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Add motor control with grpc

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This commit is contained in:
Piv
2019-08-11 20:31:16 +09:30
parent ff98ed58d4
commit eee4e6d4de
6 changed files with 473 additions and 14 deletions
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11
MotorControl/MotorServer.py Normal file
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import MotorControl.motorService_pb2 as motorService_pb2
import MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
from MotorControl.gpiozero.motor_session import Motor
class MotorServer(motorService_pb2_grpc.CarControlServicer):
def __init__(self):
self.motor = Motor()
def ThrottleRequestRPC(self, request, context):

40
MotorControl/gpiozero/motor_session.py Normal file
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import os
from gpiozero import Servo
GPIOZERO_PIN_FACTORY = "piggpio"
class Motor:
def __init__(self, motor_pin=19):
os.environ["GPIOZERO_PIN_FACTORY"] = GPIOZERO_PIN_FACTORY
os.system("sudo pigpiod")
self.set_motor_pin(motor_pin)
self.initialise_motor()
def initialise_motor(self):
if self._motor_pin is None:
print("Motor pin number is not set.")
return
self._servo = Servo(self._motor_pin)
def set_throttle(self, throttle):
try:
if throttle < -1 or throttle > 1:
print("Not setting throttle, invalid value set.")
return False
self._servo.value = throttle
except TypeError:
print("throttle should be a number, preferably a float.")
return False
return True
def set_motor_pin(self, value):
if isinstance(value, int):
if value < 2 or value > 21:
print("Invalid GPIO pin")
return False
self._motor_pin = value
return True
else:
print("Value must be an int.")
return False

16
MotorControl/motor.py
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@@ -1,8 +1,6 @@
import time
from abc import ABC, abstractmethod
from RPi import GPIO
import MotorControl.servo as servo
"""This module controls the Motor and Servo control.
@@ -20,18 +18,8 @@ class Motor(servo.Servo, ABC):
class MotorController(Motor):
def __init__(self, pin_number, frequency, duty_cycle=0):
self._duty_cycle = duty_cycle
self._operating_frequency = frequency
self._running = False
self.pin_number = pin_number
# Operating Frequency should be 50Hz
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.pin_number, self._operating_frequency)
self._control_pin = GPIO.PWM(self.pin_number, self._duty_cycle)
def __init__(self, pin_number, frequency):
@property
def duty_cycle(self):

307
MotorControl/motorService_pb2.py Normal file
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# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler. DO NOT EDIT!
# source: motorService.proto
import sys
_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
from google.protobuf import descriptor as _descriptor
from google.protobuf import message as _message
from google.protobuf import reflection as _reflection
from google.protobuf import symbol_database as _symbol_database
# @@protoc_insertion_point(imports)
_sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor.FileDescriptor(
name='motorService.proto',
package='MotorControl',
syntax='proto3',
serialized_options=None,
serialized_pb=_b('\n\x12motorService.proto\x12\x0cMotorControl\"#\n\x0fThrottleRequest\x12\x10\n\x08throttle\x18\x01 \x01(\x02\"\'\n\x10ThrottleResponse\x12\x13\n\x0bthrottleSet\x18\x01 \x01(\x08\"#\n\x0fSteeringRequest\x12\x10\n\x08steering\x18\x01 \x01(\x02\"\'\n\x10SteeringResponse\x12\x13\n\x0bsteeringSet\x18\x01 \x01(\x08\"\"\n\x0eHeartbeatCheck\x12\x10\n\x08\x63ontinue\x18\x01 \x01(\x08\".\n\x16HeartbeatCheckResponse\x12\x14\n\x0c\x65rrorMessage\x18\x01 \x01(\t2\x81\x02\n\nCarControl\x12N\n\x0bSetThrottle\x12\x1d.MotorControl.ThrottleRequest\x1a\x1e.MotorControl.ThrottleResponse\"\x00\x12N\n\x0bSetSteering\x12\x1d.MotorControl.SteeringRequest\x1a\x1e.MotorControl.SteeringResponse\"\x00\x12S\n\tHeartbeat\x12\x1c.MotorControl.HeartbeatCheck\x1a$.MotorControl.HeartbeatCheckResponse\"\x00(\x01\x62\x06proto3')
