import compLib.CompLib_pb2 as CompLib_pb2
from compLib.CompLibClient import CompLibClient


class Encoder(object):
    """Klasse zum Zugriff auf die Encoder der einzelnen Motoren
    """

    @staticmethod
    def read_all_positions():
        """Lesen aller absoluten Positionen der einzelnen Encoder

        :return: Tupel mit allen aktuellen Encoderpositionen
        """
        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():
        """Lesen der Geschwindigkeit aller angeschlossenen Motoren.

        :return: Tupel aller aktuellen Motorgeschwindigkeiten in Radianten pro Sekunde
        """
        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)