Add complib client and TCP communication

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())