From 3771f3d2d75006f7f3f023ab04c62b5ed969275a Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Tue, 2 Apr 2024 16:59:31 +0200
Subject: [PATCH] open / close pince with tcp

---
 MainWindow.cpp      | 20 +++++++++++++++-----
 tcp/MyTCPClient.cpp | 12 ++++++++----
 tcp/MyTCPClient.h   |  9 ++-------
 3 files changed, 25 insertions(+), 16 deletions(-)

diff --git a/MainWindow.cpp b/MainWindow.cpp
index 382d2ae..59591cc 100644
--- a/MainWindow.cpp
+++ b/MainWindow.cpp
@@ -48,12 +48,22 @@ MainWindow::MainWindow(const char *address, int port, QWidget *parent) : QMainWi
 
     this->homologation = new Homologation(centralWidget);
     connect(this->homologation, &Homologation::deplierClicked, this, [&]() {
-        // TODO servo moteur
-        this->tcpClient->sendMessage("ihm;strat;deplier;1");
+        this->tcpClient->sendMessage("ihm;servo_pot;baisser bras;1");
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        this->tcpClient->sendMessage("ihm;servo_pot;ouvrir pince;1");
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        this->tcpClient->sendMessage("ihm;servo_pot;ouvrir pince;2");
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        this->tcpClient->sendMessage("ihm;servo_pot;ouvrir pince;3");
     });
     connect(this->homologation, &Homologation::replierClicked, [&]() {
-        // TODO servo moteur
-        this->tcpClient->sendMessage("ihm;strat;replier;1");
+        this->tcpClient->sendMessage("ihm;servo_pot;lever bras;1");
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        this->tcpClient->sendMessage("ihm;servo_pot;fermer pince;1");
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        this->tcpClient->sendMessage("ihm;servo_pot;fermer pince;2");
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        this->tcpClient->sendMessage("ihm;servo_pot;fermer pince;3");
     });
 
     this->teamChooser = new TeamChooser(centralWidget);
@@ -80,7 +90,7 @@ MainWindow::MainWindow(const char *address, int port, QWidget *parent) : QMainWi
 
     this->testMode = new TestMode(centralWidget);
     connect(this->testMode, &TestMode::goPressed, [&](int x, int y, int theta) {
-        this->tcpClient->sendMessage("ihm;strat;go;" + std::to_string(x) + "," + std::to_string(y) + "," + std::to_string(theta));
+        this->tcpClient->sendMessage("ihm;arduino;go;" + std::to_string(x) + "," + std::to_string(y) + "," + std::to_string(theta));
     });
 
     this->inGame = new InGame(teamChooser);
diff --git a/tcp/MyTCPClient.cpp b/tcp/MyTCPClient.cpp
index 6eac3b0..1e13e06 100644
--- a/tcp/MyTCPClient.cpp
+++ b/tcp/MyTCPClient.cpp
@@ -1,5 +1,9 @@
-//
-// Created by acki on 3/30/24.
-//
-
 #include "MyTCPClient.h"
+
+MyTCPClient::MyTCPClient(const char *address, int port, QObject *parent) : TCPClient(address, port), QObject(parent) {
+    this->start();
+}
+
+void MyTCPClient::handleMessage(const std::string &message) {
+    emit messageReceived(message);
+}
diff --git a/tcp/MyTCPClient.h b/tcp/MyTCPClient.h
index 4acaf4e..d4f3727 100644
--- a/tcp/MyTCPClient.h
+++ b/tcp/MyTCPClient.h
@@ -7,14 +7,9 @@
 class MyTCPClient : public QObject, public TCPClient {
     Q_OBJECT
 public:
-    explicit MyTCPClient(const char* address = "127.0.0.1", int port = 8080, QObject* parent = nullptr) : TCPClient(address, port), QObject(parent) {
-        this->start();
-    }
-
-    void handleMessage(const std::string &message) override {
-        emit messageReceived(message);
-    };
+    explicit MyTCPClient(const char* address = "127.0.0.1", int port = 8080, QObject* parent = nullptr);
 
+    void handleMessage(const std::string &message) override;
 signals:
     void messageReceived(const std::string &message);
 };