Intial server/client setup of controller
This commit is contained in:
parent
0f5d2df8a5
commit
01514ad6d2
7 changed files with 120 additions and 12 deletions
12
go.mod
12
go.mod
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@ -2,8 +2,14 @@ module github.com/AntoineHX/multi-motors-controller
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go 1.21.5
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require (
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google.golang.org/grpc v1.66.0
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google.golang.org/protobuf v1.34.1
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)
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require (
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github.com/fsnotify/fsnotify v1.7.0 // indirect
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github.com/golang/protobuf v1.5.3 // indirect
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github.com/hashicorp/hcl v1.0.0 // indirect
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github.com/inconshreveable/mousetrap v1.1.0 // indirect
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github.com/magiconair/properties v1.8.7 // indirect
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@ -21,8 +27,10 @@ require (
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go.uber.org/atomic v1.9.0 // indirect
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go.uber.org/multierr v1.9.0 // indirect
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golang.org/x/exp v0.0.0-20230905200255-921286631fa9 // indirect
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golang.org/x/sys v0.18.0 // indirect
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golang.org/x/text v0.14.0 // indirect
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golang.org/x/net v0.26.0 // indirect
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golang.org/x/sys v0.21.0 // indirect
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golang.org/x/text v0.16.0 // indirect
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google.golang.org/genproto/googleapis/rpc v0.0.0-20240604185151-ef581f913117 // indirect
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gopkg.in/ini.v1 v1.67.0 // indirect
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gopkg.in/yaml.v3 v3.0.1 // indirect
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)
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28
go.sum
28
go.sum
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@ -3,6 +3,10 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs
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github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
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github.com/fsnotify/fsnotify v1.7.0 h1:8JEhPFa5W2WU7YfeZzPNqzMP6Lwt7L2715Ggo0nosvA=
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github.com/fsnotify/fsnotify v1.7.0/go.mod h1:40Bi/Hjc2AVfZrqy+aj+yEI+/bRxZnMJyTJwOpGvigM=
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github.com/golang/protobuf v1.5.0/go.mod h1:FsONVRAS9T7sI+LIUmWTfcYkHO4aIWwzhcaSAoJOfIk=
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github.com/golang/protobuf v1.5.3 h1:KhyjKVUg7Usr/dYsdSqoFveMYd5ko72D+zANwlG1mmg=
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github.com/golang/protobuf v1.5.3/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiuN0vRsmY=
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github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
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github.com/hashicorp/hcl v1.0.0 h1:0Anlzjpi4vEasTeNFn2mLJgTSwt0+6sfsiTG8qcWGx4=
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github.com/hashicorp/hcl v1.0.0/go.mod h1:E5yfLk+7swimpb2L/Alb/PJmXilQ/rhwaUYs4T20WEQ=
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github.com/inconshreveable/mousetrap v1.1.0 h1:wN+x4NVGpMsO7ErUn/mUI3vEoE6Jt13X2s0bqwp9tc8=
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@ -48,10 +52,34 @@ go.uber.org/multierr v1.9.0 h1:7fIwc/ZtS0q++VgcfqFDxSBZVv/Xo49/SYnDFupUwlI=
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go.uber.org/multierr v1.9.0/go.mod h1:X2jQV1h+kxSjClGpnseKVIxpmcjrj7MNnI0bnlfKTVQ=
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golang.org/x/exp v0.0.0-20230905200255-921286631fa9 h1:GoHiUyI/Tp2nVkLI2mCxVkOjsbSXD66ic0XW0js0R9g=
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golang.org/x/exp v0.0.0-20230905200255-921286631fa9/go.mod h1:S2oDrQGGwySpoQPVqRShND87VCbxmc6bL1Yd2oYrm6k=
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golang.org/x/net v0.23.0 h1:7EYJ93RZ9vYSZAIb2x3lnuvqO5zneoD6IvWjuhfxjTs=
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golang.org/x/net v0.23.0/go.mod h1:JKghWKKOSdJwpW2GEx0Ja7fmaKnMsbu+MWVZTokSYmg=
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golang.org/x/net v0.26.0 h1:soB7SVo0PWrY4vPW/+ay0jKDNScG2X9wFeYlXIvJsOQ=
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golang.org/x/net v0.26.0/go.mod h1:5YKkiSynbBIh3p6iOc/vibscux0x38BZDkn8sCUPxHE=
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golang.org/x/sys v0.18.0 h1:DBdB3niSjOA/O0blCZBqDefyWNYveAYMNF1Wum0DYQ4=
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golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
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golang.org/x/sys v0.21.0 h1:rF+pYz3DAGSQAxAu1CbC7catZg4ebC4UIeIhKxBZvws=
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golang.org/x/sys v0.21.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
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golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ=
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golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
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golang.org/x/text v0.16.0 h1:a94ExnEXNtEwYLGJSIUxnWoxoRz/ZcCsV63ROupILh4=
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golang.org/x/text v0.16.0/go.mod h1:GhwF1Be+LQoKShO3cGOHzqOgRrGaYc9AvblQOmPVHnI=
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golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
