Add complib client and TCP communication

client_s2/compLib/CompLibClient.py

@@ -0,0 +1,45 @@
+import socket
+
+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):
+
+    @staticmethod
+    def send(data: bytes, size: int) -> bytes:
+        # with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        #     sock.connect((TCP_SOCKET_HOST, TCP_SOCKET_PORT))
+
+        with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
+            sock.connect(UNIX_SOCKET_PATH)
+
+            sock.sendall(size.to_bytes(1, byteorder='big'))
+            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)
+            # print(response_bytes.hex())
+            # print(len(response_bytes))
+
+            CompLibClient.check_response(response_bytes)
+
+            return response_bytes
+
+    @staticmethod
+    def check_response(response_bytes: bytes) -> bool:
+        print(f"{response_bytes}")
+        res = CompLib_pb2.GenericResponse()
+        res.ParseFromString(response_bytes)
+
+        if res.status.successful:
+            return True
+
+        # TODO: Log error message if unsuccessful
+        return False

client_s2/compLib/CompLib_pb2.py

@@ -0,0 +1,190 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: CompLib.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\rCompLib.proto\x12\x07\x43ompLib\"\x1e\n\x06Header\x12\x14\n\x0cmessage_type\x18\x01 \x01(\t\"3\n\x06Status\x12\x12\n\nsuccessful\x18\x01 \x01(\x08\x12\x15\n\rerror_message\x18\x02 \x01(\t\"1\n\x0eGenericRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"S\n\x0fGenericResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\">\n\x1b\x45ncoderReadPositionsRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"w\n\x1c\x45ncoderReadPositionsResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x15\n\tpositions\x18\x03 \x03(\x05\x42\x02\x10\x01\"?\n\x1c\x45ncoderReadVelocitiesRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"y\n\x1d\x45ncoderReadVelocitiesResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x16\n\nvelocities\x18\x03 \x03(\x01\x42\x02\x10\x01\"9\n\x16IRSensorsEnableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsDisableRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\":\n\x17IRSensorsReadAllRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"n\n\x18IRSensorsReadAllResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x10\n\x04\x64\x61ta\x18\x03 \x03(\rB\x02\x10\x01\"U\n\x15MotorsSetPowerRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05power\x18\x03 \x01(\x01\"U\n\x15MotorsSetSpeedRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x0c\n\x04port\x18\x02 \x01(\r\x12\r\n\x05speed\x18\x03 \x01(\x01\"6\n\x13OdometryReadRequest\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\"\x95\x01\n\x14OdometryReadResponse\x12\x1f\n\x06header\x18\x01 \x01(\x0b\x32\x0f.CompLib.Header\x12\x1f\n\x06status\x18\x02 \x01(\x0b\x32\x0f.CompLib.Status\x12\x12\n\nx_position\x18\x03 \x01(\x01\x12\x12\n\ny_position\x18\x04 \x01(\x01\x12\x13\n\x0borientation\x18\x05 \x01(\x01\x62\x06proto3')
+
+
+
+_HEADER = DESCRIPTOR.message_types_by_name['Header']
+_STATUS = DESCRIPTOR.message_types_by_name['Status']
+_GENERICREQUEST = DESCRIPTOR.message_types_by_name['GenericRequest']
+_GENERICRESPONSE = DESCRIPTOR.message_types_by_name['GenericResponse']
+_ENCODERREADPOSITIONSREQUEST = DESCRIPTOR.message_types_by_name['EncoderReadPositionsRequest']
+_ENCODERREADPOSITIONSRESPONSE = DESCRIPTOR.message_types_by_name['EncoderReadPositionsResponse']
+_ENCODERREADVELOCITIESREQUEST = DESCRIPTOR.message_types_by_name['EncoderReadVelocitiesRequest']
