From d950ba6d1d803bdc97f2fd50158d72ac8bfe1f99 Mon Sep 17 00:00:00 2001
From: AntoineH <antoine.harle@proton.me>
Date: Wed, 4 Sep 2024 11:35:29 +0200
Subject: [PATCH] Add getJoint function & Share ip/port declaration

---
 src/cmd/controller/getJoints.go | 34 ++++++++++++++++++++++++++++++++-
 src/cmd/controller/serve.go     | 15 ++++++++-------
 src/cmd/controller/setJoints.go |  2 +-
 src/proto/motorsim.proto        | 12 +++++++-----
 4 files changed, 49 insertions(+), 14 deletions(-)

diff --git a/src/cmd/controller/getJoints.go b/src/cmd/controller/getJoints.go
index a9bd56b..370f1ea 100644
--- a/src/cmd/controller/getJoints.go
+++ b/src/cmd/controller/getJoints.go
@@ -8,15 +8,26 @@ import (
 	"fmt"
 
 	"github.com/spf13/cobra"
+
+	"context"
+	"log"
+	"time"
+	"strings"
+
+	"google.golang.org/grpc"
+	"google.golang.org/grpc/credentials/insecure"
+	pb "github.com/AntoineHX/multi-motors-controller/src/proto"
 )
 
+//Cobra CLI
 // getJointsCmd represents the getJoints command
 var getJointsCmd = &cobra.Command{
 	Use:   "getJoints",
 	Short: "getJoints command descritpion",
 	Long: `getJoints command descritpion`,
 	Run: func(cmd *cobra.Command, args []string) {
-		fmt.Println("getJoints called")
+		// fmt.Println("getJoints called")
+		GetJoints()
 	},
 }
 
@@ -33,3 +44,24 @@ func init() {
 	// is called directly, e.g.:
 	// getJointsCmd.Flags().BoolP("toggle", "t", false, "Help message for toggle")
 }
+
+//gRPC Client
+func GetJoints(){
+	// Set up a connection to the server.
+	var addr = fmt.Sprintf("%s:%d", ip, 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.NewMotorsControllerClient(conn)
+
+	// Contact the server and print out its response.
+	ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+	defer cancel()
+	r, err := c.GetJoints(ctx, &pb.Empty{})
+	if err != nil {
+		log.Fatalf("could not send: %v", err)
+	}
+	log.Printf("Angles (°): %v", r.GetAngles()) //TODO: Format with °
+}
\ No newline at end of file
diff --git a/src/cmd/controller/serve.go b/src/cmd/controller/serve.go
index d10c0ea..dc824c8 100644
--- a/src/cmd/controller/serve.go
+++ b/src/cmd/controller/serve.go
@@ -17,7 +17,8 @@ import (
 )
 
 var (
-	port uint16
+	ip string = "localhost" //localhost=127.0.0.1
+	port uint16 = 8080 //TODO: Share with config file or env var
 )
 // Cobra CLI 
 // serveCmd represents the serve command
@@ -58,12 +59,12 @@ func (s *server) SetJoints(ctx context.Context, in *pb.Angles) (*pb.Angles, erro
 	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
-// }
+//TODO: Fix compiling issue with google.protobuf.Empty message
+func (s *server) GetJoints(ctx context.Context, in *pb.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))
diff --git a/src/cmd/controller/setJoints.go b/src/cmd/controller/setJoints.go
index 99647ec..b30aa9e 100644
--- a/src/cmd/controller/setJoints.go
+++ b/src/cmd/controller/setJoints.go
@@ -19,7 +19,6 @@ import (
 )
 
 var(
-	addr = "localhost:8080" //TODO: Add to cobra config
 	tgt_angles = []float64{} //TODO: Add to cobra config
 )
 
@@ -55,6 +54,7 @@ func init() {
 //gRPC Client
 func SetJoints(){
 	// Set up a connection to the server.
+	var addr = fmt.Sprintf("%s:%d", ip, port) //Defined in controller/serve
 	conn, err := grpc.NewClient(addr, grpc.WithTransportCredentials(insecure.NewCredentials()))
 	if err != nil {
 		log.Fatalf("did not connect: %v", err)
diff --git a/src/proto/motorsim.proto b/src/proto/motorsim.proto
index a985720..165909f 100644
--- a/src/proto/motorsim.proto
+++ b/src/proto/motorsim.proto
@@ -1,6 +1,6 @@
 syntax = "proto3";
 
-import "google/protobuf/empty.proto";
+//import "google/protobuf/empty.proto"; //google.protobuf.Empty
 
 option go_package = ".;motorprotos";
 
@@ -9,12 +9,12 @@ package motorprotos;
 // Server converting target angles to velocity profile for mo
 service MotorsController {
     rpc SetJoints(Angles) returns (Angles) {}
-    rpc GetJoints(google.protobuf.Empty) returns (Angles) {}
+    rpc GetJoints(Empty) returns (Angles) {} 
 }
 // Server converting target angles to velocity profile for mo
 //service Motor {
-//    rpc SetVolicty(Velocity) returns (google.protobuf.Empty) {}
-//    rpc ReceiveDataStream(google.protobuf.Empty) returns (stream
+//    rpc SetVolicty(Velocity) returns (Empty) {}
+//    rpc ReceiveDataStream(Empty) returns (stream
 //}
 
 message Angles {
@@ -29,4 +29,6 @@ message MotorData {
     double angle = 1;
     double velocity = 2;
     string error = 3; // Will be filled if motor encounter an error
-}
\ No newline at end of file
+}
+
+message Empty {}
\ No newline at end of file