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google.golang.org/genproto v0.0.0-20240213162025-012b6fc9bca9 h1:9+tzLLstTlPTRyJTh+ah5wIMsBW5c4tQwGTN3thOW9Y=
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google.golang.org/genproto/googleapis/rpc v0.0.0-20240314234333-6e1732d8331c h1:lfpJ/2rWPa/kJgxyyXM8PrNnfCzcmxJ265mADgwmvLI=
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google.golang.org/genproto/googleapis/rpc v0.0.0-20240314234333-6e1732d8331c/go.mod h1:WtryC6hu0hhx87FDGxWCDptyssuo68sk10vYjF+T9fY=
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google.golang.org/genproto/googleapis/rpc v0.0.0-20240604185151-ef581f913117 h1:1GBuWVLM/KMVUv1t1En5Gs+gFZCNd360GGb4sSxtrhU=
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google.golang.org/genproto/googleapis/rpc v0.0.0-20240604185151-ef581f913117/go.mod h1:EfXuqaE1J41VCDicxHzUDm+8rk+7ZdXzHV0IhO/I6s0=
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google.golang.org/grpc v1.62.1 h1:B4n+nfKzOICUXMgyrNd19h/I9oH0L1pizfk1d4zSgTk=
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google.golang.org/grpc v1.62.1/go.mod h1:IWTG0VlJLCh1SkC58F7np9ka9mx/WNkjl4PGJaiq+QE=
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google.golang.org/grpc v1.66.0 h1:DibZuoBznOxbDQxRINckZcUvnCEvrW9pcWIE2yF9r1c=
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google.golang.org/grpc v1.66.0/go.mod h1:s3/l6xSSCURdVfAnL+TqCNMyTDAGN6+lZeVxnZR128Y=
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google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp09yW+WbY/TyQbw=
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google.golang.org/protobuf v1.26.0/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc=
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google.golang.org/protobuf v1.33.0 h1:uNO2rsAINq/JlFpSdYEKIZ0uKD/R9cpdv0T+yoGwGmI=
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google.golang.org/protobuf v1.33.0/go.mod h1:c6P6GXX6sHbq/GpV6MGZEdwhWPcYBgnhAHhKbcUYpos=
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google.golang.org/protobuf v1.34.1 h1:9ddQBjfCyZPOHPUiPxpYESBLc+T8P3E+Vo4IbKZgFWg=
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google.golang.org/protobuf v1.34.1/go.mod h1:c6P6GXX6sHbq/GpV6MGZEdwhWPcYBgnhAHhKbcUYpos=
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gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
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gopkg.in/ini.v1 v1.67.0 h1:Dgnx+6+nfE+IfzjUEISNeydPJh9AXNNsWbGP9KzCsOA=
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gopkg.in/ini.v1 v1.67.0/go.mod h1:pNLf8WUiyNEtQjuu5G5vTm06TEv9tsIgeAvK8hOrP4k=
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4
makefile
4
makefile
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@ -7,8 +7,8 @@ build:
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go build -o ${BINARY_NAME} ${SRC_PATH}/main.go
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generate-protos:
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protoc --go_out=. --go_opt=paths=source_relative --go-grpc_out=. --go-grpc_opt=paths=source_relative ${SRC_PATH}/motorsim.proto
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protoc --go_out=. --go_opt=paths=source_relative --go-grpc_out=. --go-grpc_opt=paths=source_relative ${SRC_PATH}/proto/motorsim.proto
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clean:
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go clean
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rm ${BINARY_NAME} ./src/*.pb.go
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rm ${BINARY_NAME} ${SRC_PATH}/proto/*.pb.go
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@ -8,16 +8,27 @@ import (
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"fmt"
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"github.com/spf13/cobra"
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"context"
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"log"
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"net"
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"google.golang.org/grpc"
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pb "github.com/AntoineHX/multi-motors-controller/src/proto"
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)
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var (
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port uint16
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)
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// Cobra CLI
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// serveCmd represents the serve command
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var serveCmd = &cobra.Command{
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Use: "serve",
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Short: "serve command descritpion",
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Long: `serve command descritpion`,
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Run: func(cmd *cobra.Command, args []string) {
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fmt.Println("serve called with: Port ", cmd.Flag("port").Value)
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fmt.Println("serve called with: Port ", port)
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fmt.Println(cmd.CommandPath())
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serve()
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},
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}
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@ -33,5 +44,36 @@ func init() {
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// Cobra supports local flags which will only run when this command
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// is called directly, e.g.:
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serveCmd.Flags().Uint16P("port", "p", 8080, "Port")
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serveCmd.Flags().Uint16VarP(&port, "port", "p", 8080, "Port")
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}
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//gRPC server
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// server is used to implement MotorsControllerServer.
