Update

client_s2/.gitignore

@@ -0,0 +1,312 @@
+# Created by https://www.toptal.com/developers/gitignore/api/macos,python,pycharm
+# Edit at https://www.toptal.com/developers/gitignore?templates=macos,python,pycharm
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### PyCharm ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### PyCharm Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+# https://plugins.jetbrains.com/plugin/7973-sonarlint
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator-enh.xml
+.idea/**/markdown-navigator/
+
+# Cache file creation bug
+# See https://youtrack.jetbrains.com/issue/JBR-2257
+.idea/$CACHE_FILE$
+
+# CodeStream plugin
+# https://plugins.jetbrains.com/plugin/12206-codestream
+.idea/codestream.xml
+
+# Azure Toolkit for IntelliJ plugin
+# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij
+.idea/**/azureSettings.xml
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# End of https://www.toptal.com/developers/gitignore/api/macos,python,pycharm

client_s2/compLib/.gitignore

@@ -0,0 +1,312 @@
+# Created by https://www.toptal.com/developers/gitignore/api/macos,python,pycharm
+# Edit at https://www.toptal.com/developers/gitignore?templates=macos,python,pycharm
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### PyCharm ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### PyCharm Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+# https://plugins.jetbrains.com/plugin/7973-sonarlint
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator-enh.xml
+.idea/**/markdown-navigator/
+
+# Cache file creation bug
+# See https://youtrack.jetbrains.com/issue/JBR-2257
+.idea/$CACHE_FILE$
+
+# CodeStream plugin
+# https://plugins.jetbrains.com/plugin/12206-codestream
+.idea/codestream.xml
+
+# Azure Toolkit for IntelliJ plugin
+# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij
+.idea/**/azureSettings.xml
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# End of https://www.toptal.com/developers/gitignore/api/macos,python,pycharm

client_s2/compLib/CompLib.proto

@@ -58,16 +58,24 @@ message IRSensorsReadAllResponse {
   repeated uint32 data = 3 [packed = true];
 }
 
+message MotorSetPowerRequest {
+  uint32 port = 1;
+  double power = 2;
+}
+
 message MotorsSetPowerRequest {
   Header header = 1;
-  uint32 port = 2;
+  repeated MotorSetPowerRequest requests = 2;
-  double power = 3;
+}
+
+message MotorSetSpeedRequest {
+  uint32 port = 1;
+  double speed = 2;
 }
 
 message MotorsSetSpeedRequest {
   Header header = 1;
-  uint32 port = 2;
+  repeated MotorSetSpeedRequest requests = 2;
-  double speed = 3;
 }
 
 message OdometryReadRequest {
@@ -99,3 +107,7 @@ message DriveRequest {
   double linear_velocity_m_s = 2;
   double angular_velocity_rad_s = 3;
 }
+
+message HealthUpdateRequest {
+  Header header = 1;
+}

client_s2/compLib/CompLibClient.py

@@ -1,30 +1,65 @@
 import socket
+from threading import Lock
 
 import compLib.CompLib_pb2 as CompLib_pb2
 
-UNIX_SOCKET_PATH = "/tmp/compLib"
-TCP_SOCKET_HOST = "192.168.0.151"
-TCP_SOCKET_PORT = 9090
-
 
 class CompLibClient(object):
+    USE_UNIX_SOCKET = False
+    UNIX_SOCKET_PATH = "/tmp/compLib"
+    USE_TCP_SOCKET = False
+    TCP_SOCKET_HOST = "10.20.5.1"
+    TCP_SOCKET_PORT = 9090
+    SOCKET = None
+    LOCK = Lock()
+
+    @staticmethod
+    def use_unix_socket(socket_path="/tmp/compLib"):
+        CompLibClient.UNIX_SOCKET_PATH = socket_path
+        CompLibClient.USE_UNIX_SOCKET = True
+        CompLibClient.USE_TCP_SOCKET = False
+
+        CompLibClient.SOCKET = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+        CompLibClient.SOCKET.connect(CompLibClient.UNIX_SOCKET_PATH)
+
+        from compLib.HealthCheck import HealthUpdater
+        HealthUpdater.start()
+
+    @staticmethod
+    def use_tcp_socket(socket_host, socket_port=TCP_SOCKET_PORT):
+        CompLibClient.TCP_SOCKET_HOST = socket_host
+        CompLibClient.TCP_SOCKET_PORT = socket_port
+        CompLibClient.USE_UNIX_SOCKET = False
+        CompLibClient.USE_TCP_SOCKET = True
+
+        CompLibClient.SOCKET = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        CompLibClient.SOCKET.connect((CompLibClient.TCP_SOCKET_HOST, CompLibClient.TCP_SOCKET_PORT))
+
+        from compLib.HealthCheck import HealthUpdater
+        HealthUpdater.start()
 
