def do_step_loop(stub):
for x in range(0, 100):
stub.StepForward(easydriver_pb2.EmptyRequest())
print(get_status(stub))
for x in range(0, 100):
stub.StepReverse(easydriver_pb2.EmptyRequest())
print(get_status(stub))
def run():
with grpc.insecure_channel("localhost:50000") as channel:
stub = easydriver_pb2_grpc.EasyDriverServiceStub(channel)
print("-------------- GetStatus --------------")
print(get_status(stub))
stub.Enable(easydriver_pb2.EmptyRequest())
stub.Wake(easydriver_pb2.EmptyRequest())
stub.SetFullStep(easydriver_pb2.EmptyRequest())
do_step_loop(stub)
stub.SetHalfStep(easydriver_pb2.EmptyRequest())
do_step_loop(stub)
stub.SetQuarterStep(easydriver_pb2.EmptyRequest())
do_step_loop(stub)
stub.SetEighthStep(easydriver_pb2.EmptyRequest())
do_step_loop(stub)
stub.SetSixteenthStep(easydriver_pb2.EmptyRequest())
do_step_loop(stub)
stub.Sleep(easydriver_pb2.EmptyRequest())
stub.Disable(easydriver_pb2.EmptyRequest())
def get_status(stub):
status = stub.GetStatus(easydriver_pb2.EmptyRequest())
print("""
Status: current_position: %s
direction: %s
degrees_per_step: %s
enabled: %s
gear_ratio: %s
killswitch_left_on: %s
killswitch_right_on: %s
name: %s
steps_per_rev: %s
""" % (
status.current_position,
status.direction,
status.degrees_per_step,
status.enabled,
status.gear_ratio,
status.killswitch_left_on,
status.killswitch_right_on,
status.name,
status.steps_per_rev,
))
return status
def status(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = easydriver_pb2_grpc.EasyDriverServiceStub(channel)
return stub.GetStatus(easydriver_pb2.EmptyRequest())
def set_sixteenth_step(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = easydriver_pb2_grpc.EasyDriverServiceStub(channel)
return stub.SetSixteenthStep(easydriver_pb2.EmptyRequest())
def step_reverse(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = easydriver_pb2_grpc.EasyDriverServiceStub(channel)
return stub.StepReverse(easydriver_pb2.EmptyRequest())
