Add getJoint function & Share ip/port declaration

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 °
+}