     @staticmethod
     def send(data: bytes, size: int) -> bytes:
-        with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        with CompLibClient.LOCK:
-            sock.connect((TCP_SOCKET_HOST, TCP_SOCKET_PORT))
+            # if CompLibClient.USE_TCP_SOCKET:
+            #     sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            #     sock.connect((CompLibClient.TCP_SOCKET_HOST, CompLibClient.TCP_SOCKET_PORT))
+            #
+            # elif CompLibClient.USE_UNIX_SOCKET:
+            #     sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+            #     sock.connect(CompLibClient.UNIX_SOCKET_PATH)
+            #
+            # else:
+            #     return bytes(0)
 
-            # with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
+            CompLibClient.SOCKET.sendall(size.to_bytes(1, byteorder='big'))
-            #     sock.connect(UNIX_SOCKET_PATH)
+            CompLibClient.SOCKET.sendall(data)
 
-            sock.sendall(size.to_bytes(1, byteorder='big'))
+            response_size_bytes = CompLibClient.SOCKET.recv(1)
-            sock.sendall(data)
-
-            response_size_bytes = sock.recv(1)
             response_size = int.from_bytes(response_size_bytes, byteorder="big")
             # print(response_size)
 
-            response_bytes = sock.recv(response_size)
+            response_bytes = CompLibClient.SOCKET.recv(response_size)
             # print(response_bytes.hex())
             # print(len(response_bytes))
 
@@ -34,7 +69,7 @@ class CompLibClient(object):
 
     @staticmethod
     def check_response(response_bytes: bytes) -> bool:
-        print(f"{response_bytes}")
+        # print(f"{response_bytes}")
         res = CompLib_pb2.GenericResponse()
         res.ParseFromString(response_bytes)
 

client_s2/compLib/HealthCheck.py

@@ -0,0 +1,23 @@
+import threading
+import time
+
+import compLib.CompLib_pb2 as CompLib_pb2
+from compLib.CompLibClient import CompLibClient
+
+
+class HealthUpdater(object):
+    started = False
+
+    @staticmethod
+    def start():
+        if not HealthUpdater.started:
+            threading.Thread(target=HealthUpdater.loop, daemon=True).start()
+            HealthUpdater.started = True
+
+    @staticmethod
+    def loop():
+        while True:
+            request = CompLib_pb2.HealthUpdateRequest()
+            request.header.message_type = request.DESCRIPTOR.full_name
+            CompLibClient.send(request.SerializeToString(), request.ByteSize())
+            time.sleep(0.25)

client_s2/compLib/IRSensor.py

@@ -1,4 +1,5 @@
 import compLib.CompLib_pb2 as CompLib_pb2
+
 from compLib.CompLibClient import CompLibClient
 
 
@@ -10,7 +11,7 @@ class IRSensor(object):
     def read_all():
         """Read all IR sensors at once.
 
-        :return: Tuple of all current ir sensors
+        :return: Array of all current ir sensors
         """
         request = CompLib_pb2.IRSensorsReadAllRequest()
         request.header.message_type = request.DESCRIPTOR.full_name
@@ -18,7 +19,7 @@ class IRSensor(object):
         response = CompLib_pb2.IRSensorsReadAllResponse()
         response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
 
-        return tuple(i for i in response.data)
+        return [i for i in response.data]
 
     @staticmethod
     def enable():

client_s2/compLib/Motor.py

@@ -30,6 +30,31 @@ class Motor(object):
 
         CompLibClient.send(request.SerializeToString(), request.ByteSize())
 
+    @staticmethod
+    def multiple_power(*arguments: tuple[int, float]):
+        """Set specified motors to percentage power
+
+        :param arguments: tuples of port, percentage
+        :raises: IndexError
+        """
+        request = CompLib_pb2.MotorsSetPowerRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        for port, percent in arguments:
+            if port < 0 or port >= MOTOR_COUNT:
+                raise IndexError("Invalid Motor port specified!")
+
+            if percent < -100 or percent > 100:
+                raise IndexError("Invalid Motor speed specified! Speed is between -100 and 100 percent!")
+
+            inner_request = CompLib_pb2.MotorSetPowerRequest()
+            inner_request.port = port
+            inner_request.power = percent
+
+            request.requests.append(inner_request)
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
     @staticmethod
     def speed(port: int, speed: float):
         """Set specified motor to percentage power
@@ -49,6 +74,29 @@ class Motor(object):
 
