Add grpc initalisation, start adding streaming grpc control

car-rs/src/grpcserver.rs

@@ -2,16 +2,21 @@ pub mod motor_control_service {
     tonic::include_proto!("motor_control");
 }
 
+use std::sync::{Arc, Mutex};
+
+use car_rs::{Servo, Vehicle};
 use motor_control_service::car_control_server::CarControl;
 use tonic::{Request, Response, Status, Streaming};
 
+use futures_util::StreamExt;
+
 use self::motor_control_service::{
     RecordingReqeust, RecordingResponse, SaveRequest, SaveResponse, SteeringRequest,
     SteeringResponse, ThrottleRequest, ThrottleResponse, Vehicle2DRequest, Vehicle2DResponse,
 };
 
 #[derive(Debug)]
-struct MotorControlService {}
+pub struct MotorControlService {}
 
 #[tonic::async_trait]
 impl CarControl for MotorControlService {
@@ -31,8 +36,16 @@ impl CarControl for MotorControlService {
 
     async fn stream_vehicle_2d(
         &self,
-        _request: Request<Streaming<Vehicle2DRequest>>,
+        request: Request<Streaming<Vehicle2DRequest>>,
     ) -> Result<Response<Vehicle2DResponse>, Status> {
+        let mut stream = request.into_inner();
+
+        let mut timed_out = false;
+        while let Some(req) = stream.next().await {
+            if !timed_out {}
+            timed_out = true;
+        }
+
         unimplemented!()
     }