31 lines
1.1 KiB
Python
31 lines
1.1 KiB
Python
from . import SlamController_pb2_grpc
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from . import SlamController_pb2
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from . import slam_streamer as slam
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from threading import Thread
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class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
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slam_thread = None
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def __init__(self, lidar_connection):
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print('Servicer initialised')
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self.slam = slam.SlamStreamer(lidar_connection=lidar_connection)
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def start_map_streaming(self, request, context):
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print('Slam THread: ' + str(slam_thread)')
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if self.slam_thread is None:
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print('initialising slam_thread')
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# Don't bother creating and starting slam more than once.
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self.slam.port = request.port
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self.slam.map_pixels = request.map_size_pixels
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self.slam.map_meters = request.map_size_meters
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self.slam_thread = Thread(target=self.slam.start)
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self.slam_thread.start()
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return SlamController_pb2.Empty()
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def stop_streaming(self, request, context):
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if self.slam_thread is not None:
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self.slam.stop_scanning()
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self.slam = None
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return SlamController_pb2.Empty()
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