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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

14
MotorControl/motor.py
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@@ -1,8 +1,6 @@
import time import time
from abc import ABC, abstractmethod from abc import ABC, abstractmethod
from RPi import GPIO
import MotorControl.servo as servo import MotorControl.servo as servo
"""This module controls the Motor and Servo control. """This module controls the Motor and Servo control.
@@ -20,17 +18,7 @@ class Motor(servo.Servo, ABC):
class MotorController(Motor): class MotorController(Motor):
def __init__(self, pin_number, frequency, duty_cycle=0): def __init__(self, pin_number, frequency):
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)
@property @property

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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# 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){}
}