)
_THROTTLEREQUEST = _descriptor.Descriptor(
name='ThrottleRequest',
full_name='MotorControl.ThrottleRequest',
filename=None,
file=DESCRIPTOR,
containing_type=None,
fields=[
_descriptor.FieldDescriptor(
name='throttle', full_name='MotorControl.ThrottleRequest.throttle', index=0,
number=1, type=2, cpp_type=6, label=1,
has_default_value=False, default_value=float(0),
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR),
],
extensions=[
],
nested_types=[],
enum_types=[
],
serialized_options=None,
is_extendable=False,
syntax='proto3',
extension_ranges=[],
oneofs=[
],
serialized_start=36,
serialized_end=71,
)
_THROTTLERESPONSE = _descriptor.Descriptor(
name='ThrottleResponse',
full_name='MotorControl.ThrottleResponse',
filename=None,
file=DESCRIPTOR,
containing_type=None,
fields=[
_descriptor.FieldDescriptor(
name='throttleSet', full_name='MotorControl.ThrottleResponse.throttleSet', index=0,
number=1, type=8, cpp_type=7, label=1,
has_default_value=False, default_value=False,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR),
],
extensions=[
],
nested_types=[],
enum_types=[
],
serialized_options=None,
is_extendable=False,
syntax='proto3',
extension_ranges=[],
oneofs=[
],
serialized_start=73,
serialized_end=112,
)
_STEERINGREQUEST = _descriptor.Descriptor(
name='SteeringRequest',
full_name='MotorControl.SteeringRequest',
filename=None,
file=DESCRIPTOR,
containing_type=None,
fields=[
_descriptor.FieldDescriptor(
name='steering', full_name='MotorControl.SteeringRequest.steering', index=0,
number=1, type=2, cpp_type=6, label=1,
has_default_value=False, default_value=float(0),
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR),
],
extensions=[
],
nested_types=[],
enum_types=[
],
serialized_options=None,
is_extendable=False,
syntax='proto3',
extension_ranges=[],
oneofs=[
],
serialized_start=114,
serialized_end=149,
)
_STEERINGRESPONSE = _descriptor.Descriptor(
name='SteeringResponse',
full_name='MotorControl.SteeringResponse',
filename=None,
file=DESCRIPTOR,
containing_type=None,
fields=[
_descriptor.FieldDescriptor(
name='steeringSet', full_name='MotorControl.SteeringResponse.steeringSet', index=0,
number=1, type=8, cpp_type=7, label=1,
has_default_value=False, default_value=False,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR),
],
extensions=[
],
nested_types=[],
enum_types=[
],
serialized_options=None,
is_extendable=False,
syntax='proto3',
extension_ranges=[],
oneofs=[
],
serialized_start=151,
serialized_end=190,
)
_HEARTBEATCHECK = _descriptor.Descriptor(
name='HeartbeatCheck',
full_name='MotorControl.HeartbeatCheck',
filename=None,
file=DESCRIPTOR,
containing_type=None,
fields=[
_descriptor.FieldDescriptor(
name='continue', full_name='MotorControl.HeartbeatCheck.continue', index=0,
number=1, type=8, cpp_type=7, label=1,
has_default_value=False, default_value=False,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR),
],
extensions=[
],
nested_types=[],
enum_types=[
],
serialized_options=None,
is_extendable=False,
syntax='proto3',
extension_ranges=[],
oneofs=[
],
serialized_start=192,
serialized_end=226,
)
_HEARTBEATCHECKRESPONSE = _descriptor.Descriptor(
name='HeartbeatCheckResponse',
full_name='MotorControl.HeartbeatCheckResponse',
filename=None,
file=DESCRIPTOR,
containing_type=None,
fields=[
_descriptor.FieldDescriptor(
name='errorMessage', full_name='MotorControl.HeartbeatCheckResponse.errorMessage', index=0,
number=1, type=9, cpp_type=9, label=1,
has_default_value=False, default_value=_b("").decode('utf-8'),
