Implement MoveVel command

src/cmd/motor/motor.go

@@ -6,10 +6,12 @@ package motor
 
 import (
 	"fmt"
+	"log"
 
 	"github.com/AntoineHX/multi-motors-controller/src/cmd"
 
 	"github.com/spf13/cobra"
+	"github.com/spf13/viper"
 )
 
 type Config struct {
@@ -33,6 +35,7 @@ var(
 	curr_config Config //Current config of the motor
 )
 
+//Cobra CLI
 // motorCmd represents the motor command
 var motorCmd = &cobra.Command{
 	Use:   "motor",
@@ -57,3 +60,32 @@ func init() {
 	// is called directly, e.g.:
 	// motorCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
 }
+
+// Update curr_config from config file
+func updateConfig(){
+	//Find correct ID in config file
+	i := 0
+	config_id := fmt.Sprintf("motors.%d.id",i)
+	for viper.IsSet(config_id){
+		// log.Printf("%v / %v", viper.GetInt(config_id), int(motorID))
+		if viper.GetInt(config_id) == int(motorID) {
+			//Extract config for this motor
+			err := viper.UnmarshalKey(fmt.Sprintf("motors.%d",i), &curr_config)
+			if err != nil {
+				log.Fatalf("unable to decode into struct, %v", err)
+				break
+			}
+
+			//Sanity check
+			if curr_config.Id != motorID {
+				log.Fatalf("Failed to update config. Requested ID: %d. Got: %d.", motorID, curr_config.Id)
+			}
+			break
+		}
+		//Next motor
+		i++
+		config_id = fmt.Sprintf("motors.%d.id",i)
+	}
+
+	log.Printf("Using config: %+v", curr_config)
+}

src/cmd/motor/moveVel.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
 // moveVelCmd represents the moveVel command
 var moveVelCmd = &cobra.Command{
 	Use:   "moveVel",
@@ -17,6 +26,13 @@ var moveVelCmd = &cobra.Command{
 	Long: `moveVel command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
 		fmt.Println("moveVel called with: ID ", cmd.Flag("id").Value, " Vel ", cmd.Flag("vel").Value)
+		updateConfig()
+		var vel, err = cmd.Flags().GetFloat64("vel")
+		if err!= nil {
+			log.Fatalf("Failed read requested velocity %v", err)
+		}else{
+			moveVel(vel)
+		}
 	},
 }
 
@@ -32,5 +48,25 @@ func init() {
 	// Cobra supports local flags which will only run when this command
 	// is called directly, e.g.:
 	//TODO: Anonymous flag (with anonymous flag group ?)
-	moveVelCmd.Flags().Float32("vel", 0, "Velocity (degrees/s)")
+	moveVelCmd.Flags().Float64("vel", 0, "Velocity (degrees/s)")
 }
+
+//gRPC Client
+func moveVel(cmd_vel float64){
+	// 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)
+
+	// Contact the server and print out its response.
+	ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+	defer cancel()
+	_, err = c.SetVelocity(ctx, &pb.Velocity{Velocity: cmd_vel})
+	if err != nil {
+		log.Fatalf("could not send: %v", err)
+	}
+}

src/cmd/motor/serve.go

@@ -9,7 +9,6 @@ import (
 	"time"
 
 	"github.com/spf13/cobra"
-	"github.com/spf13/viper"
 
 	"context"
 	"log"
@@ -54,42 +53,14 @@ func init() {
 	//TODO: Support Motor ID flag
 }
 
-func updateConfig(){
-	//Find correct ID in config file
-	i := 0
-	config_id := fmt.Sprintf("motors.%d.id",i)
-	for viper.IsSet(config_id){
-		// log.Printf("%v / %v", viper.GetInt(config_id), int(motorID))
-		if viper.GetInt(config_id) == int(motorID) {
-			//Extract config for this motor
-			err := viper.UnmarshalKey(fmt.Sprintf("motors.%d",i), &curr_config)
-			if err != nil {
-				log.Fatalf("unable to decode into struct, %v", err)
-				break
-			}
-
-			//Sanity check
-			if curr_config.Id != motorID {
-				log.Fatalf("Failed to update config. Requested ID: %d. Got: %d.", motorID, curr_config.Id)
-			}
-			break
-		}
-		//Next motor
-		i++
-		config_id = fmt.Sprintf("motors.%d.id",i)
-	}
-
-	log.Printf("Using config: %+v", curr_config)
-}
-
 //gRPC server
-// server is used to implement MotorsControllerServer.
+// server is used to implement MotorServer.
 type server struct {
-	pb.UnimplementedMotorsControllerServer
+	pb.UnimplementedMotorServer
 }
 
 //TODO: Fix compiling issue with google.protobuf.Empty message
-func (s *server) SetVolicty(ctx context.Context, in *pb.Velocity) (*pb.Empty, error) {
+func (s *server) SetVelocity(ctx context.Context, in *pb.Velocity) (*pb.Empty, error) {
 	log.Printf("Received: %v", in.GetVelocity())
 	select{
 		case cmdVelChan<-in.GetVelocity(): //Send command
@@ -117,7 +88,7 @@ func serve() {
 		log.Fatalf("failed to listen: %v", err)
 	}
 	s := grpc.NewServer()
-	pb.RegisterMotorsControllerServer(s, &server{})
+	pb.RegisterMotorServer(s, &server{})
 	log.Printf("server listening at %v", lis.Addr())
 	if err := s.Serve(lis); err != nil {
 		log.Fatalf("failed to serve: %v", err)
@@ -132,9 +103,9 @@ func init_sim(){
 	state.Velocity = 0
 	state.Error = ""
 
-	//Channels //TODO: Add buffer ?
-	stateChan = make(chan State) // State channel of the simulation
-	cmdVelChan = make(chan float64)// Command channel of the simulation
+	//Channels
+	stateChan = make(chan State, 1) // State channel of the simulation
+	cmdVelChan = make(chan float64, 1)// Command channel of the simulation
 
 	go motor_sim(state, curr_config, 1) //Run sim at 10Hz
 	//close(cmdVelChan) //Stop sim

src/proto/motorsim.proto

@@ -13,7 +13,7 @@ service MotorsController {
 }
 // Server converting target angles to velocity profile for mo
 service Motor {
-    rpc SetVolicty(Velocity) returns (Empty) {}
+    rpc SetVelocity(Velocity) returns (Empty) {}
     rpc GetData(Empty) returns (MotorData) {}
 }