From cb2cace3e02ee53eb70a42e643a5199624d4a446 Mon Sep 17 00:00:00 2001
From: mpboyer <matthieupierre.boyer@gmail.com>
Date: Mon, 13 Jan 2025 17:42:12 +0100
Subject: [PATCH] test de socket

---
 hardware.py  | 71 +++++++++++++++++++++++++++++-----------------------
 simulator.py |  8 ++++++
 2 files changed, 47 insertions(+), 32 deletions(-)
 create mode 100644 simulator.py

diff --git a/hardware.py b/hardware.py
index 72b3e31..40e8688 100644
--- a/hardware.py
+++ b/hardware.py
@@ -1,5 +1,8 @@
+import socket
+
 from GCode_Interpreterdc import GCodeToMotors
 
+
 class Hardware:
     def __init__(self):
         pass
@@ -12,54 +15,58 @@ class Hardware:
 
 
 class SimuHardware(Hardware):
-    def __init__(self, filename):
-        try:
-            self.f = open(filename)
-        except FileNotFoundError:
-            raise FileNotFoundError
+    def __init__(self, bind):
+        self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.s.setblocking(False)
+        self.s.bind(bind)
 
     def probe(self, gtm):
-        f.write("request")
-        encoder_x = (int)(f.readline())
-        encoder_y = (int)(f.readline())
-        encoder_z = (int)(f.readline())
+        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())
 
-        last_x,last_y,last_z = gtm.current_steps
+        last_x, last_y, last_z = gtm.current_steps
         # We are now at some position which realizes the encoder positions
         # curr_x = encoder_x + k*X_MOTOR_STEPS
         # |curr_x - last_x| <= 1/2 * X_MOTOR_STEPS
-        curr_x = encoder_x + (last_x//gtm.X_MOTOR_STEPS) * gtm.X_MOTOR_STEPS
-        if(curr_x - last_x > .5 * gtm.X_MOTOR_STEPS):
+        curr_x = encoder_x + (last_x // gtm.X_MOTOR_STEPS) * gtm.X_MOTOR_STEPS
+        if curr_x - last_x > .5 * gtm.X_MOTOR_STEPS:
             curr_x -= gtm.X_MOTOR_STEPS
 
-        curr_y = encoder_y + (last_y//gtm.Y_MOTOR_STEPS) * gtm.Y_MOTOR_STEPS
-        if(curr_y - last_y > .5 * gtm.Y_MOTOR_STEPS):
+        curr_y = encoder_y + (last_y // gtm.Y_MOTOR_STEPS) * gtm.Y_MOTOR_STEPS
+        if curr_y - last_y > .5 * gtm.Y_MOTOR_STEPS:
             curr_y -= gtm.Y_MOTOR_STEPS
 
-        curr_z = encoder_z + (last_z//gtm.Z_MOTOR_STEPS) * gtm.Z_MOTOR_STEPS
-        if(curr_z - last_z > .5 * gtm.Z_MOTOR_STEPS):
+        curr_z = encoder_z + (last_z // gtm.Z_MOTOR_STEPS) * gtm.Z_MOTOR_STEPS
+        if curr_z - last_z > .5 * gtm.Z_MOTOR_STEPS:
             curr_z -= gtm.Z_MOTOR_STEPS
 
         # Note that if we don't probe regularly enough, we lose track of the position
         # Really, we should be able to set_steps
-        self.set_position([curr_x/gtm.X_STEPS_PER_MM,
-                           curr_y/gtm.Y_STEPS_PER_MM,
-                           curr_z/gtm.Z_STEPS_PER_MM])
+        gtm.set_position([curr_x / gtm.X_STEPS_PER_MM,
+                          curr_y / gtm.Y_STEPS_PER_MM,
+                          curr_z / gtm.Z_STEPS_PER_MM])
 
     def realize(self, gtm):
-        f.write("realize")
-        
-        if(gtm.throttle_x == 0):
-            f.write(gtm.x_direction + " 0")
+        self.s.send("realize")
+
+        if gtm.throttle_x == 0:
+            self.s.send(gtm.x_direction + " 0")
         else:
-            f.write(gtm.x_direction + " " + gtm.FAST_XY_FEEDRATE/gtm.x_throttle)
-        
-        if(gtm.throttle_y == 0):
-            f.write(gtm.y_direction + " 0")
+            self.s.send(gtm.x_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.x_throttle)
+
+        if gtm.throttle_y == 0:
+            self.s.send(gtm.y_direction + " 0")
         else:
-            f.write(gtm.y_direction + " " + gtm.FAST_XY_FEEDRATE/gtm.y_throttle)
-        
-        if(gtm.throttle_z == 0):
-            f.write(gtm.z_direction + " 0")
+            self.s.send(gtm.y_direction + " " + gtm.FAST_XY_FEEDRATE / gtm.y_throttle)
+
+        if gtm.throttle_z == 0:
+            self.s.send(gtm.z_direction + " 0")
         else:
-            f.write(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE/gtm.z_throttle)
+            self.s.send(gtm.z_direction + " " + gtm.FAST_Z_FEEDRATE / gtm.z_throttle)
diff --git a/simulator.py b/simulator.py
new file mode 100644
index 0000000..4d7f210
--- /dev/null
+++ b/simulator.py
@@ -0,0 +1,8 @@
+import hardware
+
+
+class Simulator:
+    def __init__(self, port):
+        self.socket = port
+
+