From 01514ad6d2ecaaee9ebe5a75a3161a9d093275d3 Mon Sep 17 00:00:00 2001 From: AntoineH Date: Tue, 3 Sep 2024 18:05:41 +0200 Subject: [PATCH] Intial server/client setup of controller --- go.mod | 12 +++++++-- go.sum | 28 ++++++++++++++++++++ makefile | 4 +-- src/cmd/controller/serve.go | 46 +++++++++++++++++++++++++++++++-- src/cmd/controller/setJoints.go | 38 +++++++++++++++++++++++++-- src/cmd/motor/serve.go | 4 --- src/{ => proto}/motorsim.proto | 0 7 files changed, 120 insertions(+), 12 deletions(-) rename src/{ => proto}/motorsim.proto (100%) diff --git a/go.mod b/go.mod index 0ebf927..5fda1b5 100644 --- a/go.mod +++ b/go.mod @@ -2,8 +2,14 @@ module github.com/AntoineHX/multi-motors-controller go 1.21.5 +require ( + google.golang.org/grpc v1.66.0 + google.golang.org/protobuf v1.34.1 +) + require ( github.com/fsnotify/fsnotify v1.7.0 // indirect + github.com/golang/protobuf v1.5.3 // indirect github.com/hashicorp/hcl v1.0.0 // indirect github.com/inconshreveable/mousetrap v1.1.0 // indirect github.com/magiconair/properties v1.8.7 // indirect @@ -21,8 +27,10 @@ require ( go.uber.org/atomic v1.9.0 // indirect go.uber.org/multierr v1.9.0 // indirect golang.org/x/exp v0.0.0-20230905200255-921286631fa9 // indirect - golang.org/x/sys v0.18.0 // indirect - golang.org/x/text v0.14.0 // indirect + golang.org/x/net v0.26.0 // indirect + golang.org/x/sys v0.21.0 // indirect + golang.org/x/text v0.16.0 // indirect + google.golang.org/genproto/googleapis/rpc v0.0.0-20240604185151-ef581f913117 // indirect gopkg.in/ini.v1 v1.67.0 // indirect gopkg.in/yaml.v3 v3.0.1 // indirect ) diff --git a/go.sum b/go.sum index 55808a3..8e3b6ae 100644 --- a/go.sum +++ b/go.sum @@ -3,6 +3,10 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/fsnotify/fsnotify v1.7.0 h1:8JEhPFa5W2WU7YfeZzPNqzMP6Lwt7L2715Ggo0nosvA= github.com/fsnotify/fsnotify v1.7.0/go.mod h1:40Bi/Hjc2AVfZrqy+aj+yEI+/bRxZnMJyTJwOpGvigM= +github.com/golang/protobuf v1.5.0/go.mod h1:FsONVRAS9T7sI+LIUmWTfcYkHO4aIWwzhcaSAoJOfIk= +github.com/golang/protobuf v1.5.3 h1:KhyjKVUg7Usr/dYsdSqoFveMYd5ko72D+zANwlG1mmg= +github.com/golang/protobuf v1.5.3/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiuN0vRsmY= +github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE= github.com/hashicorp/hcl v1.0.0 h1:0Anlzjpi4vEasTeNFn2mLJgTSwt0+6sfsiTG8qcWGx4= github.com/hashicorp/hcl v1.0.0/go.mod h1:E5yfLk+7swimpb2L/Alb/PJmXilQ/rhwaUYs4T20WEQ= github.com/inconshreveable/mousetrap v1.1.0 h1:wN+x4NVGpMsO7ErUn/mUI3vEoE6Jt13X2s0bqwp9tc8= @@ -48,10 +52,34 @@ go.uber.org/multierr v1.9.0 h1:7fIwc/ZtS0q++VgcfqFDxSBZVv/Xo49/SYnDFupUwlI= go.uber.org/multierr v1.9.0/go.mod h1:X2jQV1h+kxSjClGpnseKVIxpmcjrj7MNnI0bnlfKTVQ= golang.org/x/exp v0.0.0-20230905200255-921286631fa9 h1:GoHiUyI/Tp2nVkLI2mCxVkOjsbSXD66ic0XW0js0R9g= golang.org/x/exp v0.0.0-20230905200255-921286631fa9/go.mod h1:S2oDrQGGwySpoQPVqRShND87VCbxmc6bL1Yd2oYrm6k= +golang.org/x/net v0.23.0 h1:7EYJ93RZ9vYSZAIb2x3lnuvqO5zneoD6IvWjuhfxjTs= +golang.org/x/net v0.23.0/go.mod h1:JKghWKKOSdJwpW2GEx0Ja7fmaKnMsbu+MWVZTokSYmg= +golang.org/x/net v0.26.0 h1:soB7SVo0PWrY4vPW/+ay0jKDNScG2X9wFeYlXIvJsOQ= +golang.org/x/net v0.26.0/go.mod h1:5YKkiSynbBIh3p6iOc/vibscux0x38BZDkn8sCUPxHE= golang.org/x/sys v0.18.0 h1:DBdB3niSjOA/O0blCZBqDefyWNYveAYMNF1Wum0DYQ4= golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= +golang.org/x/sys v0.21.0 h1:rF+pYz3DAGSQAxAu1CbC7catZg4ebC4UIeIhKxBZvws= +golang.org/x/sys v0.21.