Intial server/client setup of controller

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)
+	}
 }

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())
+}

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() {
-
 }