import SlamController_pb2_grpc 
import slam_streamer as slam
from threading import Thread

class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
    def __init__(self, lidar_connection):
        print('Servicer initialised')
        self.slam = slam.SlamStreamer(lidar_connection=lidar_connection)

    def start_map_streaming(self, request, context):
        if not hasattr(self, 'slamThread'):
            # Don't bother creating and starting slam more than once.
            self.slam.port = request.port
            self.slam.map_pixels = request.map_size_pixels
            self.slam.map_meters = request.map_size_meters
            slamThread = Thread(target=self.slam.start)
            slamThread.start()

    def stop_streaming(self, request, context):
        if hasattr(self, 'slamThread'):
            self.slam.stop_scanning()