déso du délai sélène, gtm

simulator.py

@@ -1,6 +1,14 @@
 import socket
-import hardware
 import os
+import typing
+import numpy as np
+
+from sympy.abc import alpha
+
+
+def parse_speed(text):
+    tl = text.split(' ')
+    return int(tl[0]) * float(tl[1])
 
 
 class Simulator:
@@ -12,8 +20,58 @@ class Simulator:
             pass
         self.s.bind(bind)
         self.s.listen()
+
+
+class NaiveSimulator(Simulator):
+    steps = [0, 0, 0]
+    pos = np.array([0., 0., 0.])
+    speed = np.array([0., 0., 0.])
+
+    time_step = 0
+
+    # X_STEPS_PER_INCH = 4800
+    X_STEPS_PER_MM: float = 188.97
+    X_MOTOR_STEPS: float = 200
+
+    # Y_STEPS_PER_INCH = 4800
+    Y_STEPS_PER_MM: int = 188.97
+    Y_MOTOR_STEPS: int = 200
+
+    # Z_STEPS_PER_INCH = 4800
+    Z_STEPS_PER_MM: float = 188.97
+    Z_MOTOR_STEPS: int = 200
+
+    def __init__(self, bind):
+        super().__init__(bind)
         while True:
+            self.loop()
 
+    def loop(self):
+        req = socket.SocketIO(self.s, 'r').readline()
+        match req:
+            case 'request':
+                print("At your service")
+                self.request()
+            case 'realize':
+                print("Contemplating Life")
+                self.realize()
+        print("Job Done")
 
+    def request(self):
+        self.s.send(f"{self.steps[0]}".encode())
+        self.s.send(f"{self.steps[1]}".encode())
+        self.s.send(f"{self.steps[2]}".encode())
 
+    def realize(self):
+        print("MA VIE C'EST DE LA MERDE")
+        x_v = parse_speed(socket.SocketIO(self.s, 'r').readline())
+        y_v = parse_speed(socket.SocketIO(self.s, 'r').readline())
+        z_v = parse_speed(socket.SocketIO(self.s, 'r').readline())
 
+        inertia = - alpha * self.speed
+        gamma_command = np.array([x_v, y_v, z_v]) - self.speed
+        self.speed = self.time_step * (inertia + gamma_command)
+        step_increment = np.ceil(self.speed * self.time_step * np.array([1 / self.X_MOTOR_STEPS, 1 / self.Y_MOTOR_STEPS, 1 / self.Z_MOTOR_STEPS]))
+        self.steps = self.steps + step_increment
+        self.pos = self.pos + np.array([self.X_STEPS_PER_MM * step_increment[0], self.Y_STEPS_PER_MM * step_increment[1], self.Z_STEPS_PER_MM * step_increment[2]])
+        self.s.send("Realized".encode())