51 lines
1.1 KiB
Python
51 lines
1.1 KiB
Python
print("Connecting to pi")
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import grpc
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from concurrent import futures
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from .MotorServer import MotorServicer
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from . import motorService_pb2_grpc
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import random
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from threading import Timer
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throttle = 0
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timer = None
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class ThrottleIterator:
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'''
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Class to get the current throttle for the car.
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Will return a random throttle between
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'''
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def __iter__(self):
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return self
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def __next__(self):
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if throttle > 1 or throttle < -1:
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raise StopIteration
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return throttle
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def serve():
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server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
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motorService_pb2_grpc.add_CarControlServicer_to_server(
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MotorServicer(), server)
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server.add_insecure_port('[::]:50051')
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server.start()
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def resetThrottle():
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global throttle
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throttle = random.random() * 2 - 1
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global timer
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if timer is not None:
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timer.cancel()
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timer = Timer(10, resetThrottle)
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serve()
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timer = Timer(10, resetThrottle)
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channel = grpc.insecure_channel('localhost:50051')
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stub = motorService_pb2_grpc.CarControlStub(channel)
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stub.SetThrottle(ThrottleIterator())
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