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR),
],
extensions=[
],
nested_types=[],
enum_types=[
],
serialized_options=None,
is_extendable=False,
syntax='proto3',
extension_ranges=[],
oneofs=[
],
serialized_start=228,
serialized_end=274,
)
DESCRIPTOR.message_types_by_name['ThrottleRequest'] = _THROTTLEREQUEST
DESCRIPTOR.message_types_by_name['ThrottleResponse'] = _THROTTLERESPONSE
DESCRIPTOR.message_types_by_name['SteeringRequest'] = _STEERINGREQUEST
DESCRIPTOR.message_types_by_name['SteeringResponse'] = _STEERINGRESPONSE
DESCRIPTOR.message_types_by_name['HeartbeatCheck'] = _HEARTBEATCHECK
DESCRIPTOR.message_types_by_name['HeartbeatCheckResponse'] = _HEARTBEATCHECKRESPONSE
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
ThrottleRequest = _reflection.GeneratedProtocolMessageType('ThrottleRequest', (_message.Message,), {
'DESCRIPTOR' : _THROTTLEREQUEST,
'__module__' : 'motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.ThrottleRequest)
})
_sym_db.RegisterMessage(ThrottleRequest)
ThrottleResponse = _reflection.GeneratedProtocolMessageType('ThrottleResponse', (_message.Message,), {
'DESCRIPTOR' : _THROTTLERESPONSE,
'__module__' : 'motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.ThrottleResponse)
})
_sym_db.RegisterMessage(ThrottleResponse)
SteeringRequest = _reflection.GeneratedProtocolMessageType('SteeringRequest', (_message.Message,), {
'DESCRIPTOR' : _STEERINGREQUEST,
'__module__' : 'motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.SteeringRequest)
})
_sym_db.RegisterMessage(SteeringRequest)
SteeringResponse = _reflection.GeneratedProtocolMessageType('SteeringResponse', (_message.Message,), {
'DESCRIPTOR' : _STEERINGRESPONSE,
'__module__' : 'motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.SteeringResponse)
})
_sym_db.RegisterMessage(SteeringResponse)
HeartbeatCheck = _reflection.GeneratedProtocolMessageType('HeartbeatCheck', (_message.Message,), {
'DESCRIPTOR' : _HEARTBEATCHECK,
'__module__' : 'motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.HeartbeatCheck)
})
_sym_db.RegisterMessage(HeartbeatCheck)
HeartbeatCheckResponse = _reflection.GeneratedProtocolMessageType('HeartbeatCheckResponse', (_message.Message,), {
'DESCRIPTOR' : _HEARTBEATCHECKRESPONSE,
'__module__' : 'motorService_pb2'
# @@protoc_insertion_point(class_scope:MotorControl.HeartbeatCheckResponse)
})
_sym_db.RegisterMessage(HeartbeatCheckResponse)
_CARCONTROL = _descriptor.ServiceDescriptor(
name='CarControl',
full_name='MotorControl.CarControl',
file=DESCRIPTOR,
index=0,
serialized_options=None,
serialized_start=277,
serialized_end=534,
methods=[
_descriptor.MethodDescriptor(
name='SetThrottle',
full_name='MotorControl.CarControl.SetThrottle',
index=0,
containing_service=None,
input_type=_THROTTLEREQUEST,
output_type=_THROTTLERESPONSE,
serialized_options=None,
),
_descriptor.MethodDescriptor(
name='SetSteering',
full_name='MotorControl.CarControl.SetSteering',
index=1,
containing_service=None,
input_type=_STEERINGREQUEST,
output_type=_STEERINGRESPONSE,
serialized_options=None,
),
_descriptor.MethodDescriptor(
name='Heartbeat',
full_name='MotorControl.CarControl.Heartbeat',
index=2,
containing_service=None,
input_type=_HEARTBEATCHECK,
output_type=_HEARTBEATCHECKRESPONSE,
serialized_options=None,
),
])
_sym_db.RegisterServiceDescriptor(_CARCONTROL)
DESCRIPTOR.services_by_name['CarControl'] = _CARCONTROL
# @@protoc_insertion_point(module_scope)

80
MotorControl/motorService_pb2_grpc.py Normal file
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@@ -0,0 +1,80 @@
# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
import grpc
import motorService_pb2 as motorService__pb2
class CarControlStub(object):
# missing associated documentation comment in .proto file
pass
def __init__(self, channel):
"""Constructor.
