Add motor control with grpc
This commit is contained in:
Piv
11
MotorControl/MotorServer.py
Normal file
11
MotorControl/MotorServer.py
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@@ -0,0 +1,11 @@
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import MotorControl.motorService_pb2 as motorService_pb2
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import MotorControl.motorService_pb2_grpc as motorService_pb2_grpc
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from MotorControl.gpiozero.motor_session import Motor
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class MotorServer(motorService_pb2_grpc.CarControlServicer):
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def __init__(self):
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self.motor = Motor()
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def ThrottleRequestRPC(self, request, context):
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40
MotorControl/gpiozero/motor_session.py
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40
MotorControl/gpiozero/motor_session.py
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@@ -0,0 +1,40 @@
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import os
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from gpiozero import Servo
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GPIOZERO_PIN_FACTORY = "piggpio"
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class Motor:
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def __init__(self, motor_pin=19):
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os.environ["GPIOZERO_PIN_FACTORY"] = GPIOZERO_PIN_FACTORY
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os.system("sudo pigpiod")
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self.set_motor_pin(motor_pin)
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self.initialise_motor()
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def initialise_motor(self):
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if self._motor_pin is None:
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print("Motor pin number is not set.")
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return
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self._servo = Servo(self._motor_pin)
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def set_throttle(self, throttle):
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try:
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if throttle < -1 or throttle > 1:
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print("Not setting throttle, invalid value set.")
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return False
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self._servo.value = throttle
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except TypeError:
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print("throttle should be a number, preferably a float.")
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return False
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return True
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def set_motor_pin(self, value):
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if isinstance(value, int):
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if value < 2 or value > 21:
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print("Invalid GPIO pin")
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return False
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self._motor_pin = value
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return True
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else:
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print("Value must be an int.")
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return False
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@@ -1,8 +1,6 @@
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import time
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import time
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from abc import ABC, abstractmethod
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from abc import ABC, abstractmethod
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from RPi import GPIO
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import MotorControl.servo as servo
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import MotorControl.servo as servo
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"""This module controls the Motor and Servo control.
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"""This module controls the Motor and Servo control.
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@@ -20,18 +18,8 @@ class Motor(servo.Servo, ABC):
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class MotorController(Motor):
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class MotorController(Motor):
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def __init__(self, pin_number, frequency, duty_cycle=0):
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def __init__(self, pin_number, frequency):
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self._duty_cycle = duty_cycle
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self._operating_frequency = frequency
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self._running = False
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self.pin_number = pin_number
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# Operating Frequency should be 50Hz
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(self.pin_number, self._operating_frequency)
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self._control_pin = GPIO.PWM(self.pin_number, self._duty_cycle)
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@property
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@property
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def duty_cycle(self):
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def duty_cycle(self):
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307
MotorControl/motorService_pb2.py
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307
MotorControl/motorService_pb2.py
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@@ -0,0 +1,307 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# source: motorService.proto
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import sys
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_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import message as _message
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from google.protobuf import reflection as _reflection
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from google.protobuf import symbol_database as _symbol_database
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor.FileDescriptor(
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name='motorService.proto',
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package='MotorControl',
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syntax='proto3',
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serialized_options=None,
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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')
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)
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_THROTTLEREQUEST = _descriptor.Descriptor(
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name='ThrottleRequest',
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full_name='MotorControl.ThrottleRequest',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='throttle', full_name='MotorControl.ThrottleRequest.throttle', index=0,
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number=1, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=36,
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serialized_end=71,
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)
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_THROTTLERESPONSE = _descriptor.Descriptor(
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name='ThrottleResponse',
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full_name='MotorControl.ThrottleResponse',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='throttleSet', full_name='MotorControl.ThrottleResponse.throttleSet', index=0,
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number=1, type=8, cpp_type=7, label=1,
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has_default_value=False, default_value=False,
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=73,
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serialized_end=112,
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)
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_STEERINGREQUEST = _descriptor.Descriptor(
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name='SteeringRequest',
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full_name='MotorControl.SteeringRequest',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='steering', full_name='MotorControl.SteeringRequest.steering', index=0,
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number=1, type=2, cpp_type=6, label=1,
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has_default_value=False, default_value=float(0),
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=114,
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serialized_end=149,
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)
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_STEERINGRESPONSE = _descriptor.Descriptor(
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name='SteeringResponse',
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full_name='MotorControl.SteeringResponse',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='steeringSet', full_name='MotorControl.SteeringResponse.steeringSet', index=0,