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ= golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU= +golang.org/x/text v0.16.0 h1:a94ExnEXNtEwYLGJSIUxnWoxoRz/ZcCsV63ROupILh4= +golang.org/x/text v0.16.0/go.mod h1:GhwF1Be+LQoKShO3cGOHzqOgRrGaYc9AvblQOmPVHnI= +golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= +google.golang.org/genproto v0.0.0-20240213162025-012b6fc9bca9 h1:9+tzLLstTlPTRyJTh+ah5wIMsBW5c4tQwGTN3thOW9Y= +google.golang.org/genproto/googleapis/rpc v0.0.0-20240314234333-6e1732d8331c h1:lfpJ/2rWPa/kJgxyyXM8PrNnfCzcmxJ265mADgwmvLI= +google.golang.org/genproto/googleapis/rpc v0.0.0-20240314234333-6e1732d8331c/go.mod h1:WtryC6hu0hhx87FDGxWCDptyssuo68sk10vYjF+T9fY= +google.golang.org/genproto/googleapis/rpc v0.0.0-20240604185151-ef581f913117 h1:1GBuWVLM/KMVUv1t1En5Gs+gFZCNd360GGb4sSxtrhU= +google.golang.org/genproto/googleapis/rpc v0.0.0-20240604185151-ef581f913117/go.mod h1:EfXuqaE1J41VCDicxHzUDm+8rk+7ZdXzHV0IhO/I6s0= +google.golang.org/grpc v1.62.1 h1:B4n+nfKzOICUXMgyrNd19h/I9oH0L1pizfk1d4zSgTk= +google.golang.org/grpc v1.62.1/go.mod h1:IWTG0VlJLCh1SkC58F7np9ka9mx/WNkjl4PGJaiq+QE= +google.golang.org/grpc v1.66.0 h1:DibZuoBznOxbDQxRINckZcUvnCEvrW9pcWIE2yF9r1c= +google.golang.org/grpc v1.66.0/go.mod h1:s3/l6xSSCURdVfAnL+TqCNMyTDAGN6+lZeVxnZR128Y= +google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp09yW+WbY/TyQbw= +google.golang.org/protobuf v1.26.0/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc= +google.golang.org/protobuf v1.33.0 h1:uNO2rsAINq/JlFpSdYEKIZ0uKD/R9cpdv0T+yoGwGmI= +google.golang.org/protobuf v1.33.0/go.mod h1:c6P6GXX6sHbq/GpV6MGZEdwhWPcYBgnhAHhKbcUYpos= +google.golang.org/protobuf v1.34.1 h1:9ddQBjfCyZPOHPUiPxpYESBLc+T8P3E+Vo4IbKZgFWg= +google.golang.org/protobuf v1.34.1/go.mod h1:c6P6GXX6sHbq/GpV6MGZEdwhWPcYBgnhAHhKbcUYpos= gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= gopkg.in/ini.v1 v1.67.0 h1:Dgnx+6+nfE+IfzjUEISNeydPJh9AXNNsWbGP9KzCsOA= gopkg.in/ini.v1 v1.67.0/go.mod h1:pNLf8WUiyNEtQjuu5G5vTm06TEv9tsIgeAvK8hOrP4k= diff --git a/makefile b/makefile index b07ee85..80535f5 100644 --- a/makefile +++ b/makefile @@ -7,8 +7,8 @@ build: go build -o ${BINARY_NAME} ${SRC_PATH}/main.go generate-protos: - protoc --go_out=. --go_opt=paths=source_relative --go-grpc_out=. --go-grpc_opt=paths=source_relative ${SRC_PATH}/motorsim.proto + protoc --go_out=. --go_opt=paths=source_relative --go-grpc_out=. --go-grpc_opt=paths=source_relative ${SRC_PATH}/proto/motorsim.proto clean: go clean - rm ${BINARY_NAME} ./src/*.pb.go \ No newline at end of file + rm ${BINARY_NAME} ${SRC_PATH}/proto/*.pb.go \ No newline at end of file diff --git a/src/cmd/controller/serve.go b/src/cmd/controller/serve.go index a63d0f7..d10c0ea 100644 --- a/src/cmd/controller/serve.go +++ b/src/cmd/controller/serve.go @@ -8,16 +8,27 @@ import ( "fmt" "github.com/spf13/cobra" + + "context" + "log" + "net" + "google.golang.org/grpc" + pb "github.com/AntoineHX/multi-motors-controller/src/proto" ) +var ( + port uint16 +) +// Cobra CLI // serveCmd represents the serve command var serveCmd = &cobra.Command{ Use: "serve", Short: "serve command descritpion", Long: `serve command descritpion`, Run: func(cmd *cobra.Command, args []string) { - fmt.Println("serve called with: Port ", cmd.Flag("port").Value) + fmt.Println("serve called with: Port ", port) fmt.Println(cmd.CommandPath()) + serve() }, } @@ -33,5 +44,36 @@ func init() { // Cobra supports local flags which will only run when this command // is called directly, e.g.: - serveCmd.Flags().Uint16P("port", "p", 8080, "Port") + serveCmd.Flags().Uint16VarP(&port, "port", "p", 8080, "Port") +} + +//gRPC server +// server is used to implement MotorsControllerServer. +type server struct { + pb.UnimplementedMotorsControllerServer +} + +func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, error) { + log.Printf("Received: %v", in.GetAngles()) + return &pb.Angles{Angles: in.GetAngles()}, nil +} + +//TODO: Fix compiling issue with Empty message +// func (s *server) GetJoints(ctx context.Context, in *pb.emptypb.Empty) (*pb.Angles, error) { +// var angles = []float64{0, 0, 0} +// log.Printf("Sending: %v", angles) +// return &pb.Angles{Angles: angles}, nil +// } + +func serve() { + lis, err := net.Listen("tcp", fmt.Sprintf(":%d", port)) + if err != nil { + log.Fatalf("failed to listen: %v", err) + } + s := grpc.NewServer() + pb.RegisterMotorsControllerServer(s, &server{}) + log.Printf("server listening at %v", lis.Addr()) + if err := s.Serve(lis); err != nil { + log.Fatalf("failed to serve: %v", err) + } } \ No newline at end of file diff --git a/src/cmd/controller/setJoints.go b/src/cmd/controller/setJoints.go index 38c38ec..99647ec 100644 --- a/src/cmd/controller/setJoints.go +++ b/src/cmd/controller/setJoints.go @@ -6,11 +6,24 @@ package controller import ( "fmt" - // "strings" "github.com/spf13/cobra" + + "context" + "log" + "time" + + "google.golang.org/grpc" + "google.golang.org/grpc/credentials/insecure" + pb "github.com/AntoineHX/multi-motors-controller/src/proto" ) +var( + addr = "localhost:8080" //TODO: Add to cobra config + tgt_angles = []float64{} //TODO: Add to cobra config +) + +//Cobra CLI // setJointsCmd represents the setJoints command var setJointsCmd = &cobra.Command{ Use: "setJoints", @@ -18,6 +31,7 @@ var setJointsCmd = &cobra.Command{ Long: `setJoints command descritpion`, Run: func(cmd *cobra.Command, args []string) { fmt.Println("setJoints called with target :", cmd.Flag("vel").Value) + SetJoints() }, } @@ -34,6 +48,26 @@ func init() { // is called directly, e.g.: //TODO: Anonymous flag (with anonymous flag group ?) //TODO: Fix input of multiple values as slice - setJointsCmd.Flags().Float32Slice("vel", nil, "Target joint values") //or IntSlice ? + setJointsCmd.Flags().Float64SliceVar(&tgt_angles, "vel", nil, "Target joint values") //or IntSlice ? setJointsCmd.MarkFlagRequired("vel") } + +//gRPC Client +func SetJoints(){ + // Set up a connection to the server. + conn, err := grpc.NewClient(addr, grpc.WithTransportCredentials(insecure.NewCredentials())) + if err != nil { + log.Fatalf("did not connect: %v", err) + } + defer conn.Close() + c := pb.NewMotorsControllerClient(conn) + + // Contact the server and print out its response. + ctx, cancel := context.WithTimeout(context.Background(), time.Second) + defer cancel() + r, err := c.SetJoints(ctx, &pb.Angles{Angles: tgt_angles}) + if err != nil { + log.Fatalf("could not send: %v", err) + } + log.Printf("Received: %v", r.GetAngles()) +} \ No newline at end of file diff --git a/src/cmd/motor/serve.go b/src/cmd/motor/serve.go index b269281..67d60c3 100644 --- a/src/cmd/motor/serve.go +++ b/src/cmd/motor/serve.go @@ -35,8 +35,4 @@ func init() { // serveCmd.Flags().Uint16P("port", "p", 8080, "Port") //TODO: Support Motor ID flag -} - -func controller() { - } \ No newline at end of file diff --git a/src/motorsim.proto b/src/proto/motorsim.proto similarity index 100% rename from src/motorsim.proto rename to src/proto/motorsim.proto