cleaning for merge

.gitignore

@@ -0,0 +1,127 @@
+### C++ template
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CMake template
+CMakeLists.txt.user
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+_deps
+
+### CLion template
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+build/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+

CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.25)
+project(servo_motor)
+
+set(CMAKE_CXX_STANDARD 17)
+
+find_package(PkgConfig REQUIRED)
+find_package(PiPCA9685 REQUIRED)
+pkg_check_modules(TCPSocket REQUIRED TCPSocket)
+
+add_executable(servo_motor
+        MyTCPClient.cpp
+        MyTCPClient.h
+        main.cpp)
+
+target_link_libraries(servo_motor TCPSocket)
+target_link_libraries(servo_motor ${PiPCA9685_LIBRARY})

MyTCPClient.cpp

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+#include "MyTCPClient.h"
+
+MyTCPClient::MyTCPClient(const char *serverIP, int port) : TCPClient(serverIP, port), pca() {
+    this->pwm_init();
+}
+
+void MyTCPClient::handleMessage(const std::string &message) {
+    std::vector<std::string> token = TCPSocket::split(message, ";");
+
+    if (token.size() != 4) {
+        std::cerr << "Message invalide: " << message << std::endl;
+        return;
+    }
+
+    if (token[1] == "servo_moteur" || token[1] == "all") {
+        std::cout << message << std::endl;
+        if (token[2] == "ping") {
+            this->sendMessage("servo_moteur;ihm;pong;1");
+        }
+        else if (token[2] == "ouvrir pince") {
+            int pince = std::stoi(token[3]);
+            std::cout << "ouvrir pince : " << pince << std::endl;
+            this->ouvrir_pince(pince);
+        }
+        else if (token[2] == "fermer pince") {
+            int pince = std::stoi(token[3]);
+
+            this->fermer_pince(pince);
+        }
+        else if (token[2] == "baisser bras") {
+            this->fermer_pince(0);
+            this->fermer_pince(2);
+            this->baisser_bras();
+        }
+        else if(token[2] == "transport bras"){
+            this->fermer_pince(0);
+	    this->fermer_pince(2);
+	    this->transport_bras();
+        } 
+         else if (token[2] == "lever bras") {
+            this->fermer_pince(0);
+            this->fermer_pince(2);
+            this->lever_bras();
+        }
+        else if (token[2] == "check panneau") {
+            int bras = std::stoi(token[3]);
+            this->check_panneau(bras);
+        }
+        else if (token[2] == "uncheck panneau") {
+            int bras = std::stoi(token[3]);
+            this->uncheck_panneau(bras);
+        } else if (token[2] == "angle") {
+            std::vector<std::string> args = TCPSocket::split(token[3], ",");
+            if (args.size() != 2) {
+                std::cerr << "Nombre d'arguments invalide" << std::endl;
+                return;
+            }
+            int servo = std::stoi(args[0]);
+            int angleDeg = static_cast<int>(std::stof(args[1]));
+            this->pwm_setServoPosition(servo, angleDeg);
+        } else if (token[2] == "clear") {
+            this->pwm_clear();
+        }
+    }
+}
+
+void MyTCPClient::pwm_setFrequency(float freq) {
+    pca.set_pwm_freq(freq);
+}
+
+void MyTCPClient::pwm_init() {
+    pwm_setFrequency(50.0);
+    this->fermer_pince(0, true);
+    this->fermer_pince(1, true);
+    this->fermer_pince(2, true);
+    this->baisser_bras();//this->baisser_bras(true);
+}
+
+
+void MyTCPClient::pwm_setServoPosition(int servo, int position) {
+    int on_time = SERVO_MIN + (SERVO_MAX - SERVO_MIN) * position / 180 - 1;//temps ou le servo est allumé par rapport à 4096
+    pca.set_pwm(servo, 0, on_time);
+}
+
+void MyTCPClient::baisser_bras() {
+    switch(this->positionBras){
+        case BRAS_HAUT:
+            for(int i = angleBrasHaut.servo4; i <= angleBrasBas.servo4;i++){
+                this->pwm_setServoPosition(4, i);
+                usleep(5'000);
+                this->pwm_setServoPosition(5, angleBrasHaut.servo5-i+angleBrasHaut.servo4);
+            }
+            break;
+        case BRAS_TRANSPORT:
+            for(int i = angleBrasTransport.servo4; i <= angleBrasBas.servo4;i++){
+                this->pwm_setServoPosition(4, i);
+                usleep(5'000);
