From 0a7f042e42bf82a2f618683ac36b8319f342db3c Mon Sep 17 00:00:00 2001
From: PF <pierre-francois.gimenez@laposte.net>
Date: Wed, 24 May 2017 03:56:05 +0200
Subject: [PATCH] La funny action est faite par le LL

---
 pc/src/config/ConfigInfo.java                       |  2 +-
 pc/src/pathfinding/chemin/CheminPathfinding.java    |  2 +-
 pc/src/robot/Robot.java                             | 13 -------------
 pc/src/serie/BufferOutgoingOrder.java               | 13 -------------
 pc/src/serie/SerialProtocol.java                    |  1 -
 pc/src/tests/lowlevel/JUnit_Robot.java              |  1 -
 pc/src/tests/lowlevel/JUnit_Serie.java              |  2 --
 .../threads/serie/ThreadSerialInputCoucheOrdre.java |  1 -
 8 files changed, 2 insertions(+), 33 deletions(-)

diff --git a/pc/src/config/ConfigInfo.java b/pc/src/config/ConfigInfo.java
index 55dce7cd..11b5ab66 100644
--- a/pc/src/config/ConfigInfo.java
+++ b/pc/src/config/ConfigInfo.java
@@ -131,7 +131,7 @@ public enum ConfigInfo
 	IMPRECISION_MAX_ORIENTATION(0.1), // quelle imprecision maximale sur l'angle
 										// du robot peut-on attendre (en
 										// radians)
-	TAILLE_BUFFER_RECALAGE(20), // combien de mesures sont nécessaires pour
+	TAILLE_BUFFER_RECALAGE(50), // combien de mesures sont nécessaires pour
 								// obtenir une correction de recalage
 	PEREMPTION_CORRECTION(100), // temps maximal entre deux mesures de
 								// correction au sein d'un même buffer (en ms)
diff --git a/pc/src/pathfinding/chemin/CheminPathfinding.java b/pc/src/pathfinding/chemin/CheminPathfinding.java
index 3b75abe3..61cee9f0 100644
--- a/pc/src/pathfinding/chemin/CheminPathfinding.java
+++ b/pc/src/pathfinding/chemin/CheminPathfinding.java
@@ -215,7 +215,7 @@ public synchronized boolean isArrived()
 	 * 
 	 * @return
 	 */
-	public boolean isEmpty()
+	public synchronized boolean isEmpty()
 	{
 		return empty;
 	}
diff --git a/pc/src/robot/Robot.java b/pc/src/robot/Robot.java
index f6ab7222..4211ad8d 100755
--- a/pc/src/robot/Robot.java
+++ b/pc/src/robot/Robot.java
@@ -199,19 +199,6 @@ public void rearmeAutreCote() throws InterruptedException, ActionneurException
 
 	public abstract Ticket traverseBascule() throws InterruptedException, ActionneurException;
 
-	public void funnyAction() throws InterruptedException
-	{
-		try
-		{
-			bloque("funnyAction");
-		}
-		catch(ActionneurException e)
-		{
-			log.critical(e);
-			// impossible
-		}
-	}
-
 	/**
 	 * On est sûr que le filet est vide
 	 */
diff --git a/pc/src/serie/BufferOutgoingOrder.java b/pc/src/serie/BufferOutgoingOrder.java
index 6340186c..45f06af5 100644
--- a/pc/src/serie/BufferOutgoingOrder.java
+++ b/pc/src/serie/BufferOutgoingOrder.java
@@ -232,19 +232,6 @@ public synchronized Ticket ouvreFilet()
 		return t;
 	}
 
-	/**
-	 * Active la funny action
-	 * 
-	 * @return
-	 */
-	public synchronized Ticket funnyAction()
-	{
-		Ticket t = new Ticket();
-		bufferBassePriorite.add(new Order(OutOrder.FUNNY_ACTION, t));
-		notify();
-		return t;
-	}
-
 	/**
 	 * Verrouille le filet
 	 */
diff --git a/pc/src/serie/SerialProtocol.java b/pc/src/serie/SerialProtocol.java
index be892e2b..e23ec39a 100644
--- a/pc/src/serie/SerialProtocol.java
+++ b/pc/src/serie/SerialProtocol.java
@@ -52,7 +52,6 @@ public enum OutOrder
 		REARM_LEFT_SIDE(0x44, Type.LONG),
 		EJECT_RIGHT_SIDE(0x45, Type.LONG),
 		REARM_RIGHT_SIDE(0x46, Type.LONG),
-		FUNNY_ACTION(0x47, Type.LONG),
 		LOCK_NET(0x48, Type.LONG),
 		SCAN(0x49, Type.LONG),
 		CLOSE_NET_FORCE(0x4A, Type.LONG),
diff --git a/pc/src/tests/lowlevel/JUnit_Robot.java b/pc/src/tests/lowlevel/JUnit_Robot.java
index ded2c328..e4910df2 100644
--- a/pc/src/tests/lowlevel/JUnit_Robot.java
+++ b/pc/src/tests/lowlevel/JUnit_Robot.java
@@ -177,7 +177,6 @@ public void test_actionneurs() throws Exception
 		robot.fermeFilet();
 		robot.verrouilleFilet();
 		robot.traverseBascule();
-		robot.funnyAction();
 	}
 
 	@Test
diff --git a/pc/src/tests/lowlevel/JUnit_Serie.java b/pc/src/tests/lowlevel/JUnit_Serie.java
index f0feda26..366f75f1 100644
--- a/pc/src/tests/lowlevel/JUnit_Serie.java
+++ b/pc/src/tests/lowlevel/JUnit_Serie.java
@@ -161,7 +161,5 @@ public void test_actionneurs() throws Exception
 		data.fermeFiletForce();
 		Thread.sleep(2000);
 		data.traverseBascule();
-		Thread.sleep(2000);
-		data.funnyAction();
 	}
 }
diff --git a/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java b/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java
index 7af964c0..ddb2005c 100644
--- a/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java
+++ b/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java
@@ -225,7 +225,6 @@ else if(paquet.origine == OutOrder.START_MATCH_CHRONO)
 					else
 					{
 						paquet.ticket.set(InOrder.MATCH_FINI);
-						robot.funnyAction();
 						// On arrête le thread principal
 						container.interruptWithCodeError(ErrorCode.END_OF_MATCH);
 					}