From a10f0daf5e64c905c33bc0d203656968dad193fc Mon Sep 17 00:00:00 2001
From: mpboyer <matthieupierre.boyer@gmail.com>
Date: Mon, 13 Jan 2025 18:09:02 +0100
Subject: [PATCH] chaussettes

---
 GCode_Interpreterdc.py |  3 ++-
 controller.py          | 10 +++++-----
 hardware.py            | 39 ++++++++++++++++++++++-----------------
 simulator.py           | 15 +++++++++++++--
 4 files changed, 42 insertions(+), 25 deletions(-)

diff --git a/GCode_Interpreterdc.py b/GCode_Interpreterdc.py
index 2249890..3a8aadb 100644
--- a/GCode_Interpreterdc.py
+++ b/GCode_Interpreterdc.py
@@ -3,8 +3,9 @@ from typing import *
 import numpy as np
 
 import controller
+import hardware
 
-Point = NewType("point", List[float, float, float])
+Point = NewType("point", List[float])
 
 
 # noinspection PyPep8Naming
diff --git a/controller.py b/controller.py
index 4d3f1d8..473129a 100644
--- a/controller.py
+++ b/controller.py
@@ -1,16 +1,16 @@
-from GCode_Interpreterdc import GCodeToMotors
+import GCode_Interpreterdc
 
 class Controller:
     def __init__(self):
         pass
 
     def __call__(self, gtm, *args, **kwargs):
-        assert isinstance(gtm, GCodeToMotors)
+        assert isinstance(gtm)
         return None
 
 
-class PIDController(Controller):
-    def __call__(self, gtm, *args, **kwargs):
-        self.
+# class PIDController(Controller):
+#     def __call__(self, gtm, *args, **kwargs):
+#         self.
 
 
diff --git a/hardware.py b/hardware.py
index 40e8688..71a8d21 100644
--- a/hardware.py
+++ b/hardware.py
@@ -1,35 +1,31 @@
 import socket
+import os
 
-from GCode_Interpreterdc import GCodeToMotors
-
+import GCode_Interpreterdc
+import simulator
 
 class Hardware:
     def __init__(self):
         pass
 
-    def probe(self, gtm: GCodeToMotors):
+    def probe(self, gtm):
         return
 
-    def realize(self, gtm: GCodeToMotors):
+    def realize(self, gtm):
         return
 
 
 class SimuHardware(Hardware):
     def __init__(self, bind):
-        self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.s.setblocking(False)
-        self.s.bind(bind)
+        super().__init__()
+        self.s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+        self.s.connect(bind)
 
     def probe(self, gtm):
-        self.s.send("request")
-        self.s.listen()
-        while 1:
-            try:
-                encoder_x = (int)(socket.SocketIO(self.s).readline())
-            except:
-                pass
-        encoder_y = (int)(socket.SocketIO(self.s).readline())
-        encoder_z = (int)(socket.SocketIO(self.s).readline())
+        self.s.send("request".encode())
+        encoder_x = int(socket.SocketIO(self.s, "rw").readline())
+        encoder_y = int(socket.SocketIO(self.s, "rw").readline())
+        encoder_z = int(socket.SocketIO(self.s, "rw").readline())
 
         last_x, last_y, last_z = gtm.current_steps
         # We are now at some position which realizes the encoder positions
@@ -54,7 +50,7 @@ class SimuHardware(Hardware):
                           curr_z / gtm.Z_STEPS_PER_MM])
 
     def realize(self, gtm):
-        self.s.send("realize")
+        self.s.send("realize".encode())
 
         if gtm.throttle_x == 0:
             self.s.send(gtm.x_direction + " 0")
@@ -70,3 +66,12 @@ class SimuHardware(Hardware):
             self.s.send(gtm.z_direction + " 0")
         else:
             self.s.send(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE / gtm.z_throttle)
+
+
+
+if __name__ == '__main__':
+    bind = "tmp.txt"
+    # sim = simulator.Simulator(bind)
+    sh = SimuHardware(bind)
+    gtm1 = GCode_Interpreterdc.GCodeToMotors
+    sh.probe(gtm1)
diff --git a/simulator.py b/simulator.py
index 4d7f210..0b52cc7 100644
--- a/simulator.py
+++ b/simulator.py
@@ -1,8 +1,19 @@
+import socket
 import hardware
+import os
 
 
 class Simulator:
-    def __init__(self, port):
-        self.socket = port
+    def __init__(self, bind):
+        self.s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+        try:
+            os.remove(bind)
+        except FileNotFoundError:
+            pass
+        self.s.bind(bind)
+        self.s.listen()
+        while True:
+
+