Add complib client and TCP communication

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)