From 8d6f7db12a0ada0dea43ea338aff4eaf9a8eafd1 Mon Sep 17 00:00:00 2001
From: AntoineH <antoine.harle@proton.me>
Date: Wed, 4 Sep 2024 16:24:06 +0200
Subject: [PATCH] Implement listen command

---
 src/cmd/motor/listen.go | 37 +++++++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/src/cmd/motor/listen.go b/src/cmd/motor/listen.go
index 0562f55..6db3db1 100644
--- a/src/cmd/motor/listen.go
+++ b/src/cmd/motor/listen.go
@@ -8,8 +8,17 @@ import (
 	"fmt"
 
 	"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"
 )
 
+//Cobra CLI
 // listenCmd represents the listen command
 var listenCmd = &cobra.Command{
 	Use:   "listen",
@@ -17,6 +26,8 @@ var listenCmd = &cobra.Command{
 	Long: `listen command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
 		fmt.Println("listen called with ID: ", cmd.Flag("id").Value)
+		updateConfig()
+		listen() //Blocking call
 	},
 }
 
@@ -33,3 +44,29 @@ func init() {
 	// is called directly, e.g.:
 	// listenCmd.Flags().Uint16("id", 0, "Identifier number")
 }
+
+// Could have been done with a coroutine and a range on a channel if launched from the server thread
+func listen(){
+	// Set up a connection to the server.
+	var addr = fmt.Sprintf("%s:%d", ip, curr_config.Port) //Defined in controller/serve
+	conn, err := grpc.NewClient(addr, grpc.WithTransportCredentials(insecure.NewCredentials()))
+	if err != nil {
+		log.Fatalf("did not connect: %v", err)
+	}
+	defer conn.Close()
+	c := pb.NewMotorClient(conn)
+
+	for{
+		// Contact the server and print out its response.
+		ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+		defer cancel()
+		r, err := c.GetData(ctx, &pb.Empty{})
+		if err != nil {
+			log.Fatalf("could not send: %v", err)
+		}
+		log.Printf("Motor state: %f° | %f°/s | %s", r.GetAngle(), r.GetVelocity(), r.GetError())
+
+		// Wait for a second
+		time.Sleep(time.Second)
+	}
+}
\ No newline at end of file