         CompLibClient.send(request.SerializeToString(), request.ByteSize())
 
+    @staticmethod
+    def multiple_speed(*arguments: tuple[int, float]):
+        """Set specified motor to percentage power
+
+        :param arguments: tuples of port, speed in rpm
+        :raises: IndexError
+        """
+
+        request = CompLib_pb2.MotorsSetSpeedRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        for port, speed in arguments:
+            if port < 0 or port >= MOTOR_COUNT:
+                raise IndexError("Invalid Motor port specified!")
+
+            inner_request = CompLib_pb2.MotorSetSpeedRequest()
+            inner_request.port = port
+            inner_request.speed = speed
+
+            request.requests.append(inner_request)
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
     # @staticmethod
     # def all_off():
     #     """

client_s2/dev01.py

@@ -0,0 +1,24 @@
+import time
+
+from compLib.CompLibClient import CompLibClient
+
+
+def main():
+    from compLib.Motor import Motor
+
+    # Motor.speed(0, -50)
+    # Motor.speed(3, 50)
+
+    Motor.power(0, 50)
+    Motor.power(3, -50)
+
+    time.sleep(2)
+
+    Motor.power(0, 0)
+    Motor.power(3, -0)
+
+
+if __name__ == '__main__':
+    CompLibClient.use_tcp_socket("dev01.local")
+    # follow()
+    main()

client_s2/dev03.py

@@ -0,0 +1,34 @@
+import time
+
+from compLib.CompLibClient import CompLibClient
+from compLib.IRSensor import IRSensor
+
+
+def main():
+    # Motor.speed(0, -50)
+    # Motor.speed(3, 50)
+
+    # Motor.power(0, 50)
+    # Motor.power(3, -50)
+    #
+    # time.sleep(2)
+    #
+    # Motor.power(0, 0)
+    # Motor.power(3, -0)
+
+    start_time = time.time()
+    for i in range(0, 1000):
+        IRSensor.read_all()
+        # Motor.multiple_power((0, 1), (3, 1))
+        # Motor.speed(0, 1)
+        # Motor.speed(3, 1)
+
+    print(1000.0 / (time.time() - start_time))
+
+
+if __name__ == '__main__':
+    # CompLibClient.use_tcp_socket("dev03.local")
+    CompLibClient.use_unix_socket()
+    # follow()
+    # cProfile.run("main()")
+    main()

client_s2/lf.py

@@ -0,0 +1,109 @@
+import time
+
+from compLib.CompLibClient import CompLibClient
+from compLib.IRSensor import IRSensor
+from compLib.Motor import Motor
+
+DRIVE_SPEED = 5.0
+COLOR_BREAK = 1500.0
+KP = 2.0
+KD = 0.0
+
+
+def drive(left_speed, right_speed):
+    print(left_speed, right_speed)
+
+    right_speed *= -1.0
+
+    Motor.speed(0, right_speed)
+    Motor.speed(3, left_speed)
+
+
+def follow(sleep_time=0.1):
+    last_error = 0
+    sensors_black = 0
+    while sensors_black <= 3:
+        sensor_values = IRSensor.read_all()
+
+        sensors_black = 0
+        for sensor in sensor_values:
+            if sensor > COLOR_BREAK:
+                sensors_black += 1
+
+        error = last_error
+        if sensor_values[2] > COLOR_BREAK:
+            error = 0
+        elif sensor_values[0] > COLOR_BREAK:
+            error = -1.5
+        elif sensor_values[4] > COLOR_BREAK:
+            error = 1.5
+        elif sensor_values[1] > COLOR_BREAK:
+            error = -1
+        elif sensor_values[3] > COLOR_BREAK:
+            error = 1
+        elif error == 1.5:
+            error = 3.5
+        elif error == -1.5:
+            error = -3.5
+
+        last_error = error
+
+        adjustment = KP * error + KD * (error - last_error)
+        left_speed = DRIVE_SPEED + adjustment
+        right_speed = DRIVE_SPEED - adjustment
+
+        print(sensor_values)
+        print(f"{left_speed} {right_speed} {adjustment} {error}")
+        drive(left_speed, right_speed)
+
+    drive(0, 0)
+    time.sleep(sleep_time)
+
+
+def follow_simple():
+    left_speed = DRIVE_SPEED
+    right_speed = DRIVE_SPEED
+    sensor_values = IRSensor.read_all()
+    while True:
+        sensor_values = IRSensor.read_all()
+        # for i in range(len(sensor_values)):
+        #     sensor_values[i] = (sensor_values[i] + new_sensor_values[i]) / 2.0
+
+        print(sensor_values)
+
+        if sensor_values[0] > COLOR_BREAK and sensor_values[4] > COLOR_BREAK:
+            break
+
+        if sensor_values[0] > COLOR_BREAK:
+            left_speed = -DRIVE_SPEED / 2
+            right_speed = DRIVE_SPEED
+        elif sensor_values[4] > COLOR_BREAK:
+            left_speed = DRIVE_SPEED
+            right_speed = -DRIVE_SPEED / 2
+        elif sensor_values[2] > COLOR_BREAK:
+            left_speed = DRIVE_SPEED
+            right_speed = DRIVE_SPEED
+
+        drive(left_speed, right_speed)
+
+
+def main():
+    CompLibClient.use_unix_socket()
+
+    IRSensor.enable()
+    time.sleep(0.1)
+
+    # while True:
+    #     print(IRSensor.read_all())
+
+    # follow_simple()
+    # drive(5, 5)
+    # time.sleep(5)
+    # follow()
+    # follow()
+    # follow()
+    # follow()
+    # follow(0.2)
+
+
+main()