+                this->pwm_setServoPosition(5, angleBrasTransport.servo5-i+angleBrasTransport.servo4);
+            }
+            break;
+        case BRAS_BAS:
+            this->pwm_setServoPosition(4, angleBrasBas.servo4);
+            this->pwm_setServoPosition(5, angleBrasBas.servo5);
+            return;
+    }
+    this->positionBras = BRAS_BAS;
+    this->pwm_setServoPosition(4, angleBrasBas.servo4);
+    this->pwm_setServoPosition(5, angleBrasBas.servo5);
+}
+
+void MyTCPClient::transport_bras(){
+    switch(this->positionBras){
+        case BRAS_BAS:
+            for (int i = angleBrasBas.servo5; i <= angleBrasTransport.servo5; i++){
+                this->pwm_setServoPosition(4, angleBrasBas.servo4-i+angleBrasBas.servo5);
+                usleep(5'000);
+                this->pwm_setServoPosition(5, i);
+            }
+            break;
+        case BRAS_HAUT:
+            for (int i = angleBrasHaut.servo4; i <= angleBrasTransport.servo4; i++){
+                this->pwm_setServoPosition(4, i);
+                usleep(5'000);
+                this->pwm_setServoPosition(5, angleBrasHaut.servo5-i+angleBrasHaut.servo4);
+            }
+            break;
+        case BRAS_TRANSPORT:
+            this->pwm_setServoPosition(4, angleBrasTransport.servo4);
+            this->pwm_setServoPosition(5, angleBrasTransport.servo5);
+            return;
+    }
+    this->positionBras = BRAS_TRANSPORT;
+    this->pwm_setServoPosition(4, angleBrasTransport.servo4);
+    this->pwm_setServoPosition(5, angleBrasTransport.servo5);
+}
+
+void MyTCPClient::lever_bras() {
+    switch(this->positionBras){
+        case BRAS_BAS:
+		    for (int i = angleBrasBas.servo5;i <= angleBrasHaut.servo5;i++){
+                this->pwm_setServoPosition(4, angleBrasBas.servo4-i+angleBrasBas.servo5);
+                usleep(5'000);
+                this->pwm_setServoPosition(5, i);
+            }
+            break;
+        case BRAS_TRANSPORT:
+            for (int i = angleBrasTransport.servo5;i <= angleBrasHaut.servo5;i++){
+                this->pwm_setServoPosition(4, angleBrasTransport.servo4-i+angleBrasTransport.servo5);
+                usleep(5'000);
+                this->pwm_setServoPosition(5, i);
+            }
+            break;
+        case BRAS_HAUT:
+            this->pwm_setServoPosition(4, angleBrasHaut.servo4);
+            this->pwm_setServoPosition(5, angleBrasHaut.servo5);
+            return;
+    }
+    this->positionBras = BRAS_HAUT;
+    this->pwm_setServoPosition(4, angleBrasHaut.servo4);
+    this->pwm_setServoPosition(5, angleBrasHaut.servo5);
+}
+
+void MyTCPClient::fermer_pince(int pince, bool force) {
+    if (!pinceOuverte[pince] && !force){
+        return;
+    }
+    int angle, old_angle;
+    if (pince < 0 || pince > 2){
+        return;
+    }
+    switch(pince){
+        case 0:
+            angle = 142;
+                old_angle = 115;
+        break;
+        case 1:
+            angle = 42;
+                old_angle = 22;
+        break;
+        case 2:
+            angle = 152;
+            old_angle = 130;
+        break;
+    }
+    std::cout << "Fermer pince : " << pince << std::endl;
+    for(int i = old_angle; i <= angle;i++){
+        this->pwm_setServoPosition(pince, i);
+        usleep(5'000);
+    }
+    pinceOuverte[pince] = false;
+}
+
+void MyTCPClient::ouvrir_pince(int pince, bool force) {
+    if (pinceOuverte[pince] && !force){
+        return;
+    }
+    int angle, old_angle;
+    if (pince < 0 || pince > 2){
+        return;
+    }
+    switch(pince){
+        case 0:
+            angle = 115;
+                old_angle = 142;
+        break;
+        case 1:
+            angle = 22;
+                old_angle = 42;
+        break;
+        case 2:
+            angle = 130;
+                old_angle = 152;
+        break;
+    }
+    std::cout << "Ouvrir pince : " << pince << std::endl;
+    for (int i = old_angle; i >= angle;i--){
+        this->pwm_setServoPosition(pince, i);
+        usleep(5'000);
+    }
+    pinceOuverte[pince] = true;
+}
+
+
+void MyTCPClient::check_panneau(int quelBras) {
+    this->pwm_setServoPosition(quelBras, 30);
+}
+
+void MyTCPClient::uncheck_panneau(int quelBras) {
+    this->pwm_setServoPosition(quelBras, 0);
+}
+
+void MyTCPClient::pwm_clear() {
+    pca.set_all_pwm(0,0);
+}

