Add circular_arc method on ProtocolClient

Classical implementation for now: splits the arc in many forward
movements and rotations.

Signed-off-by: Paul Mabileau <[email protected]>

Author: PaulDance

src/ipc_protocol/protocol.rs

@@ -367,6 +367,19 @@ impl ProtocolClient {
         }
     }
 
+    pub async fn circular_arc(&self, id: TurtleId, radius: Distance, extent: Radians, direction: RotationDirection) {
+        if radius.is_normal() && extent.is_normal() {
+            let steps = 250;    // Arbitrary value for now.
+            let step = radius.abs() * extent.to_radians() / steps as f64;
+            let rotation = radius.signum() * extent / steps as f64;
+
+            for _ in 0..steps {
+                self.move_forward(id, step).await;
+                self.rotate_in_place(id, rotation, direction).await;
+            }
+        }
+    }
+
     pub fn begin_fill(&self, id: TurtleId) {
         self.client.send(ClientRequest::BeginFill(id))
     }