client_s2/main.py

@@ -1,4 +1,6 @@
-SOCKET_PATH = "/tmp/compLib"
+import time
+
+from compLib.CompLibClient import CompLibClient
 
 
 # def send(data, size):
@@ -30,16 +32,29 @@ def main():
     #     send(encoder_read_positions_request.SerializeToString(), encoder_read_positions_request.ByteSize())
     # print("--- %s seconds ---" % (time.time() - start_time))
 
-    # from compLib.IRSensor import IRSensor
+    from compLib.IRSensor import IRSensor
-    # IRSensor.read_all()
+    IRSensor.enable()
-    #
+
+    startTime = time.time()
+    while time.time() - startTime < 10:
+        print(IRSensor.read_all())
+        time.sleep(0.01)
+
     # from compLib.Encoder import Encoder
     # print(Encoder.read_all_positions())
     # print(Encoder.read_all_velocities())
 
     # from compLib.Motor import Motor
-    # Motor.speed(0, 50)
+
-    # Motor.speed(3, -50)
+    # Motor.speed(0, -50)
+    # Motor.speed(3, 50)
+
+    # Motor.power(0, -50)
+    # Motor.power(3, 50)
+
+    # time.sleep(5)
+
+
 #
 # import time
 # time.sleep(2)
@@ -71,20 +86,89 @@ def main():
 # Movement.drive_distance(0.1, 0.5)
 # Movement.drive_distance(-0.1, -0.5)
 
-    from compLib.Movement import Movement
+# from compLib.Movement import Movement
-    import math
+# import math
-    Movement.drive_distance(0.5, 0.5)
+# import time
-    Movement.turn_degrees(90, math.pi * 2)
+# Movement.drive_distance(0.5, 0.5)
+# time.sleep(1)
+# Movement.turn_degrees(90, math.pi * 2)
+# time.sleep(1)
+#
+# Movement.drive_distance(0.5, 0.5)
+# time.sleep(1)
+# Movement.turn_degrees(90, math.pi * 2)
+# time.sleep(1)
+#
+# Movement.drive_distance(0.5, 0.5)
+# time.sleep(1)
+# Movement.turn_degrees(90, math.pi * 2)
+# time.sleep(1)
+#
+# Movement.drive_distance(0.5, 0.5)
+# time.sleep(1)
+# Movement.turn_degrees(90, math.pi * 2)
+# time.sleep(1)
 
