49 lines
1.8 KiB
Python
49 lines
1.8 KiB
Python
from threading import Timer, Thread
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from concurrent import futures
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import time
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import car.control.motorService_pb2 as motorService_pb2
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import car.control.motorService_pb2_grpc as motorService_pb2_grpc
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from car.control.gpio.recording_vehicle_decorator import VehicleRecordingDecorator
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class MotorServicer(motorService_pb2_grpc.CarControlServicer):
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def __init__(self, vehicle):
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self.vehicle = VehicleRecordingDecorator(vehicle)
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self._timer = None
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def SetThrottle(self, request, context):
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# gRPC streams currently don't work between python and android.
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# If we don't get a response every 3 seconds, stop the car.
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print('Setting throttle to: ' + str(request.throttle))
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self.set_timeout(3)
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self.vehicle.throttle = request.throttle
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return motorService_pb2.ThrottleResponse(throttleSet=True)
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def SetSteering(self, request, context):
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print('Setting steering to: ' + str(request.steering))
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self.vehicle.steering = request.steering
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return motorService_pb2.SteeringResponse(steeringSet=True)
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def set_timeout(self, min_timeout):
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"""Stops the old timer and restarts it to the specified time.
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min_timeout -- The minimum time that can be used for the timer.
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"""
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if self._timer is not None:
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self._timer.cancel()
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self._timer = Timer(min_timeout, self.timeout_elapsed)
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self._timer.start()
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def timeout_elapsed(self):
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"""Election or heartbeat timeout has elapsed."""
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print("Node timeout elapsed")
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self.vehicle.stop()
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def Record(self, request, context):
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"""Indicate whether the vehicle data should be recorded."""
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self.vehicle.record = request.record
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def SaveRecordedData(self, request, context):
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self.vehicle.save_data(request.file)
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