Add complib client and TCP communication

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)