-    Movement.drive_distance(0.5, 0.5)
+# import time
-    Movement.turn_degrees(90, math.pi * 2)
+#
-
+# from compLib.IRSensor import IRSensor
-    Movement.drive_distance(0.5, 0.5)
+# from compLib.Motor import Motor
-    Movement.turn_degrees(90, math.pi * 2)
+#
-
+# IRSensor.enable()
-    Movement.drive_distance(0.5, 0.5)
+#
-    Movement.turn_degrees(90, math.pi * 2)
+# DRIVE_SPEED = 2.0
+# COLOR_BREAK = 900
+# KP = 0.25
+# KD = 0.0
+#
+#
+# def drive(leftSpeed, rightSpeed):
+#     Motor.speed(0, -rightSpeed)
+#     Motor.power(3, leftSpeed)
+#
+#
+# def follow(sleepTime=0.1):
+#     lastError = 0
+#     sensorsBlack = 0
+#
+#     while sensorsBlack < 3:
+#         data = IRSensor.read_all()
+#
+#         sensorsBlack = 0
+#         for i in range(len(data)):
+#             if data[i] > COLOR_BREAK:
+#                 sensorsBlack += 1
+#
+#         error = lastError
+#         if data[2] > COLOR_BREAK:
+#             error = 0
+#         elif data[0] > COLOR_BREAK:
+#             error = -1.5
+#         elif data[4] > COLOR_BREAK:
+#             error = 1.5
+#         elif data[1] > COLOR_BREAK:
+#             error = -1
+#         elif data[3] > COLOR_BREAK:
+#             error = 1
+#         elif error == 1.5:
+#             error = 3
+#         elif error == -1.5:
+#             error = -3
+#
+#         lastError = error
+#
+#         adjustment = KP * error + KD * (error - lastError)
+#         leftSpeed = DRIVE_SPEED + adjustment
+#         rightSpeed = DRIVE_SPEED - adjustment
+#
+#         print(f"{leftSpeed} {rightSpeed} {adjustment} {error}")
+#         drive(leftSpeed, rightSpeed)
+#
+#     drive(0, 0)
+#     time.sleep(sleepTime)
 
 
 if __name__ == '__main__':
+    CompLibClient.use_tcp_socket("dev03.local")
+    # follow()
     main()

server_v2/.idea/deployment.xml

@@ -2,7 +2,19 @@
 <project version="4">
   <component name="PublishConfigData" remoteFilesAllowedToDisappearOnAutoupload="false">
     <serverData>
-      <paths name="Judge01 (9c7ab821-1501-483e-beda-814d54656ca2)">
+      <paths name="dev01 (e8239813-a9bc-43df-830c-e157833a3358)">
+        <serverdata>
+          <mappings>
+            <mapping deploy="/tmp/tmp.c1a2b48Z1L" local="$PROJECT_DIR$" />
+          </mappings>
+          <excludedPaths>
+            <excludedPath local="true" path="$PROJECT_DIR$/cmake-build-debug" />
+            <excludedPath local="true" path="$PROJECT_DIR$/cmake-build-debugdev03" />
+            <excludedPath local="true" path="$PROJECT_DIR$/cmake-build-debugdev01" />
+          </excludedPaths>
+        </serverdata>
+      </paths>
+      <paths name="dev03 (9c7ab821-1501-483e-beda-814d54656ca2)">
         <serverdata>
           <mappings>
             <mapping deploy="/tmp/tmp.vU8xaArBs9" local="$PROJECT_DIR$" />
@@ -10,6 +22,8 @@
           <excludedPaths>
             <excludedPath local="true" path="$PROJECT_DIR$/cmake-build-debugremote" />
             <excludedPath local="true" path="$PROJECT_DIR$/cmake-build-debug" />
+            <excludedPath local="true" path="$PROJECT_DIR$/cmake-build-debugdev03" />
+            <excludedPath local="true" path="$PROJECT_DIR$/cmake-build-debugdev01" />
           </excludedPaths>
         </serverdata>
       </paths>

server_v2/CMakeLists.txt

@@ -55,12 +55,14 @@ set(SRC_FILES
         src/communication/MessageBuilder.cpp
         src/communication/UnixSocketServer.cpp
         src/communication/TCPSocketServer.cpp
-        src/GoToController.cpp)
+        src/GoToController.cpp
+        src/HealthChecker.cpp)
 
 set(HDR_FILES
         include/spi.hpp
         include/reset.hpp
         include/mathUtils.hpp
+        include/networkUtils.hpp
         include/IRSensors.hpp
         include/Robot.hpp
         include/Cache.hpp
@@ -74,7 +76,8 @@ set(HDR_FILES
         include/communication/MessageBuilder.hpp
         include/communication/UnixSocketServer.hpp
         include/communication/TCPSocketServer.hpp
-        include/GoToController.hpp)
+        include/GoToController.hpp
+        include/HealthChecker.hpp)
 
 include_directories(third_party/asio)
 

server_v2/include/ClosedLoopMotorController.hpp

@@ -25,6 +25,8 @@ public:
 
   void set_speed(uint8_t port, double speed_rad_s);
 
