Improve CLI

README.md

@@ -11,9 +11,9 @@ In root directory, call `make` to generate binary file. To clean up, call `make
     ```bash
     ./motorsim -c ./cfg/motors.yaml motor --id [ID] serve
     ```
-2. Start Motor controller server (Beware, controllers commands except Port 8080):
+2. Start Motor controller server (Beware, if modifying port controllers commands except Port 8080):
     ```bash
-    ./motorsim -c ./cfg/motors.yaml controller serve -p 8080
+    ./motorsim -c ./cfg/motors.yaml controller serve
     ```
 ### Client usage
 #### Motor controller commands
@@ -21,9 +21,9 @@ In root directory, call `make` to generate binary file. To clean up, call `make
     ```bash
     ./motorsim -c ./cfg/motors.yaml controller getJoints
     ```
-- Set joints values (Beware, currently set the same values for all joints):
+- Set joints values:
     ```bash
-    ./motorsim -c ./cfg/motors.yaml controller setJoints --j [Joint goals]
+    ./motorsim -c ./cfg/motors.yaml controller setJoints [Joint goals]
     ```
 #### Motor commands
 Every command should be provided with valid ID from [config file](./cfg/motors.yaml):
@@ -33,7 +33,7 @@ Every command should be provided with valid ID from [config file](./cfg/motors.y
     ```
 - Set motor velocity:
     ```bash
-    ./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel --vel [Velocity]
+    ./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel -- [Velocity]
     ```
 
 ## TODO
@@ -42,4 +42,4 @@ Every command should be provided with valid ID from [config file](./cfg/motors.y
 - [ ] Use coroutines for gRPC services callbacks.
 - [ ] Fix get Motor State service (Behavior not robust).
 - [ ] Fix Controller SetJoint command CLI omitting multiples input values.
-- [ ] Complete CLI help messages.
+- [ ] Send error responses to clients of gRPC services.

src/cmd/controller/controller.go

@@ -23,10 +23,10 @@ var(
 // controllerCmd represents the controller command
 var controllerCmd = &cobra.Command{
 	Use:   "controller",
-	Short: "controller command description",
+	Short: "Motor controller command",
-	Long: `controller command description`,
+	Long: `Motor controller command`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("controller called")
+		cmd.Help() //Nothing to do, show help
 	},
 }
 

src/cmd/controller/getJoints.go

@@ -22,10 +22,9 @@ import (
 // getJointsCmd represents the getJoints command
 var getJointsCmd = &cobra.Command{
 	Use:   "getJoints",
-	Short: "getJoints command descritpion",
+	Short: "Retreive motor positions",
-	Long: `getJoints command descritpion`,
+	Long: `Retreive the positions of the motor controlled by Motor Controller server`,
 	Run: func(cmd *cobra.Command, args []string) {
-		// fmt.Println("getJoints called")
 		GetJoints()
 	},
 }

src/cmd/controller/serve.go

@@ -30,8 +30,8 @@ var (
 // serveCmd represents the serve command
 var serveCmd = &cobra.Command{
 	Use:   "serve",
-	Short: "serve command descritpion",
+	Short: "Start Motor Controller server",
-	Long: `serve command descritpion`,
+	Long: `Start Motor Controller server`,
 	Run: func(cmd *cobra.Command, args []string) {
 		fmt.Println("serve called with: Port ", port)
 		fmt.Println(cmd.CommandPath())
@@ -66,7 +66,7 @@ type server struct {
 func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, error) {
 	//TODO: use as a coroutine to prevent blocking the main thread
 	var(
-		tgt_angles = []float64{in.GetAngles()[0], in.GetAngles()[0], in.GetAngles()[0]} //TODO: Replace by in.GetAngles()
+		tgt_angles = in.GetAngles() //TODO: Replace by in.GetAngles()
 		cmd_vel = make([]float64, len(tgt_angles)) //Commanded velocities
 		motor_pos = []float64{} //Current motor positions
 		max_vels = []float64{} //Maximum velocities
@@ -78,7 +78,7 @@ func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, erro
 	)
 
