const client = mqtt.connect("ws://marcellus.cc:9001");

function wait(ms)
{
    return new Promise((resolve, reject) => {
        let isObstacle = false;

        const timer = setTimeout(() => {
            if(!isObstacle){
                resolve(0);
            } // Le délai s'est écoulé sans détecter d'obstacle
        }, ms);

        // Supposons que `client` est un objet qui écoute les messages
        client.on('message', (topic, message) => {
            if (topic === 'move' && parseInt(message.toString()) < 150) {
                isObstacle = true;
                clearTimeout(timer);
                resolve(1); // Un obstacle a été détecté
            }
        });
    });
}

function getTime(dist)
{
    let res = (dist / 200)*1000
    //console.log('time is '+res)
    return res
}

async function moveTo(dist,angle)
{
    console.log('dist is '+ dist)
    ang = angle * 180 /Math.PI
    console.log('ang is :' + ang.toString())
    var str = 'T'+(Math.floor(ang)).toString()
    client.publish('move',str)
    client.publish('move','D200')
    const time = getTime(dist)
    let tmp = await wait(time);
    if (tmp == 0){
        client.publish('move', 'STOP');
    }
    stop()
    
}

client.on('connect', () => {
    console.log('Connecté au courtier MQTT');
    client.subscribe('move')
});
// client.publish('move','ULT1')


/* client.on('close', function () {
    console.log('Déconnecté du courtier MQTT');
});*/