+  void stop_all();
+
   void generate_step_response_data();
 
   void generate_tuned_step_response_data();

server_v2/include/HealthChecker.hpp

@@ -0,0 +1,35 @@
+#ifndef COMPLIB_SERVER_HEALTHCHECKER_HPP
+#define COMPLIB_SERVER_HEALTHCHECKER_HPP
+
+#include <thread>
+#include <chrono>
+
+#define HEALTH_CHECK_TIMEOUT_MS 500
+
+class HealthChecker {
+public:
+  static HealthChecker &getInstance() {
+    static HealthChecker instance;
+    return instance;
+  }
+
+  HealthChecker(HealthChecker const &) = delete;
+
+  void operator=(HealthChecker const &) = delete;
+
+  void update();
+
+private:
+  HealthChecker();
+
+  [[noreturn]] void check_loop();
+
+  typedef std::chrono::steady_clock clock;
+
+  std::thread check_thread;
+  std::chrono::time_point<clock> last_update;
+  bool stop_sent = false;
+};
+
+
+#endif //COMPLIB_SERVER_HEALTHCHECKER_HPP

server_v2/include/communication/TCPSocketServer.hpp

@@ -3,7 +3,6 @@
 
 #include <thread>
 
-#define SOCKET_PATH "/tmp/compLib"
 #define SOCKET_BUFFER_SIZE 128
 
 class TCPSocketServer {

server_v2/include/networkUtils.hpp

@@ -0,0 +1,49 @@
+#ifndef COMPLIB_SERVER_NETWORKUTILS_H
+#define COMPLIB_SERVER_NETWORKUTILS_H
+
+#include <unistd.h>
+#include <string>
+#include <netdb.h>
+#include "spdlog/spdlog.h"
+
+#include <sys/types.h>
+#include <ifaddrs.h>
+
+namespace networkUtils {
+  inline std::tuple<std::string, std::string> get_current_host_and_ip() {
+    struct ifaddrs *ifaddr, *ifa;
+    int family, s;
+    char host[NI_MAXHOST];
+
+    if (getifaddrs(&ifaddr) == -1) {
+      spdlog::error("getifaddrs failed");
+      freeifaddrs(ifaddr);
+      return std::tuple("", "");
+    }
+
+    for (ifa = ifaddr; ifa != NULL; ifa = ifa->ifa_next) {
+      if (ifa->ifa_addr == NULL)
+        continue;
+
+      family = ifa->ifa_addr->sa_family;
+
+      if (family == AF_INET) {
+        s = getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), host, NI_MAXHOST, NULL, 0, NI_NUMERICHOST);
+        if (s != 0) {
+          spdlog::error("getnameinfo() failed: {}", gai_strerror(s));
+          freeifaddrs(ifaddr);
+          return std::tuple("", "");
+        }
+
+        if (std::string(ifa->ifa_name) != "lo") {
+          freeifaddrs(ifaddr);
+          return std::tuple(ifa->ifa_name, std::string(host));
+        }
+      }
+    }
+
+    return std::tuple("", "");
+  }
+}
+
+#endif //COMPLIB_SERVER_NETWORKUTILS_H

server_v2/include/spi.hpp

@@ -31,6 +31,8 @@ public:
 
   void write_array(uint8_t reg, uint8_t length, const uint8_t *data);
 
+  std::array<uint8_t, 4> read_version();
+
   enum Register : uint8_t {
     IDENTIFICATION_MODEL_ID = 1,
     IDENTIFICATION_MODEL_REV_MAJOR = 2,

server_v2/protos/CompLib.proto

@@ -58,16 +58,24 @@ message IRSensorsReadAllResponse {
   repeated uint32 data = 3 [packed = true];
 }
 