+_ENCODERREADVELOCITIESRESPONSE = DESCRIPTOR.message_types_by_name['EncoderReadVelocitiesResponse']
+_IRSENSORSENABLEREQUEST = DESCRIPTOR.message_types_by_name['IRSensorsEnableRequest']
+_IRSENSORSDISABLEREQUEST = DESCRIPTOR.message_types_by_name['IRSensorsDisableRequest']
+_IRSENSORSREADALLREQUEST = DESCRIPTOR.message_types_by_name['IRSensorsReadAllRequest']
+_IRSENSORSREADALLRESPONSE = DESCRIPTOR.message_types_by_name['IRSensorsReadAllResponse']
+_MOTORSSETPOWERREQUEST = DESCRIPTOR.message_types_by_name['MotorsSetPowerRequest']
+_MOTORSSETSPEEDREQUEST = DESCRIPTOR.message_types_by_name['MotorsSetSpeedRequest']
+_ODOMETRYREADREQUEST = DESCRIPTOR.message_types_by_name['OdometryReadRequest']
+_ODOMETRYREADRESPONSE = DESCRIPTOR.message_types_by_name['OdometryReadResponse']
+Header = _reflection.GeneratedProtocolMessageType('Header', (_message.Message,), {
+  'DESCRIPTOR' : _HEADER,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.Header)
+  })
+_sym_db.RegisterMessage(Header)
+
+Status = _reflection.GeneratedProtocolMessageType('Status', (_message.Message,), {
+  'DESCRIPTOR' : _STATUS,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.Status)
+  })
+_sym_db.RegisterMessage(Status)
+
+GenericRequest = _reflection.GeneratedProtocolMessageType('GenericRequest', (_message.Message,), {
+  'DESCRIPTOR' : _GENERICREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.GenericRequest)
+  })
+_sym_db.RegisterMessage(GenericRequest)
+
+GenericResponse = _reflection.GeneratedProtocolMessageType('GenericResponse', (_message.Message,), {
+  'DESCRIPTOR' : _GENERICRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.GenericResponse)
+  })
+_sym_db.RegisterMessage(GenericResponse)
+
+EncoderReadPositionsRequest = _reflection.GeneratedProtocolMessageType('EncoderReadPositionsRequest', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADPOSITIONSREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadPositionsRequest)
+  })
+_sym_db.RegisterMessage(EncoderReadPositionsRequest)
+
+EncoderReadPositionsResponse = _reflection.GeneratedProtocolMessageType('EncoderReadPositionsResponse', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADPOSITIONSRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadPositionsResponse)
+  })
+_sym_db.RegisterMessage(EncoderReadPositionsResponse)
+
+EncoderReadVelocitiesRequest = _reflection.GeneratedProtocolMessageType('EncoderReadVelocitiesRequest', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADVELOCITIESREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadVelocitiesRequest)
+  })
+_sym_db.RegisterMessage(EncoderReadVelocitiesRequest)
+
+EncoderReadVelocitiesResponse = _reflection.GeneratedProtocolMessageType('EncoderReadVelocitiesResponse', (_message.Message,), {
+  'DESCRIPTOR' : _ENCODERREADVELOCITIESRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.EncoderReadVelocitiesResponse)
+  })
+_sym_db.RegisterMessage(EncoderReadVelocitiesResponse)
+
+IRSensorsEnableRequest = _reflection.GeneratedProtocolMessageType('IRSensorsEnableRequest', (_message.Message,), {
+  'DESCRIPTOR' : _IRSENSORSENABLEREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsEnableRequest)
+  })
+_sym_db.RegisterMessage(IRSensorsEnableRequest)
+
+IRSensorsDisableRequest = _reflection.GeneratedProtocolMessageType('IRSensorsDisableRequest', (_message.Message,), {
+  'DESCRIPTOR' : _IRSENSORSDISABLEREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsDisableRequest)
+  })
+_sym_db.RegisterMessage(IRSensorsDisableRequest)
+
+IRSensorsReadAllRequest = _reflection.GeneratedProtocolMessageType('IRSensorsReadAllRequest', (_message.Message,), {
+  'DESCRIPTOR' : _IRSENSORSREADALLREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsReadAllRequest)