Args:
channel: A grpc.Channel.
"""
self.SetThrottle = channel.unary_unary(
'/MotorControl.CarControl/SetThrottle',
request_serializer=motorService__pb2.ThrottleRequest.SerializeToString,
response_deserializer=motorService__pb2.ThrottleResponse.FromString,
)
self.SetSteering = channel.unary_unary(
'/MotorControl.CarControl/SetSteering',
request_serializer=motorService__pb2.SteeringRequest.SerializeToString,
response_deserializer=motorService__pb2.SteeringResponse.FromString,
)
self.Heartbeat = channel.stream_unary(
'/MotorControl.CarControl/Heartbeat',
request_serializer=motorService__pb2.HeartbeatCheck.SerializeToString,
response_deserializer=motorService__pb2.HeartbeatCheckResponse.FromString,
)
class CarControlServicer(object):
# missing associated documentation comment in .proto file
pass
def SetThrottle(self, request, context):
# missing associated documentation comment in .proto file
pass
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def SetSteering(self, request, context):
# missing associated documentation comment in .proto file
pass
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def Heartbeat(self, request_iterator, context):
# missing associated documentation comment in .proto file
pass
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def add_CarControlServicer_to_server(servicer, server):
rpc_method_handlers = {
'SetThrottle': grpc.unary_unary_rpc_method_handler(
servicer.SetThrottle,
request_deserializer=motorService__pb2.ThrottleRequest.FromString,
response_serializer=motorService__pb2.ThrottleResponse.SerializeToString,
),
'SetSteering': grpc.unary_unary_rpc_method_handler(
servicer.SetSteering,
request_deserializer=motorService__pb2.SteeringRequest.FromString,
response_serializer=motorService__pb2.SteeringResponse.SerializeToString,
),
'Heartbeat': grpc.stream_unary_rpc_method_handler(
servicer.Heartbeat,
request_deserializer=motorService__pb2.HeartbeatCheck.FromString,
response_serializer=motorService__pb2.HeartbeatCheckResponse.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(
'MotorControl.CarControl', rpc_method_handlers)
server.add_generic_rpc_handlers((generic_handler,))

33
MotorControl/protos/motorService.proto Normal file
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syntax = "proto3";
package MotorControl;
message ThrottleRequest{
float throttle = 1;
}
message ThrottleResponse{
bool throttleSet = 1;
}
message SteeringRequest{
float steering = 1;
}
message SteeringResponse{
bool steeringSet = 1;
}
message HeartbeatCheck{
bool continue = 1;
}
message HeartbeatCheckResponse{
string errorMessage = 1;
}
service CarControl{
rpc SetThrottle(ThrottleRequest) returns (ThrottleResponse){}
rpc SetSteering(SteeringRequest) returns (SteeringResponse){}
rpc Heartbeat(stream HeartbeatCheck) returns (HeartbeatCheckResponse){}
}