+message MotorSetPowerRequest {
+  uint32 port = 1;
+  double power = 2;
+}
+
 message MotorsSetPowerRequest {
   Header header = 1;
-  uint32 port = 2;
+  repeated MotorSetPowerRequest requests = 2;
-  double power = 3;
+}
+
+message MotorSetSpeedRequest {
+  uint32 port = 1;
+  double speed = 2;
 }
 
 message MotorsSetSpeedRequest {
   Header header = 1;
-  uint32 port = 2;
+  repeated MotorSetSpeedRequest requests = 2;
-  double speed = 3;
 }
 
 message OdometryReadRequest {
@@ -99,3 +107,7 @@ message DriveRequest {
   double linear_velocity_m_s = 2;
   double angular_velocity_rad_s = 3;
 }
+
+message HealthUpdateRequest {
+  Header header = 1;
+}

server_v2/src/ClosedLoopMotorController.cpp

@@ -184,3 +184,9 @@ void ClosedLoopMotorController::calibrate_wheel_ticks(double turns, double ticks
   std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
 }
+
+void ClosedLoopMotorController::stop_all() {
+  for (int i = 0; i < ROBOT_MOTOR_COUNT; i++) {
+    set_power(i, 0);
+  }
+}

server_v2/src/HealthChecker.cpp

@@ -0,0 +1,28 @@
+#include "include/HealthChecker.hpp"
+#include "include/ClosedLoopMotorController.hpp"
+#include "include/spi.hpp"
+#include "include/IRSensors.hpp"
+
+HealthChecker::HealthChecker() {
+  last_update = clock::now();
+  check_thread = std::thread(&HealthChecker::check_loop, this);
+  check_thread.detach();
+}
+
+void HealthChecker::update() {
+  last_update = clock::now();
+}
+
+void HealthChecker::check_loop() {
+  while (true) {
+    if (clock::now() - last_update < std::chrono::milliseconds(HEALTH_CHECK_TIMEOUT_MS)) {
+      Spi::getInstance().read_version();
+      stop_sent = false;
+    } else if (!stop_sent) {
+      ClosedLoopMotorController::getInstance().stop_all();
+      IRSensors::disable();
+      stop_sent = true;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(HEALTH_CHECK_TIMEOUT_MS / 2));
+  }
+}

server_v2/src/IRSensors.cpp

@@ -2,6 +2,7 @@
 #include "include/spi.hpp"
 #include "include/Robot.hpp"
 #include "include/mathUtils.hpp"
+#include "spdlog/spdlog.h"
 
 void IRSensors::enable() {
   uint8_t data[ROBOT_IR_SENSOR_COUNT] = {};

server_v2/src/communication/MessageProcessor.cpp

@@ -7,6 +7,7 @@
 #include "include/IRSensors.hpp"
 #include "include/ClosedLoopMotorController.hpp"
 #include "include/GoToController.hpp"
+#include "include/HealthChecker.hpp"
 
 using namespace CompLib;
 
@@ -14,7 +15,7 @@ google::protobuf::Message *MessageProcessor::process_message(const std::string &
   CompLib::GenericRequest message;
   message.ParseFromString(serializedMessage);
   auto messageTypeName = message.header().message_type();
-  spdlog::debug("Got request with type {}", messageTypeName);
+//  spdlog::debug("Got request with type {}", messageTypeName);
 
   try {
     // Encoder
@@ -39,12 +40,16 @@ google::protobuf::Message *MessageProcessor::process_message(const std::string &
     if (messageTypeName == MotorsSetPowerRequest::GetDescriptor()->full_name()) {
       MotorsSetPowerRequest request;
       request.ParseFromString(serializedMessage);
-      ClosedLoopMotorController::getInstance().set_power(request.port(), request.power());
+      for (const auto &innerRequest: request.requests()) {
+        ClosedLoopMotorController::getInstance().set_power(innerRequest.port(), innerRequest.power());
+      }
       return MessageBuilder::default_successful_generic_response();
     } else if (messageTypeName == MotorsSetSpeedRequest::GetDescriptor()->full_name()) {
       MotorsSetSpeedRequest request;
       request.ParseFromString(serializedMessage);
-      ClosedLoopMotorController::getInstance().set_speed(request.port(), request.speed());
+      for (const auto &innerRequest: request.requests()) {
+        ClosedLoopMotorController::getInstance().set_speed(innerRequest.port(), innerRequest.speed());
+      }
       return MessageBuilder::default_successful_generic_response();
     }
 