+  })
+_sym_db.RegisterMessage(IRSensorsReadAllRequest)
+
+IRSensorsReadAllResponse = _reflection.GeneratedProtocolMessageType('IRSensorsReadAllResponse', (_message.Message,), {
+  'DESCRIPTOR' : _IRSENSORSREADALLRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.IRSensorsReadAllResponse)
+  })
+_sym_db.RegisterMessage(IRSensorsReadAllResponse)
+
+MotorsSetPowerRequest = _reflection.GeneratedProtocolMessageType('MotorsSetPowerRequest', (_message.Message,), {
+  'DESCRIPTOR' : _MOTORSSETPOWERREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorsSetPowerRequest)
+  })
+_sym_db.RegisterMessage(MotorsSetPowerRequest)
+
+MotorsSetSpeedRequest = _reflection.GeneratedProtocolMessageType('MotorsSetSpeedRequest', (_message.Message,), {
+  'DESCRIPTOR' : _MOTORSSETSPEEDREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.MotorsSetSpeedRequest)
+  })
+_sym_db.RegisterMessage(MotorsSetSpeedRequest)
+
+OdometryReadRequest = _reflection.GeneratedProtocolMessageType('OdometryReadRequest', (_message.Message,), {
+  'DESCRIPTOR' : _ODOMETRYREADREQUEST,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.OdometryReadRequest)
+  })
+_sym_db.RegisterMessage(OdometryReadRequest)
+
+OdometryReadResponse = _reflection.GeneratedProtocolMessageType('OdometryReadResponse', (_message.Message,), {
+  'DESCRIPTOR' : _ODOMETRYREADRESPONSE,
+  '__module__' : 'CompLib_pb2'
+  # @@protoc_insertion_point(class_scope:CompLib.OdometryReadResponse)
+  })
+_sym_db.RegisterMessage(OdometryReadResponse)
+
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _ENCODERREADPOSITIONSRESPONSE.fields_by_name['positions']._options = None
+  _ENCODERREADPOSITIONSRESPONSE.fields_by_name['positions']._serialized_options = b'\020\001'
+  _ENCODERREADVELOCITIESRESPONSE.fields_by_name['velocities']._options = None
+  _ENCODERREADVELOCITIESRESPONSE.fields_by_name['velocities']._serialized_options = b'\020\001'
+  _IRSENSORSREADALLRESPONSE.fields_by_name['data']._options = None
+  _IRSENSORSREADALLRESPONSE.fields_by_name['data']._serialized_options = b'\020\001'
+  _HEADER._serialized_start=26
+  _HEADER._serialized_end=56
+  _STATUS._serialized_start=58
+  _STATUS._serialized_end=109
+  _GENERICREQUEST._serialized_start=111
+  _GENERICREQUEST._serialized_end=160
+  _GENERICRESPONSE._serialized_start=162
+  _GENERICRESPONSE._serialized_end=245
+  _ENCODERREADPOSITIONSREQUEST._serialized_start=247
+  _ENCODERREADPOSITIONSREQUEST._serialized_end=309
+  _ENCODERREADPOSITIONSRESPONSE._serialized_start=311
+  _ENCODERREADPOSITIONSRESPONSE._serialized_end=430
+  _ENCODERREADVELOCITIESREQUEST._serialized_start=432
+  _ENCODERREADVELOCITIESREQUEST._serialized_end=495
+  _ENCODERREADVELOCITIESRESPONSE._serialized_start=497
+  _ENCODERREADVELOCITIESRESPONSE._serialized_end=618
+  _IRSENSORSENABLEREQUEST._serialized_start=620
+  _IRSENSORSENABLEREQUEST._serialized_end=677
+  _IRSENSORSDISABLEREQUEST._serialized_start=679
+  _IRSENSORSDISABLEREQUEST._serialized_end=737
+  _IRSENSORSREADALLREQUEST._serialized_start=739
+  _IRSENSORSREADALLREQUEST._serialized_end=797
+  _IRSENSORSREADALLRESPONSE._serialized_start=799
+  _IRSENSORSREADALLRESPONSE._serialized_end=909
+  _MOTORSSETPOWERREQUEST._serialized_start=911
+  _MOTORSSETPOWERREQUEST._serialized_end=996
+  _MOTORSSETSPEEDREQUEST._serialized_start=998
+  _MOTORSSETSPEEDREQUEST._serialized_end=1083
+  _ODOMETRYREADREQUEST._serialized_start=1085
+  _ODOMETRYREADREQUEST._serialized_end=1139
+  _ODOMETRYREADRESPONSE._serialized_start=1142
+  _ODOMETRYREADRESPONSE._serialized_end=1291
+# @@protoc_insertion_point(module_scope)

