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-rw-r--r--2005/i/robert/src/es/es.cc20
1 files changed, 15 insertions, 5 deletions
diff --git a/2005/i/robert/src/es/es.cc b/2005/i/robert/src/es/es.cc
index d1e8e76..9c32e9b 100644
--- a/2005/i/robert/src/es/es.cc
+++ b/2005/i/robert/src/es/es.cc
@@ -66,7 +66,16 @@ bool Es::ascIsIdle(void)
bool Es::obsTropPres(void)
{
- if(distGauche_ > teleSeuil_ || distDroite_ > teleSeuil_)
+ if (distGauche_ > teleSeuil_ || distDroite_ > teleSeuil_
+ || obsBasTropPres ())
+ return true;
+ else
+ return false;
+}
+bool
+Es::obsBasTropPres (void)
+{
+ if (distBas_ > teleSeuilBas_)
return true;
else
return false;
@@ -89,9 +98,10 @@ void Es::ventouses(void)
proto_.send('v',"b",pVentouses_);
}
-void Es::wait(int timeout)
+bool
+Es::wait(int timeout /*-1*/)
{
- proto_.wait(timeout);
+ return proto_.wait(timeout);
}
/// Récupère le File Descriptor
@@ -114,6 +124,7 @@ void Es::loadConfig(const Config & config)
pStatTele_ = config.get<int>("es.pStatTele");
teleSeuil_ = config.get<int>("es.teleSeuil");
+ teleSeuilBas_ = config.get <int> ("es.teleSeuilBas");
}
void Es::receive(char command, const Proto::Frame & frame)
@@ -137,8 +148,7 @@ void Es::receive(char command, const Proto::Frame & frame)
ascFailure_ = true;
break;
case 'C': // retour télémètre
- proto_.decode(frame,"ww", distGauche_, distDroite_);
-// log_("Télémètre") << "Valeur gauche" << distGauche_ << "Valeur Droite" << distDroite_;
+ proto_.decode(frame,"www", distGauche_, distDroite_, distBas_);
break;
}