@@ -65,6 +70,15 @@ google::protobuf::Message *MessageProcessor::process_message(const std::string &
       GoToController::diff_drive_inverse_kinematics(request.linear_velocity_m_s(), request.angular_velocity_rad_s());
       return MessageBuilder::default_successful_generic_response();
     }
+
+    // Health
+    if (messageTypeName == HealthUpdateRequest::GetDescriptor()->full_name()) {
+      HealthUpdateRequest request;
+      request.ParseFromString(serializedMessage);
+      HealthChecker::getInstance().update();
+      return MessageBuilder::default_successful_generic_response();
+    }
+
   } catch (const std::exception &ex) {
     spdlog::error("Error when processing message with header {}: {}", messageTypeName, ex.what());
     google::protobuf::Message *returnMessage = MessageBuilder::generic_response(false, ex.what());

server_v2/src/communication/UnixSocketServer.cpp

@@ -1,6 +1,7 @@
 #include <sys/un.h>
 #include <sys/socket.h>
 #include <zconf.h>
+#include <sys/stat.h>
 
 #include "include/communication/UnixSocketServer.hpp"
 #include "include/communication/MessageProcessor.hpp"
@@ -23,6 +24,8 @@ UnixSocketServer::UnixSocketServer() {
     exit(-1);
   }
 
+  chmod(SOCKET_PATH, 0777);
+
   if (listen(socket_file_descriptor, 1) == -1) {
     exit(-2);
   }
@@ -32,10 +35,17 @@ UnixSocketServer::UnixSocketServer() {
   for (;;) {
     int client_file_descriptor = accept(socket_file_descriptor, NULL, NULL);
 
-    read(client_file_descriptor, read_buffer, 1);
+    while (true) {
+      int bytes_received = read(client_file_descriptor, read_buffer, 1);
+      if (bytes_received <= 0) {
+        break;
+      }
       uint8_t message_size = read_buffer[0];
 
-    read(client_file_descriptor, read_buffer, read_buffer[0]);
+      bytes_received = read(client_file_descriptor, read_buffer, read_buffer[0]);
+      if (bytes_received <= 0) {
+        break;
+      }
       std::string string_message;
       for (int i{}; i < message_size; i++) {
         string_message += read_buffer[i];
@@ -48,6 +58,7 @@ UnixSocketServer::UnixSocketServer() {
 
       response->SerializeToArray(write_buffer, SOCKET_BUFFER_SIZE);
       write(client_file_descriptor, write_buffer, response_size);
+    }
 
     close(client_file_descriptor);
   }

server_v2/src/main.cpp

@@ -6,18 +6,22 @@
 #include "include/ClosedLoopMotorController.hpp"
 #include "include/communication/UnixSocketServer.hpp"
 #include "include/communication/TCPSocketServer.hpp"
+#include "include/HealthChecker.hpp"
 #include "include/GoToController.hpp"
 #include "include/Encoders.hpp"
+#include "include/networkUtils.hpp"
 
 using namespace std;
 
 int main(int argc, char *argv[]) {
   Reset::reset_robot();
   spdlog::set_pattern("%H:%M:%S.%e %^%-8l%$: %v");
-  spdlog::set_level(spdlog::level::info);
+  spdlog::set_level(spdlog::level::debug);
+  spdlog::info("Starting complib_server...");
 
   UnixSocketServer unixSocketServer;
   TCPSocketServer tcpSocketServer;
+  HealthChecker::getInstance();
 
 //  ClosedLoopMotorController::getInstance().set_speed(ROBOT_ODOMETRY_CONTROLLER_RIGHT_PORT, M_PI * ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT);
 //  ClosedLoopMotorController::getInstance().set_speed(ROBOT_ODOMETRY_CONTROLLER_LEFT_PORT, M_PI_4 * ROBOT_ODOMETRY_CONTROLLER_LEFT_MULT);

server_v2/src/spi.cpp

@@ -1,5 +1,6 @@
 #include <string.h>
 #include <spdlog/spdlog.h>
+#include <array>
 
 #include "include/spi.hpp"
 #include "include/mathUtils.hpp"
@@ -114,6 +115,16 @@ void Spi::transfer() {
   }
 }
 
+std::array<uint8_t, 4> Spi::read_version() {
+  uint8_t data[4] = {0};
+  read_array(IDENTIFICATION_MODEL_ID, 4, data);
+  auto result = std::array<uint8_t, 4>();
+  for (int i = 0; i < 4; i++) {
+    result.at(i) = data[i];
+  }
+  return result;
+}
+
 #else
 
 Spi::Spi() {}
@@ -147,4 +158,8 @@ void Spi::transfer() {
   spdlog::warn("Calling SPI without actual interface.");
 }
 
+std::array<uint8_t, 4> Spi::read_version() {
+  spdlog::warn("Calling SPI without actual interface.");
+}
+
 #endif