def run():
with grpc.insecure_channel("localhost:50052") as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
print("-------------- GetStatus --------------")
status = get_status(stub)
print(repr(status))
if not status.mpu_calibrated:
stub.CalibrateMPU(imu_pb2.EmptyRequest())
stub.Configure(imu_pb2.EmptyRequest())
if not status.is_updating and not status.has_position:
print("-------------- StartUpdating --------------")
start_updating(stub)
status = get_status(stub)
print("-------------- GetPosition --------------")
while True:
get_position(stub)
time.sleep(1)
def configure(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
stub.Configure(imu_pb2.EmptyRequest())
def position(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
return stub.GetPosition(imu_pb2.EmptyRequest())
def stop(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
return stub.StopUpdating(imu_pb2.EmptyRequest())
def calibrate_mpu(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
return stub.CalibrateMPU(imu_pb2.EmptyRequest())