from threading import Timer, Thread
from concurrent import futures
import time

import control.motorService_pb2 as motorService_pb2
import control.motorService_pb2_grpc as motorService_pb2_grpc

class MotorServicer(motorService_pb2_grpc.CarControlServicer):
    def __init__(self, vehicle):
        self.vehicle = vehicle
        self._timer = None

    def SetThrottle(self, request, context):
        # gRPC streams currently don't work between python and android.
        # If we don't get a response every 3 seconds, stop the car.
        print('Setting throttle to: ' + str(request.throttle))
        self.set_timeout(3)
        self.vehicle.throttle = request.throttle
        return motorService_pb2.ThrottleResponse(throttleSet=True)

    def SetSteering(self, request, context):
        print('Setting steering to: ' + str(request.steering))
        self.vehicle.steering = request.steering
        return motorService_pb2.SteeringResponse(steeringSet=True)

    def set_timeout(self, min_timeout):
        """Stops the old timer and restarts it to the specified time.

        min_timeout -- The minimum time that can be used for the timer.
        """
        if self._timer is not None:
            self._timer.cancel()
        self._timer = Timer(min_timeout, self.timeout_elapsed)
        self._timer.start()

    def timeout_elapsed(self):
        """Election or heartbeat timeout has elapsed."""
        print("Node timeout elapsed")
        self.vehicle.stop()