From a8e25e107bfd486b945f656d5358b63259799909 Mon Sep 17 00:00:00 2001 From: dufourj Date: Wed, 11 Jan 2006 16:22:49 +0000 Subject: Correction des syncs --- 2005/i/robert/src/es/es.cc | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) (limited to '2005/i/robert/src/es/es.cc') 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("es.pStatTele"); teleSeuil_ = config.get("es.teleSeuil"); + teleSeuilBas_ = config.get ("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; } -- cgit v1.2.3