69 lines
2.4 KiB
Python
69 lines
2.4 KiB
Python
#!/usr/bin/env python3
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from threading import Timer, Thread
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from gpiozero import Servo
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from concurrent import futures
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import grpc
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from . import motorService_pb2
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from . import motorService_pb2_grpc
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from MotorControl.gpiozero.motor_session import Motor
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servo_pin = 18
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timeout_length = 3
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class MotorServicer(motorService_pb2_grpc.CarControlServicer):
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def __init__(self):
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self.motor = Motor()
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self.servo = Servo(servo_pin)
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self._timer = None
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def SetThrottle(self, request_iterator, context):
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# If we don't get a response every 3 seconds, stop the car.
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# This isn't a stream right now, however may change it to be so since we'll constantly
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# be sending values...
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throttleFailed = False
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for throttleRequest in request_iterator:
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print('Setting throttle to: ' + throttleRequest.throttle)
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self.set_timeout(timeout_length)
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throttleFailed = self.motor.set_throttle(throttleRequest.throttle)
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if throttleFailed:
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break
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return motorService_pb2.ThrottleResponse(throttleSet = throttleFailed)
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def SetSteering(self, request, context):
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# TODO: Fix this to use the motor object as well to check for bounds.
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self.servo.value = 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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vary_timout -- Default 200, the additional random varying time (0 - vary_timeout) to add to 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.motor.stop()
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def start_server(self):
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server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
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motorService_pb2_grpc.add_CarControlServicer_to_server(MotorServicer(), server)
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server.add_insecure_port('[::]:50051')
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server.start()
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servicer = MotorServicer()
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servicer.start_server()
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run = True
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while run:
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inp = input('Please press q to stop the server')
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if inp == 'q' or inp == 'Q':
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run = False |