client_s2/compLib/Encoder.py

@@ -0,0 +1,35 @@
+import compLib.CompLib_pb2 as CompLib_pb2
+from compLib.CompLibClient import CompLibClient
+
+
+class Encoder(object):
+    """Class used to read the encoders
+    """
+
+    @staticmethod
+    def read_all_positions():
+        """Read all encoder positions.
+
+        :return: Tuple of all current encoder positions
+        """
+        request = CompLib_pb2.EncoderReadPositionsRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        response = CompLib_pb2.EncoderReadPositionsResponse()
+        response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
+
+        return tuple(i for i in response.positions)
+
+    @staticmethod
+    def read_all_velocities():
+        """Read the velocity of all motors connected.
+
+        :return: Tuple of all current motor velocities
+        """
+        request = CompLib_pb2.EncoderReadVelocitiesRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        response = CompLib_pb2.EncoderReadVelocitiesResponse()
+        response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
+
+        return tuple(i for i in response.velocities)

client_s2/compLib/IRSensor.py

@@ -0,0 +1,39 @@
+import compLib.CompLib_pb2 as CompLib_pb2
+from compLib.CompLibClient import CompLibClient
+
+
+class IRSensor(object):
+    """Access the different IR Sensors of the robot
+    """
+
+    @staticmethod
+    def read_all():
+        """Read all IR sensors at once.
+
+        :return: Tuple of all current ir sensors
+        """
+        request = CompLib_pb2.IRSensorsReadAllRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        response = CompLib_pb2.IRSensorsReadAllResponse()
+        response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
+
+        return tuple(i for i in response.data)
+
+    @staticmethod
+    def enable():
+        """Turn on all IR emitters
+        """
+        request = CompLib_pb2.IRSensorsEnableRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def disable():
+        """Turn off all IR emitters
+        """
+        request = CompLib_pb2.IRSensorsDisableRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())

client_s2/compLib/Motor.py

@@ -0,0 +1,69 @@
+import compLib.CompLib_pb2 as CompLib_pb2
+from compLib.CompLibClient import CompLibClient
+
+MOTOR_COUNT = 4
+
+
+class Motor(object):
+    """Class used to control the motors
+    """
+
+    @staticmethod
+    def power(port: int, percent: float):
+        """Set specified motor to percentage power
+
+        :param port: Port, which the motor is connected to. 0-3
+        :param percent: Percentage of max speed. between -100 and 100
+        :raises: IndexError
+        """
+
+        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!")
+
+        request = CompLib_pb2.MotorsSetPowerRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.port = port
+        request.power = percent
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    @staticmethod
+    def speed(port: int, speed: float):
+        """Set specified motor to percentage power
+
+        :param port: Port, which the motor is connected to. 0-3
+        :param speed: Speed at which a motor should turn in RPM
+        :raises: IndexError
+        """
+
+        if port < 0 or port >= MOTOR_COUNT:
+            raise IndexError("Invalid Motor port specified!")
+
+        request = CompLib_pb2.MotorsSetSpeedRequest()
+        request.header.message_type = request.DESCRIPTOR.full_name
+        request.port = port
+        request.speed = speed
+
+        CompLibClient.send(request.SerializeToString(), request.ByteSize())
+
+    # @staticmethod
+    # def all_off():
+    #     """
+    #     Turns of all motors
+    #     """
+    #     Logging.get_logger().debug(f"Motor.all_off")
+    #
+    #     for i in range(1, MOTOR_COUNT + 1):
+    #         Motor.active_break(i)
+
+    # @staticmethod
+    # def active_break(port: int):
+    #     """
+    #     Actively break with a specific motor
+    #
+    #     :param port: Port, which the motor is connected to. 1-4
+    #     """
+    #     Motor.pwm(port, 0, MotorMode.BREAK)