MyTCPClient.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include "TCPSocket/TCPClient.hpp"
+#include "TCPSocket/TCPUtils.hpp"
+
+// #include "servo_motor.h"
+#include <PiPCA9685/PCA9685.h>
+#include <unistd.h>
+
+#define SERVO_MIN    82 // 0.02*4096
+#define SERVO_MAX    492 // 0.12*4096
+
+enum BrasState {
+    BRAS_BAS,
+    BRAS_HAUT,
+    BRAS_TRANSPORT
+};
+
+typedef struct {
+    int servo4;
+    int servo5;
+}angleBras;
+
+class MyTCPClient : public TCPClient {
+public:
+    explicit MyTCPClient(const char* serverIP = "127.0.0.1", int port = 8080);
+
+    void handleMessage(const std::string &message) override;
+
+    void pwm_setFrequency(float freq);
+
+    void pwm_init();
+
+    void pwm_setServoPosition(int servo, int position);
+
+ //   void baisser_bras(bool force = false);
+    
+    void baisser_bras();
+
+    void transport_bras();
+
+//    void lever_bras(bool force = false);
+    
+    void lever_bras();
+
+    void fermer_pince(int pince, bool force = false);
+
+    void ouvrir_pince(int pince, bool force = false);
+
+    void check_panneau(int quelBras);
+
+    void uncheck_panneau(int quelBras);
+
+    void pwm_clear();
+
+private:
+    PiPCA9685::PCA9685 pca;
+    BrasState positionBras = BRAS_BAS;
+    bool pinceOuverte[3] = {true, true, true};
+    angleBras angleBrasBas = {180, 0};
+    angleBras angleBrasTransport = {168, 12};
+    angleBras angleBrasHaut = {53, 127};//78, 102
+};

main.cpp

@@ -0,0 +1,20 @@
+#include "MyTCPClient.h"
+
+int main(int argc, char* argv[]) {
+    int port = 8080;
+    if (argc > 1) {
+        port = std::stoi(argv[1]);
+    }
+
+    MyTCPClient client("127.0.0.1", port);
+
+    client.start();
+
+    client.sendMessage("servo_moteur;strat;ready;1");
+
+    while (!client.shouldStop()) {
+        usleep(100'000);
+    }
+
+    return 0;
+}

