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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');
});*/
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