89 lines
3.1 KiB
Python
Executable File
89 lines
3.1 KiB
Python
Executable File
#!/usr/bin/env python3
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from threading import Timer, Thread
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from concurrent import futures
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import time
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import grpc
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import control.motorService_pb2 as motorService_pb2
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import control.motorService_pb2_grpc as motorService_pb2_grpc
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from control.gpio.vehicle import Vehicle
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from slam.slam_servicer import SlamServicer
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import slam.SlamController_pb2_grpc as SlamController_pb2_grpc
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import tracking.lidar_tracker_pb2_grpc as lidar_tracker_pb2_grpc
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from tracking.lidar_servicer import LidarServicer
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class MotorServicer(motorService_pb2_grpc.CarControlServicer):
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def __init__(self, vehicle):
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self.vehicle = 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 start_server(self):
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server = grpc.server(futures.ThreadPoolExecutor(max_workers=8))
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motorService_pb2_grpc.add_CarControlServicer_to_server(self, server)
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SlamController_pb2_grpc.add_SlamControlServicer_to_server(
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self.create_slam_servicer(), server)
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lidar_tracker_pb2_grpc.add_PersonTrackingServicer_to_server(
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self.create_lidar_servicer(), server)
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# Disable tls for local testing.
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# server.add_secure_port('[::]:50051', self.create_credentials())
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server.add_insecure_port('[::]:50051')
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server.start()
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while True:
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time.sleep(60*60)
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def create_slam_servicer(self):
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return SlamServicer('/dev/ttyUSB0')
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def create_lidar_servicer(self):
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return LidarServicer()
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def create_credentials(self):
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# Relativise this stuff.
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pvtKeyPath = '/home/pi/tls/device.key'
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pvtCertPath = '/home/pi/tls/device.crt'
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pvtKeyBytes = open(pvtKeyPath, 'rb').read()
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pvtCertBytes = open(pvtCertPath, 'rb').read()
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return grpc.ssl_server_credentials([[pvtKeyBytes, pvtCertBytes]])
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if __name__ == '__main__':
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vehicle = Vehicle()
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servicer = MotorServicer(vehicle)
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# Can't remember why I do this, is it even needed?
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service_thread = Thread(target=servicer.start_server)
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service_thread.start()
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