Add complib client and TCP communication

client_s2/main.py

@@ -1,36 +1,48 @@
-import socket
-import sys
-import os
-import CompLib_pb2
-
-
 SOCKET_PATH = "/tmp/compLib"
 
 
-def send(data, size):
-    with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
-        sock.connect(SOCKET_PATH)
-        sock.sendall(size.to_bytes(1, byteorder='big'))
-        sock.sendall(data)
-
-        responseSizeBytes = sock.recv(1)
-        responseSize = int.from_bytes(responseSizeBytes, byteorder="big")
-        print(responseSize)
-
-        responseBytes = sock.recv(responseSize)
-        genericResponse = CompLib_pb2.GenericResponse()
-
-        genericResponse.ParseFromString(responseBytes)
-        print(genericResponse)
-
-        # reponseBytes =
+# def send(data, size):
+#     with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as sock:
+#         sock.connect(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(f"Response size: {response_size}")
+#
+#         response_bytes = sock.recv(response_size)
+#         generic_response = CompLib_pb2.GenericResponse()
+#
+#         generic_response.ParseFromString(response_bytes)
+#         # print(f"Response: {generic_response}")
+#
+#         # reponseBytes =
 
 
 def main():
-    readSensorsRequest = CompLib_pb2.ReadSensorsRequest()
-    # readSensorsRequest.header = CompLib_pb2.Header()
-    readSensorsRequest.header.message_type = readSensorsRequest.DESCRIPTOR.full_name
-    send(readSensorsRequest.SerializeToString(), readSensorsRequest.ByteSize())
+    # encoder_read_positions_request = CompLib_pb2.EncoderReadPositionsRequest()
+    # # readSensorsRequest.header = CompLib_pb2.Header()
+    # encoder_read_positions_request.header.message_type = encoder_read_positions_request.DESCRIPTOR.full_name
+    #
+    # start_time = time.time()
+    # for i in range(100000):
+    #     send(encoder_read_positions_request.SerializeToString(), encoder_read_positions_request.ByteSize())
+    # print("--- %s seconds ---" % (time.time() - start_time))
+
+    # from compLib.IRSensor import IRSensor
+    # IRSensor.read_all()
+    #
+    from compLib.Encoder import Encoder
+    Encoder.read_all_positions()
+    Encoder.read_all_velocities()
+
+    # from compLib.Motor import Motor
+    # Motor.speed(0, 50)
+    # Motor.speed(3, -50)
+
+    # time.sleep(10)
 
 
-main()
+if __name__ == '__main__':
+    main()