 	//Get motor states
-	for i := range tgt_angles {
+	for i := range motor_configs {
 		//TODO: Use a coroutine to avoid blocking the main thread
 		motor_state := getMotorState(i) //Get current motor state
 		motor_pos = append(motor_pos, motor_state.Angle)
@@ -92,6 +92,9 @@ func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, erro
 	// log.Printf("t: %v - %v", slices.Min(traj_times), traj_times)
 
 	if controller_error ==""{ //If no error, check for valid target angles
+		if len(tgt_angles)> len(motor_configs){ //Check size
+			controller_error = "InvalidRequestSize"
+		} else { //Check angles limit
 			for i, angle := range tgt_angles {
 				if angle > motor_configs[i].Max_pos || angle < motor_configs[i].Min_pos{
 					controller_error = "InvalidTargetAngles"
@@ -99,6 +102,7 @@ func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, erro
 				}
 			}
 		}
+	}
 
 	//Compute velocities
 	if controller_error ==""{ //If no error, compute velocities
@@ -136,6 +140,9 @@ func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, erro
 		case "MotorFault":
 			log.Printf("ERROR - Motor error preventing command: %v", motor_errors)
 			return &pb.Angles{Angles: motor_pos}, nil //Return motor positions TODO: Return error message
+		case "InvalidRequestSize":
+			log.Printf("ERROR - Request size [%d] is invalid. Expected size [%d]", len(tgt_angles), len(motor_configs))
+			return &pb.Angles{Angles: motor_pos}, nil
 		case "InvalidTargetAngles":
 			log.Print("ERROR - out of limits:")
 			for i, tgt := range tgt_angles{
@@ -191,7 +198,7 @@ func setMotorVel(idx int, vel float64){
 
 //TODO: Fix compiling issue with google.protobuf.Empty message
 func (s *server) GetJoints(ctx context.Context, in *pb.Empty) (*pb.Angles, error) {
-	//TODO: use a coroutines to prevent blocking the main thread
+	//TODO: use a coroutines to prevent blocking the main thread and server crash in case of errors
 	var angles = []float64{}
 	for i, _ := range motor_configs {
 		angles = append(angles,getMotorState(i).Angle)

src/cmd/controller/setJoints.go

@@ -6,7 +6,7 @@ package controller
 
 import (
 	"fmt"
-
+	"strconv"
 	"github.com/spf13/cobra"
 
 	"context"
@@ -22,16 +22,21 @@ import (
 // setJointsCmd represents the setJoints command
 var setJointsCmd = &cobra.Command{
 	Use:   "setJoints",
-	Short: "setJoints command descritpion",
+	Short: "Set target joint angles for the motors",
-	Long: `setJoints command descritpion`,
+	Long: `Request the Motor Controller to command the motors to reach the target joint angles`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("setJoints called with target :", cmd.Flag("j").Value)
+		//Parse target angles
-		tgt_angles, err:=cmd.Flags().GetFloat64Slice("j")
+		var tgt_angles []float64
+		for _, arg := range args {
+			angle, err := strconv.ParseFloat(arg, 64)
 			if err!= nil{
-			log.Fatalf("Failed read requested velocities %v", err)
+				log.Fatalf("Failed to parse joint angle %v", err)
 			}else{
-			SetJoints(tgt_angles)
+				tgt_angles = append(tgt_angles, angle)
 			}
+		}
+		//Set joint angles
+		SetJoints(tgt_angles)
 	},
 }
 
@@ -46,10 +51,8 @@ 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 ?)
+	setJointsCmd.Flags().Float64Slice("", nil, "Target joint values") //Only used for help message
-	//TODO: Fix input of multiple values as slice
+	// setJointsCmd.MarkFlagRequired("")
-	setJointsCmd.Flags().Float64Slice("j", nil, "Target joint values") //or IntSlice ?
-	setJointsCmd.MarkFlagRequired("j")
 }
 
 //gRPC Client
@@ -70,5 +73,5 @@ func SetJoints(tgt_angles []float64){
 	if err != nil {
 		log.Fatalf("could not send: %v", err)
 	}
-	log.Printf("Received: %v", r.GetAngles())
+	log.Printf("Moving to (°): %v", r.GetAngles())
 }

src/cmd/motor/listen.go

@@ -22,10 +22,10 @@ import (
 // listenCmd represents the listen command
 var listenCmd = &cobra.Command{
 	Use:   "listen",
-	Short: "listen command descritpion",
+	Short: "Listen motor state",
-	Long: `listen command descritpion`,
+	Long: `Continuous retrieval of complete motor state from motor server`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("listen called with ID: ", cmd.Flag("id").Value)
+		// fmt.Println("listen called with ID: ", cmd.Flag("id").Value)
 		updateConfig()
 		listen() //Blocking call
 	},