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number=1, type=8, cpp_type=7, label=1,
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has_default_value=False, default_value=False,
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=151,
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serialized_end=190,
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)
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_HEARTBEATCHECK = _descriptor.Descriptor(
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name='HeartbeatCheck',
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full_name='MotorControl.HeartbeatCheck',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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fields=[
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_descriptor.FieldDescriptor(
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name='continue', full_name='MotorControl.HeartbeatCheck.continue', index=0,
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number=1, type=8, cpp_type=7, label=1,
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has_default_value=False, default_value=False,
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message_type=None, enum_type=None, containing_type=None,
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|
is_extension=False, extension_scope=None,
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|
serialized_options=None, file=DESCRIPTOR),
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|
],
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|
extensions=[
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|
],
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|
nested_types=[],
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|
enum_types=[
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|
],
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|
serialized_options=None,
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|
is_extendable=False,
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|
syntax='proto3',
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|
extension_ranges=[],
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|
oneofs=[
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|
],
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|
serialized_start=192,
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serialized_end=226,
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|
)
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_HEARTBEATCHECKRESPONSE = _descriptor.Descriptor(
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name='HeartbeatCheckResponse',
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full_name='MotorControl.HeartbeatCheckResponse',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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|
fields=[
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_descriptor.FieldDescriptor(
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name='errorMessage', full_name='MotorControl.HeartbeatCheckResponse.errorMessage', index=0,
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number=1, type=9, cpp_type=9, label=1,
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|
has_default_value=False, default_value=_b("").decode('utf-8'),
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||||||
|
message_type=None, enum_type=None, containing_type=None,
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||||||
|
is_extension=False, extension_scope=None,
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||||||
|
serialized_options=None, file=DESCRIPTOR),
|
||||||
|
],
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||||||
|
extensions=[
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||||||
|
],
|
||||||
|
nested_types=[],
|
||||||
|
enum_types=[
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||||||
|
],
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|
serialized_options=None,
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||||||
|
is_extendable=False,
|
||||||
|
syntax='proto3',
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|
extension_ranges=[],
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|
oneofs=[
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|
],
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|
serialized_start=228,
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|
serialized_end=274,
|
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|
)
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|
|
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|
DESCRIPTOR.message_types_by_name['ThrottleRequest'] = _THROTTLEREQUEST
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|
DESCRIPTOR.message_types_by_name['ThrottleResponse'] = _THROTTLERESPONSE
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|
DESCRIPTOR.message_types_by_name['SteeringRequest'] = _STEERINGREQUEST
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DESCRIPTOR.message_types_by_name['SteeringResponse'] = _STEERINGRESPONSE
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|
DESCRIPTOR.message_types_by_name['HeartbeatCheck'] = _HEARTBEATCHECK
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DESCRIPTOR.message_types_by_name['HeartbeatCheckResponse'] = _HEARTBEATCHECKRESPONSE
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|
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
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|
ThrottleRequest = _reflection.GeneratedProtocolMessageType('ThrottleRequest', (_message.Message,), {
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'DESCRIPTOR' : _THROTTLEREQUEST,
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'__module__' : 'motorService_pb2'
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|
# @@protoc_insertion_point(class_scope:MotorControl.ThrottleRequest)
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|
})
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_sym_db.RegisterMessage(ThrottleRequest)
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|
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|
ThrottleResponse = _reflection.GeneratedProtocolMessageType('ThrottleResponse', (_message.Message,), {
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|
'DESCRIPTOR' : _THROTTLERESPONSE,
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|
'__module__' : 'motorService_pb2'
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||||||
|
# @@protoc_insertion_point(class_scope:MotorControl.ThrottleResponse)
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||||||
|
})
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|
_sym_db.RegisterMessage(ThrottleResponse)
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|
|
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|
SteeringRequest = _reflection.GeneratedProtocolMessageType('SteeringRequest', (_message.Message,), {
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|
'DESCRIPTOR' : _STEERINGREQUEST,
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|
'__module__' : 'motorService_pb2'
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||||||
|
# @@protoc_insertion_point(class_scope:MotorControl.SteeringRequest)
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||||||
|
})
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|
_sym_db.RegisterMessage(SteeringRequest)
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|
|
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|
SteeringResponse = _reflection.GeneratedProtocolMessageType('SteeringResponse', (_message.Message,), {
|
||||||
|
'DESCRIPTOR' : _STEERINGRESPONSE,
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|
'__module__' : 'motorService_pb2'
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||||||
|
# @@protoc_insertion_point(class_scope:MotorControl.SteeringResponse)
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|
})
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|
_sym_db.RegisterMessage(SteeringResponse)
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|
|
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|
HeartbeatCheck = _reflection.GeneratedProtocolMessageType('HeartbeatCheck', (_message.Message,), {
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|
'DESCRIPTOR' : _HEARTBEATCHECK,
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'__module__' : 'motorService_pb2'
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||||||
|
# @@protoc_insertion_point(class_scope:MotorControl.HeartbeatCheck)
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|
})
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|
_sym_db.RegisterMessage(HeartbeatCheck)
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|
|
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|
HeartbeatCheckResponse = _reflection.GeneratedProtocolMessageType('HeartbeatCheckResponse', (_message.Message,), {
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|
'DESCRIPTOR' : _HEARTBEATCHECKRESPONSE,
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|
'__module__' : 'motorService_pb2'
|
||||||
|
# @@protoc_insertion_point(class_scope:MotorControl.HeartbeatCheckResponse)
|
||||||
|
})
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|
_sym_db.RegisterMessage(HeartbeatCheckResponse)
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||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
_CARCONTROL = _descriptor.ServiceDescriptor(
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||||||
|
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
80
MotorControl/motorService_pb2_grpc.py
Normal file
@@ -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
33
MotorControl/protos/motorService.proto
Normal file
@@ -0,0 +1,33 @@
|
|||||||
|
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){}
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user