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type server struct {
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pb.UnimplementedMotorsControllerServer
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}
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func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, error) {
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log.Printf("Received: %v", in.GetAngles())
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return &pb.Angles{Angles: in.GetAngles()}, nil
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}
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//TODO: Fix compiling issue with Empty message
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// func (s *server) GetJoints(ctx context.Context, in *pb.emptypb.Empty) (*pb.Angles, error) {
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// var angles = []float64{0, 0, 0}
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// log.Printf("Sending: %v", angles)
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// return &pb.Angles{Angles: angles}, nil
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// }
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func serve() {
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lis, err := net.Listen("tcp", fmt.Sprintf(":%d", port))
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if err != nil {
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log.Fatalf("failed to listen: %v", err)
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}
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s := grpc.NewServer()
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pb.RegisterMotorsControllerServer(s, &server{})
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log.Printf("server listening at %v", lis.Addr())
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if err := s.Serve(lis); err != nil {
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log.Fatalf("failed to serve: %v", err)
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}
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}
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@ -6,11 +6,24 @@ package controller
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import (
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"fmt"
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// "strings"
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"github.com/spf13/cobra"
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"context"
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"log"
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"time"
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"google.golang.org/grpc"
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"google.golang.org/grpc/credentials/insecure"
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pb "github.com/AntoineHX/multi-motors-controller/src/proto"
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)
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var(
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addr = "localhost:8080" //TODO: Add to cobra config
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tgt_angles = []float64{} //TODO: Add to cobra config
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)
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//Cobra CLI
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// setJointsCmd represents the setJoints command
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var setJointsCmd = &cobra.Command{
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Use: "setJoints",
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@ -18,6 +31,7 @@ var setJointsCmd = &cobra.Command{
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Long: `setJoints command descritpion`,
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Run: func(cmd *cobra.Command, args []string) {
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fmt.Println("setJoints called with target :", cmd.Flag("vel").Value)
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SetJoints()
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},
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}
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@ -34,6 +48,26 @@ func init() {
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// is called directly, e.g.:
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//TODO: Anonymous flag (with anonymous flag group ?)
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//TODO: Fix input of multiple values as slice
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setJointsCmd.Flags().Float32Slice("vel", nil, "Target joint values") //or IntSlice ?
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setJointsCmd.Flags().Float64SliceVar(&tgt_angles, "vel", nil, "Target joint values") //or IntSlice ?
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setJointsCmd.MarkFlagRequired("vel")
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}
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//gRPC Client
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func SetJoints(){
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// Set up a connection to the server.
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conn, err := grpc.NewClient(addr, grpc.WithTransportCredentials(insecure.NewCredentials()))
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if err != nil {
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log.Fatalf("did not connect: %v", err)
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}
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defer conn.Close()
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c := pb.NewMotorsControllerClient(conn)
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// Contact the server and print out its response.
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ctx, cancel := context.WithTimeout(context.Background(), time.Second)
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defer cancel()
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r, err := c.SetJoints(ctx, &pb.Angles{Angles: tgt_angles})
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if err != nil {
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log.Fatalf("could not send: %v", err)
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}
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log.Printf("Received: %v", r.GetAngles())
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}
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@ -36,7 +36,3 @@ func init() {
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//TODO: Support Motor ID flag
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}
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func controller() {
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}
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