From 9c1795348579235fdd71fc09cd79b1356a14f47d Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Wed, 22 Apr 2026 21:20:49 +0200
Subject: [PATCH] =?UTF-8?q?Lecture=20Balise=20d=C3=A9tection=20OK?=
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---
 LectureReception.py | 64 +++++++++++++++++++++++++--------------------
 1 file changed, 35 insertions(+), 29 deletions(-)

diff --git a/LectureReception.py b/LectureReception.py
index 892d5e2..a111217 100644
--- a/LectureReception.py
+++ b/LectureReception.py
@@ -1,50 +1,56 @@
 import struct
 import serial
+from time import sleep
+from time import time
+
 
 ser = serial.Serial('/dev/ttyACM0' , 115200)
 
 
-def lecture_Detection():
-    ser.write(b'\xFF\xFF\x05dP\x80\x21\x00')
-    nb_read = ser.in_waiting
-    data = ser.read(nb_read)
-    # print("nb_read={}".format(nb_read))
-    list_message = data.split(b"\xff\xffP")
-    # print("nb_read={}, list_message={}".format(nb_read, len(list_message)))
-    if len(list_message)>1:
-        if len(list_message[1])>33:
-                struct_value = struct.unpack('ffffffffB',list_message[1][1:34])
-                return (struct_value[0],struct_value[1],struct_value[2], struct_value[3], struct_value[4], struct_value[5], struct_value[6], struct_value[7], struct_value[8])
+def lecture_Detection(ser):
+    ser.write(b'\xFF\xFF\x05dP\x00\x0C\x00')
+    messages, tmp = lire_message(ser, b'')
+    for message in messages:
+        print("{:.3f} {}".format(time(), message[1]))
         
 def check_message(message, offset):
-    offset = offset + 2 # on saut '\xFF\xFF'
+    offset = offset + 3 # on saut '\xFF\xFF + id'
     if(len(message) > 0 + offset):
         taille_message = message[0+offset]
-        print("taille_message + " + str(taille_message))
         if(len(message) > taille_message + offset):
             if(message[taille_message+offset] == 0):
-                print("message valide")
                 return message[0+offset:taille_message+offset]
     return None
 
+def lire_message(ser, old_data):
+    data = old_data
+    nb_read = ser.in_waiting
+    offset = 0
+    valid_offset = 0
+    messages = []
+    if nb_read > 0:
+        data += ser.read(nb_read)
+        while offset > -1:
+            offset = data.find(b'\xFF\xFF', offset)
+            if(offset > -1):
+                message = check_message(data, offset)
+                if message is not None:
+                    messages.append(message)
+                    valid_offset = offset
+                offset = offset + 1
+        data = data[valid_offset:]
+    return messages, data
 
 
 if __name__ == "__main__":
     data = b''
+    while 1:
+        lecture_Detection(ser)
+        sleep(0.001)
+
     while(1):
-        nb_read = ser.in_waiting
-        offset = 0
-        valid_offset = 0
-        if nb_read > 0:
-            data+= ser.read(nb_read)
-            while offset > -1:
-                offset = data.find(b'\xFF\xFF', offset)
-                if(offset > -1):
-                    message_brut = data[offset:]
-                    message = check_message(data, offset)
-                    if message is not None:
-                        print(message)
-                        valid_offset = offset
-                    offset = offset + 1
-            data = data[valid_offset:]
+        messages, data = lire_message(ser, data)
+        for message in messages:
+            print(message)
+        
             
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