Add 'car/' from commit 'eee0e8dc445691e600680f4abc77f2814b20b054'

git-subtree-dir: car
git-subtree-mainline: 1d29a5526c
git-subtree-split: eee0e8dc44

car/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()
+