Start on unix socket server on c++ side

server_v2/protos/CompLib.proto

@@ -20,17 +20,65 @@ message GenericResponse {
   Status status = 2;
 }
 
-message ReadSensorsRequest {
+message EncoderReadPositionsRequest {
   Header header = 1;
 }
 
-message ReadSensorsResponse {
+message EncoderReadPositionsResponse {
   Header header = 1;
   Status status = 2;
-  uint32 ir_1 = 3;
-  uint32 ir_2 = 4;
-  uint32 ir_3 = 5;
-  uint32 ir_4 = 6;
-  uint32 ir_5 = 7;
+  repeated int32 positions = 3 [packed = true];
+}
+
+message EncoderReadVelocitiesRequest {
+  Header header = 1;
+}
+
+message EncoderReadVelocitiesResponse {
+  Header header = 1;
+  Status status = 2;
+  repeated double velocities = 3 [packed = true];
+}
+
+message IRSensorsEnableRequest {
+  Header header = 1;
+}
+
+message IRSensorsDisableRequest {
+  Header header = 1;
+}
+
+message IRSensorsReadAllRequest {
+  Header header = 1;
+}
+
+message IRSensorsReadAllResponse {
+  Header header = 1;
+  Status status = 2;
+  repeated uint32 data = 3 [packed = true];
+}
+
+message MotorsSetPowerRequest {
+  Header header = 1;
+  uint32 port = 2;
+  double power = 3;
+}
+
+message MotorsSetSpeedRequest {
+  Header header = 1;
+  uint32 port = 2;
+  double speed = 3;
+}
+
+message OdometryReadRequest {
+  Header header = 1;
+}
+
+message OdometryReadResponse {
+  Header header = 1;
+  Status status = 2;
+  double x_position = 3;
+  double y_position = 4;
+  double orientation = 5;
 }