public void Start()
{
data_test = new Infos_Carte.Com_Reponse_Info();
data_test.Numero_Robot = Infos_Carte.Com_Position_Robot_Identification.Gros_Robot;
data_test.Numero_Carte = 1;
data_test.PositionRobot.Position_X = 2500;
data_test.PositionRobot.Position_Y = 10000;
data_test.PositionRobot.Angle = 12300;
data_test.Position_Servos = new Infos_Carte.Com_Position_Servos();
data_test.Position_Servos.Position = new ushort[Infos_Carte.NB_SERVO];
data_test.Position_Servos.Position[0] = 500;
data_test.Position_Servos.Position[1] = 600;
data_test.Position_Servos.Position[2] = 300;
data_test.Position_Servos.Position[3] = 800;
data_test.Position_Servos.Position[4] = 100;
data_test.Position_Servos.Position[5] = 50;
data_test.Position_AX12 = new Infos_Carte.Com_Position_AX12();
data_test.Position_AX12.Position = new ushort[Infos_Carte.NB_AX_12];
data_test.Position_AX12.Position[0] = 500;
data_test.Position_AX12.Position[1] = 250;
data_test.Position_AX12.Position[2] = 26;
data_test.Position_AX12.Position[3] = 128;
data_test.Position_AX12.Torque = new short[Infos_Carte.NB_AX_12];
data_test.Position_AX12.Torque[0] = 500;
data_test.Position_AX12.Torque[1] = 250;
data_test.Position_AX12.Torque[2] = 26;
data_test.Position_AX12.Torque[3] = 128;
data_test.Mesures_Analogiques = new Infos_Carte.Com_Mesures_Analogiques();
data_test.Mesures_Analogiques.Mesure = new ushort[Infos_Carte.NB_MES_ANA];
data_test.Mesures_Analogiques.Mesure[0] = 1023;
data_test.Mesures_Analogiques.Mesure[1] = 2046;
data_test.Mesures_Analogiques.Mesure[2] = 3069;
data_test.Mesures_Analogiques.Mesure[3] = 4092;
data_test.Tension_Batterie = 1524;
data_test.Etat_Alim = 0b11111111;
data_test.Etat_Contacteurs = 0b11111111;
Communication com = new Communication();
Communication.Communication_Message message = new Communication.Communication_Message();
message.Heure = DateTime.Now;
message.Trame.Instruction = Communication.Com_Instruction.REPONSE_INFO_Multi_FCT;
message.Trame.Data = com.COPYDATA(data_test);
//Communication_GO.GetComponent<Interprete_Message>().Decodage_and_Save_Message(message);
data_test.Numero_Robot = Infos_Carte.Com_Position_Robot_Identification.Petit_Robot;
data_test.Numero_Carte = 1;
data_test.PositionRobot.Position_X = 10000;
data_test.PositionRobot.Position_Y = 15000;
data_test.PositionRobot.Angle = 0;
message.Trame.Data = com.COPYDATA(data_test);
//this.StartCoroutine("test_logger_quantity");
//this.StartCoroutine(test_logger_saver());
Trame_Decoder[] encoder = Communication_GO.GetComponentsInChildren <Trame_Decoder>();
tasks.Add(Task.Factory.StartNew(async() =>
{
await Task.Delay(15000);
for (int i = 0; i < 4000; i++)
{
data_test.PositionRobot.Position_X++;
//data_test.PositionRobot.Position_Y--;
data_test.PositionRobot.Angle += 3;
message = new Communication.Communication_Message();
message.Heure = DateTime.Now;
message.Trame.Instruction = Communication.Com_Instruction.REPONSE_INFO_Multi_FCT;
message.Trame.Data = com.COPYDATA(data_test);
encoder[0].Push_Message_Out(message);
await Task.Delay(150);
}
}));
}