src/cmd/motor/motor.go

@@ -39,10 +39,10 @@ var(
 // motorCmd represents the motor command
 var motorCmd = &cobra.Command{
 	Use:   "motor",
-	Short: "motor command descritpion",
+	Short: "Motor command",
-	Long: `motor command descritpion`,
+	Long: `Motor command`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("motor called with ID: ", cmd.Flag("id").Value)
+		cmd.Help() //Nothing to do, show help
 	},
 }
 
@@ -54,7 +54,7 @@ func init() {
 	// Cobra supports Persistent Flags which will work for this command
 	// and all subcommands, e.g.:
 	motorCmd.PersistentFlags().Uint16Var(&motorID, "id", 0, "Identifier number")
-	motorCmd.MarkFlagRequired("id")
+	motorCmd.MarkPersistentFlagRequired("id")
 
 	// Cobra supports local flags which will only run when this command
 	// is called directly, e.g.:

src/cmd/motor/moveVel.go

@@ -6,6 +6,7 @@ package motor
 
 import (
 	"fmt"
+	"strconv"
 
 	"github.com/spf13/cobra"
 
@@ -22,16 +23,20 @@ import (
 // moveVelCmd represents the moveVel command
 var moveVelCmd = &cobra.Command{
 	Use:   "moveVel",
-	Short: "moveVel command descritpion",
+	Short: "Set velocity of motor",
-	Long: `moveVel command descritpion`,
+	Long: `Request motor server to move at given velocity`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("moveVel called with: ID ", cmd.Flag("id").Value, " Vel ", cmd.Flag("vel").Value)
+		//Parse target velocity
-		updateConfig()
+		if len(args)!=1 {
-		var vel, err = cmd.Flags().GetFloat64("vel")
+			log.Fatalf("Wrong number of arguments")
-		if err!= nil {
-			log.Fatalf("Failed read requested velocity %v", err)
 		}else{
-			moveVel(vel)
+			vel, err :=  strconv.ParseFloat(args[0],64)
+			if err!= nil{
+				log.Fatalf("Failed to parse joint velocity %v", err)
+			} else {
+				updateConfig()
+				moveVel(vel) //Set motor velocity
+			}
 		}
 	},
 }
@@ -47,8 +52,8 @@ 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().Float64("", 0, "Velocity (degrees/s)") //Only used for help message
-	moveVelCmd.Flags().Float64("vel", 0, "Velocity (degrees/s)")
+	// moveVelCmd.MarkFlagRequired("vel")
 }
 
 //gRPC Client
@@ -68,5 +73,7 @@ func moveVel(cmd_vel float64){
 	_, err = c.SetVelocity(ctx, &pb.Velocity{Velocity: cmd_vel})
 	if err != nil {
 		log.Fatalf("could not send: %v", err)
+	} else {
+		log.Printf("Requested velocity [%f]°/s to motor %d", cmd_vel, curr_config.Id)
 	}
 }

src/cmd/motor/serve.go

@@ -27,11 +27,9 @@ var(
 // serveCmd represents the serve command
 var serveCmd = &cobra.Command{
 	Use:   "serve",
-	Short: "serve command descritpion",
+	Short: "Start motor server",
-	Long: `serve command descritpion`,
+	Long: `Start motor server`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("serve called with ID ", cmd.Flag("id").Value)
-		// fmt.Println(cmd.CommandPath())
 		updateConfig()
 		init_sim()
 		serve()

src/cmd/root.go

@@ -42,12 +42,12 @@ func init() {
 	// will be global for your application.
 
 	RootCmd.PersistentFlags().StringVarP(&cfgFile, "config", "c", "", "config file (default is $HOME/.cobra.yaml)")
-	//RootCmd.MarkFlagRequired("config")
+	RootCmd.MarkPersistentFlagRequired("config")
 	// viper.BindPFlag("config", RootCmd.PersistentFlags().Lookup("config"))
 
 	// Cobra also supports local flags, which will only run
 	// when this action is called directly.
-	RootCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
+	// RootCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
 }
 
 // initConfig reads in config file and ENV variables if set.