Add support for mock vehicle

control/MotorServer.py

@@ -9,15 +9,15 @@ import grpc
 
 import control.motorService_pb2 as motorService_pb2
 import control.motorService_pb2_grpc as motorService_pb2_grpc
-from control.gpiozero.motor_session import Motor
+from control.gpiozero.vehicle import Vehicle
+from control.gpiozero.mockvehicle import MockVehicle
 from slam.slam_servicer import SlamServicer
 import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
 
 
 class MotorServicer(motorService_pb2_grpc.CarControlServicer):
-    def __init__(self, motor, servo):
-        self.motor = motor
-        self.servo = servo
+    def __init__(self, vehicle):
+        self.vehicle = vehicle
         self._timer = None
 
     def SetThrottle(self, request, context):
@@ -26,13 +26,12 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         throttleFailed = False
         print('Setting throttle to: ' + str(request.throttle))
         self.set_timeout(3)
-        throttleFailed = self.motor.set_throttle(request.throttle)
+        throttleFailed = self.vehicle.set_throttle(request.throttle)
         return motorService_pb2.ThrottleResponse(throttleSet=throttleFailed)
 
     def SetSteering(self, request, context):
-        # TODO: Fix this to use the motor object as well to check for bounds.
         print('Setting steering to: ' + str(request.steering))
-        self.servo.value = request.steering
+        self.vehicle.steering = request.steering
         return motorService_pb2.SteeringResponse(steeringSet=True)
 
     def set_timeout(self, min_timeout):
@@ -48,7 +47,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
     def timeout_elapsed(self):
         """Election or heartbeat timeout has elapsed."""
         print("Node timeout elapsed")
-        self.motor.stop()
+        self.vehicle.stop()
 
     def start_server(self):
         server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
@@ -66,6 +65,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         return SlamServicer('/dev/ttyUSB0')
 
     def create_credentials(self):
+        # Relativise this stuff.
         pvtKeyPath = '/home/pi/tls/device.key'
         pvtCertPath = '/home/pi/tls/device.crt'
 
@@ -74,10 +74,8 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
 
         return grpc.ssl_server_credentials([[pvtKeyBytes, pvtCertBytes]])
 
-
-motor = Motor()
-servo = Servo(18)
-servicer = MotorServicer(motor, servo)
+vehicle = Vehicle() if __name__ == '__main__' else MockVehicle()
+servicer = MotorServicer(vehicle)
 
 service_thread = Thread(target=servicer.start_server)
 service_thread.start()