Separate motor servicer from main controller

control/motor_servicer.py

@@ -0,0 +1,40 @@
+from threading import Timer, Thread
+from concurrent import futures
+import time
+
+import control.motorService_pb2 as motorService_pb2
+import control.motorService_pb2_grpc as motorService_pb2_grpc
+
+class MotorServicer(motorService_pb2_grpc.CarControlServicer):
+    def __init__(self, vehicle):
+        self.vehicle = vehicle
+        self._timer = None
+
+    def SetThrottle(self, request, context):
+        # gRPC streams currently don't work between python and android.
+        # If we don't get a response every 3 seconds, stop the car.
+        print('Setting throttle to: ' + str(request.throttle))
+        self.set_timeout(3)
+        self.vehicle.throttle = request.throttle
+        return motorService_pb2.ThrottleResponse(throttleSet=True)
+
+    def SetSteering(self, request, context):
+        print('Setting steering to: ' + str(request.steering))
+        self.vehicle.steering = request.steering
+        return motorService_pb2.SteeringResponse(steeringSet=True)
+
+    def set_timeout(self, min_timeout):
+        """Stops the old timer and restarts it to the specified time.
+
+        min_timeout -- The minimum time that can be used for the timer.
+        """
+        if self._timer is not None:
+            self._timer.cancel()
+        self._timer = Timer(min_timeout, self.timeout_elapsed)
+        self._timer.start()
+
+    def timeout_elapsed(self):
+        """Election or heartbeat timeout has elapsed."""
+        print("Node timeout elapsed")
+        self.vehicle.stop()
+

controller.py

@@ -6,51 +6,23 @@ import time
 
 import grpc
 
-import control.motorService_pb2 as motorService_pb2
 import control.motorService_pb2_grpc as motorService_pb2_grpc
 from control.gpio.vehicle import Vehicle
+from control.motor_servicer import MotorServicer
 from slam.slam_servicer import SlamServicer
 import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
 import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
 from tracking.lidar_servicer import LidarServicer
 
 
-class MotorServicer(motorService_pb2_grpc.CarControlServicer):
+class CarServer():
+
     def __init__(self, vehicle):
         self.vehicle = vehicle
-        self._timer = None
-
-    def SetThrottle(self, request, context):
-        # gRPC streams currently don't work between python and android.
-        # If we don't get a response every 3 seconds, stop the car.
-        print('Setting throttle to: ' + str(request.throttle))
-        self.set_timeout(3)
-        self.vehicle.throttle = request.throttle
-        return motorService_pb2.ThrottleResponse(throttleSet=True)
-
-    def SetSteering(self, request, context):
-        print('Setting steering to: ' + str(request.steering))
-        self.vehicle.steering = request.steering
-        return motorService_pb2.SteeringResponse(steeringSet=True)
-
-    def set_timeout(self, min_timeout):
-        """Stops the old timer and restarts it to the specified time.
-
-        min_timeout -- The minimum time that can be used for the timer.
-        """
-        if self._timer is not None:
-            self._timer.cancel()
-        self._timer = Timer(min_timeout, self.timeout_elapsed)
-        self._timer.start()
-
-    def timeout_elapsed(self):
-        """Election or heartbeat timeout has elapsed."""
-        print("Node timeout elapsed")
-        self.vehicle.stop()
 
     def start_server(self):
         server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
-        motorService_pb2_grpc.add_CarControlServicer_to_server(self, server)
+        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(
@@ -62,6 +34,9 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         while True:
             time.sleep(60*60)
 
+    def create_motor_servicer(self):
+        return MotorServicer(self.vehicle)
+
     def create_slam_servicer(self):
         return SlamServicer('/dev/ttyUSB0')
 
@@ -81,8 +56,8 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
 
 if __name__ == '__main__':
     vehicle = Vehicle()
-    servicer = MotorServicer(vehicle)
+    server = CarServer(vehicle)
 
     # Can't remember why I do this, is it even needed?
-    service_thread = Thread(target=servicer.start_server)
+    service_thread = Thread(target=server.start_server)
     service_thread.start()