77 lines
2.1 KiB
Swift
77 lines
2.1 KiB
Swift
//
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// PiLoader.swift
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// CarController
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//
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// Created by Michael Pivato on 4/5/20.
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// Copyright © 2020 Michael Pivato. All rights reserved.
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//
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import Foundation
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import SwiftUI
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import GRPC
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import NIO
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class PiLoader: ObservableObject {
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// Find a cleaner way to handle these properties
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@Published var throttle: Float = 0.5
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@Published var steering: Float = 0.5
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let port: Int = 50051
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var stopped = false
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func makeClient(port: Int, group: EventLoopGroup) -> MotorControl_CarControlClient {
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let channel = ClientConnection.insecure(group: group)
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// TODO: Pass the host in based on the settings.
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.connect(host: "10.0.0.55", port: port)
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return MotorControl_CarControlClient(channel: channel)
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}
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func startUpdating() {
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let group = MultiThreadedEventLoopGroup(numberOfThreads: 1)
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defer {
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try? group.syncShutdownGracefully()
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}
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let client = makeClient(port: self.port, group: group)
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let options = CallOptions(timeout: .seconds(rounding: 10))
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let call = client.stream_vehicle_2d(callOptions: options)
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call.response.whenFailure { error in
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print("RecordRoute Failed: \(error)")
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self.stop()
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}
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call.status.whenComplete { _ in
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print("Finished RecordRoute")
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self.stop()
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}
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call.response.whenSuccess { summary in
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print("Finished")
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self.stop()
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}
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DispatchQueue.global(qos: .userInteractive).async{
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// Running in background. Do the update thread stuff.
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while (!self.stopped){
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call.sendMessage(self.createProto(), promise: nil)
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Thread.sleep(forTimeInterval: 0.2)
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}
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}
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}
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func stop(){
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stopped = true
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}
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func createProto() -> MotorControl_Vehicle2DRequest {
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return .with{
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$0.throttle = .with{
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$0.throttle = self.throttle
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}
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$0.steering = .with{
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$0.steering = self.steering
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}
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}
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}
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}
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