From 0e0b417b6f19e11e99c472f100e16117a25a2a6b Mon Sep 17 00:00:00 2001
From: leo <leo.lemaire007@orange.fr>
Date: Thu, 24 Nov 2022 17:08:44 +0100
Subject: [PATCH] capteurs ultrason

---
 CMakeLists.txt    |  3 ++-
 HCSR04.h          | 14 ++++++++++++++
 main.cpp          | 19 ++++++++++++++++++-
 parser.py         |  9 ++++++++-
 projet-tuteure-3a |  2 +-
 5 files changed, 43 insertions(+), 4 deletions(-)
 create mode 100644 HCSR04.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 406c318..04e21a8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,5 +5,6 @@ project(smogogus)
 add_definitions("-x c++")
 include_directories(${PROJECT_SOURCE_DIR})
 set_source_files_properties(projet-tuteure-3a/photores.ino PROPERTIES LANGUAGE CXX)
-add_executable(app projet-tuteure-3a/motorController.cpp projet-tuteure-3a/photores.ino main.cpp)
+set_source_files_properties(projet-tuteure-3a/principal_ultrason.ino PROPERTIES LANGUAGE CXX)
+add_executable(app projet-tuteure-3a/motorController.cpp projet-tuteure-3a/principal_ultrason.ino main.cpp)
 add_definitions(-include ../adapter_ard.h)
diff --git a/HCSR04.h b/HCSR04.h
new file mode 100644
index 0000000..746d440
--- /dev/null
+++ b/HCSR04.h
@@ -0,0 +1,14 @@
+#include <stdint.h>
+
+typedef uint8_t byte;
+
+class HCSR04_c{
+  public:
+    void begin(byte trig, byte* echos, byte ecnt);
+    double* measureDistanceCm();
+};
+
+extern HCSR04_c HCSR04;
+
+int couloir(void);
+int rotCouloir(int dir);
\ No newline at end of file
diff --git a/main.cpp b/main.cpp
index 04b3162..36eda96 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,4 +1,5 @@
 #include "adapter_ard.h"
+#include "HCSR04.h"
 
 #include <ctime>
 #include <time.h>
@@ -7,9 +8,13 @@
 #include <iostream>
 
 serial_c Serial;
+
+HCSR04_c HCSR04;
+
 struct timespec start, end;
 
 int pinState[16];
+double dists[2];
 
 int main(int argc, char** argv){
   clock_gettime(CLOCK_MONOTONIC_RAW, &start);
@@ -28,7 +33,10 @@ int main(int argc, char** argv){
         char* end_ptr;
         int pin = strtol(&cmd_buff[1], &end_ptr, 10);
         int level = strtol(&end_ptr[1], &end_ptr, 10);
-        pinState[pin] = level;
+        //printf("pin %d at %d\n", pin, level);
+        if(pin >= 0)
+          pinState[pin] = level;
+        else dists[-pin-1] = level/10.0;
         cmd_buff_ind = 0;
       }
       cmd_buff[cmd_buff_ind++] = c;
@@ -94,4 +102,13 @@ void serial_c::print(int nb){
 void serial_c::println(int nb){
   this->print(nb);
   printf("\n");
+}
+
+void HCSR04_c::begin(byte trig, byte* echos, byte ecnt){
+  //printf("");
+}
+
+double* HCSR04_c::measureDistanceCm(){
+  //printf("dists %f %f", dists[0], dists[1]);
+  return dists;
 }
\ No newline at end of file
diff --git a/parser.py b/parser.py
index fb2f6b5..622d932 100644
--- a/parser.py
+++ b/parser.py
@@ -59,4 +59,11 @@ class aip_parser:
         
     def send_pin_state(self):
         for ind, p in enumerate(self.robot.pins):
-            self.stdin.write(bytes(f"${ind},{p};", "utf-8"))
\ No newline at end of file
+            self.stdin.write(bytes(f"${ind},{p};", "utf-8"))
+        for ind, p in enumerate(self.robot.dists):
+            if not p:
+                p = -10
+            else:
+                p = int(1000*p)
+            print("#######", p)
+            self.stdin.write(bytes(f"${-ind-1},{p};", "utf-8"))
\ No newline at end of file
diff --git a/projet-tuteure-3a b/projet-tuteure-3a
index 397f93f..a6e75ef 160000
--- a/projet-tuteure-3a
+++ b/projet-tuteure-3a
@@ -1 +1 @@
-Subproject commit 397f93f67d864dbe52095f9e91dd8bbad8364960
+Subproject commit a6e75ef26b8896385a994733c114694f14862e20