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.add_insecure_port('[::]:50051')
server.start() server.start()
while True:
time.sleep(60*60)
servicer = MotorServicer() motor = Motor()
servicer.start_server() servo = Servo(servo_pin)
servicer = MotorServicer(motor, servo)
run = True service_thread = Thread(target=servicer.start_server)
while run: service_thread.start()
inp = input('Please press q to stop the server')
if inp == 'q' or inp == 'Q':
run = False

9
MotorControl/PythonRemoteController.py
View File

@@ -3,10 +3,10 @@ print("Connecting to pi")
import grpc import grpc
from concurrent import futures from concurrent import futures
import motorService_pb2_grpc import motorService_pb2_grpc
from motorService_pb2 import ThrottleRequest from motorService_pb2 import SteeringRequest, ThrottleRequest
import time import time
throttle = 0 throttle = 0.1
timer = None timer = None
class ThrottleIterator: class ThrottleIterator:
@@ -27,8 +27,7 @@ class ThrottleIterator:
channel = grpc.insecure_channel('10.0.0.53:50051') channel = grpc.insecure_channel('10.0.0.53:50051')
stub = motorService_pb2_grpc.CarControlStub(channel) stub = motorService_pb2_grpc.CarControlStub(channel)
stub.SetThrottle(ThrottleIterator()) response = stub.SetThrottle(ThrottleIterator())
while True: while True:
inp = int(input('Please enter a value for the throttle between -100 and 100')) throttle = int(input('Please enter a value for the throttle between -100 and 100'))
throttle = inp / 100