servo_motor.c

@@ -1,177 +0,0 @@
-#include <stdio.h>
-#include <pigpio.h>
-#include <time.h>
-
-//Define registers address
-#define PCA9685_ADDR 0x40
-#define MODE1_REG    0x00
-#define PRE_SCALE    0xFE
-
-#define LED0_ON_L 0x06
-#define LED0_ON_H 0x07
-#define LED0_OFF_L 0x08
-#define LED0_OFF_H 0x09
-
-//Define duty cycle (in a range of 12 bits = 4096) for PWM (min 2%, max 12%)
-#define SERVO_MIN    82 // 0.02*4096
-#define SERVO_MAX    492 // 0.12*4096
-
-// Fonction pour initialiser le PCA9685
-void initPCA9685(int handle)
-{
-    // Mettre le PCA9685 en mode de sommeil
-    i2cWriteByteData(handle, MODE1_REG, 0x10);
-
-    // Configurer la fréquence PWM (par exemple, 50 Hz)
-    int prescale_val = 25000000 / (4096 * 50) - 1;
-    i2cWriteByteData(handle, PRE_SCALE, prescale_val);
-
-    // Mettre le PCA9685 en mode de travail normal
-    i2cWriteByteData(handle, MODE1_REG, 0x00);
-}
-
-// Fonction pour définir la position du servo
-void setServoPosition(int handle, int channel, int position)
-{
-    if (position < 0 || position > 180){
-        return;
-    }
-    int on_time = SERVO_MIN + (SERVO_MAX - SERVO_MIN) * position / 180 - 1;//temps ou le servo est allumé par rapport à 4096
-    int on_time_lsb = on_time & ~(0b1111 << 8);// 8 premiers bits de poids faible du temps ou le servo est allumé
-    int on_time_msb = on_time >> 8;// 4 premiers bits poids fort de on_time
-    i2cWriteWordData(handle, LED0_ON_L + 4 * channel, 0);
-    i2cWriteByteData(handle, LED0_ON_H + 4* channel, 0);
-    i2cWriteByteData(handle, LED0_OFF_L + 4 * channel, on_time_lsb);//0xCD = 0.05*2^12-1
-    if (0 < (on_time >> 8) && (on_time >> 8) < 256){
-        i2cWriteByteData(handle, LED0_OFF_H + 4*channel, on_time_msb);
-    }
-    else {
-        i2cWriteByteData(handle, LED0_OFF_H +4*channel, 0);
-    }
-}
-
-//Change l'angle du servo de maniere precise (jspr par pitié)
-void changeServoPositionSynchro(int handle, int channel, int currentPosition, int targetPosition){
-        if (targetPosition - currentPosition > 0){
-                for (int i = currentPosition+1; i <= targetPosition; i++){
-                        setServoPosition(handle, channel, i);
-                        gpioSleep(PI_TIME_RELATIVE, 0, 10000);
-                }//Fo bouger les servo en meme temps aaah donc rajouter les position et channel et info des autres servo
-        }
-}
-
-//Fonctions pour le bras sur le canal 1
-void baisser_bras(int handle){
-    int angle = 100;
-    for (int i = 1; i <= angle;i++){
-        gpioSleep(PI_TIME_RELATIVE, 0, 10000);
-        setServoPosition(handle, 4, i);
-        setServoPosition(handle, 5, angle-i);
-    }
-}
-
-void lever_bras(int handle){
-    int angle = 107;
-    for (int i = 1; i <= angle;i++){
-        gpioSleep(PI_TIME_RELATIVE, 0, 10000);
-        setServoPosition(handle, 4, angle-i);
-        setServoPosition(handle, 5, i);
-    }
-}
-
-
-//Fonction pour les pinces
-void fermer_pince(int handle, int pince){
-    int angle;
-    if (pince < 0 || pince > 2){
-        return;
-    }
-    switch(pince){
-        case 0:
-            angle = 142;
-            break;
-        case 1:
-            angle = 42;
-            break;
-        case 2:
-            angle = 152;
-            break;
-    }
-    setServoPosition(handle, pince, angle);
-//10° de + pour fermer completement
-}
-
-void ouvrir_pince(int handle, int pince){
-    int angle;
-    if (pince < 0 || pince > 2){
-        return;
-    }
-    switch(pince){
-        case 0:
-                angle = 115;
-                break;
-        case 1:
-                angle = 22;
-                break;
-        case 2:
-                angle = 125;
-                break;
-    }
-    setServoPosition(handle, pince, angle);
-}
-
-void check_panneau(int handle, int quelBras){//bras gauche = 7 bras droit = 6
-        setServoPosition(handle, quelBras, 30);
-}
-
-void uncheck_panneau(int handle, int quelBras){
-        setServoPosition(handle, quelBras, 0);
-}
-
-int main()
-{
-    int handle;
-
-    if (gpioInitialise() < 0)
-    {
-        fprintf(stderr, "Impossible d'initialiser pigpio\n");
-        return 1;
-    }
-
-    handle = i2cOpen(1, PCA9685_ADDR, 0);
-
-    if (handle < 0)
-    {
-        fprintf(stderr, "Impossible d'ouvrir la connexion I2C\n");
-        gpioTerminate();
-        return 1;
-    }
-
-    initPCA9685(handle);
-    /*lever_bras(handle);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0);
-    ouvrir_pince(handle, 0);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    ouvrir_pince(handle, 1);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    ouvrir_pince(handle, 2);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    fermer_pince(handle, 0);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    fermer_pince(handle, 1);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    fermer_pince(handle, 2);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0);
-    baisser_bras(handle);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    */
-    check_panneau(handle, 6);
-    gpioSleep(PI_TIME_RELATIVE, 1, 0); // Pause de 2 secondes
-    uncheck_panneau(handle, 6);
-    i2cClose(handle);
-
-    // Terminaison de pigpio
-    gpioTerminate();
-
-    return 0;
-}

servo_motor.h

@@ -1,35 +0,0 @@
-#ifndef SERVO_MOTOR
-#define SERVO_MOTOR
-#include <stdio.h>
-#include <pigpio.h>
-#include <time.h>
-
-//Define registers address
-#define PCA9685_ADDR 0x40
-#define MODE1_REG    0x00
-#define PRE_SCALE    0xFE
-
-#define LED0_ON_L 0x06
-#define LED0_ON_H 0x07
-#define LED0_OFF_L 0x08
-#define LED0_OFF_H 0x09
-
-//Define duty cycle (in a range of 12 bits = 4096) for PWM (min 2%, max 12%)
-#define SERVO_MIN    82 // 0.02*4096
-#define SERVO_MAX    492 // 0.12*4096
-
-void initPCA9685(int handle);
-
-void setServoPosition(int handle, int channel, int position);
-
-void changeServoPositionSynchro(int handle, int channel, int currentPosition, int targetPosition);
-
-void baisser_bras(int handle);
-
-void lever_bras(int handle);
-
-void fermer_pince(int handle, int pince);
-
-void ouvrir_pince(int handle, int pince);
-
-#endif