code de la carte IHM avant les bugs et avant le travail effectué avec Melchior

Dependencies:   mbed SerialHalfDuplex SDFileSystem liaison_Bluetooth ident_crac DISCO-F469NI_portrait

Revision:
14:6aa8aa1699ad
Parent:
11:848ea39838bf
Child:
15:5ece9c3ba389
diff -r 848ea39838bf -r 6aa8aa1699ad Strategie/Strategie.cpp
--- a/Strategie/Strategie.cpp	Wed Mar 04 12:38:22 2020 +0000
+++ b/Strategie/Strategie.cpp	Wed Mar 11 14:21:02 2020 +0000
@@ -3,8 +3,6 @@
 #include <sstream>
 #include <math.h>
 #include <vector>
-//#include "StrategieManager.h"
-
 
 
 #define M_PI 3.14159265358979323846
@@ -72,7 +70,12 @@
 short SCORE_GLOBAL=0;
 short SCORE_GR=0;
 short SCORE_PR=0;
+unsigned short distance_recalage;
+unsigned short distance_revenir;
 
+unsigned short x;
+unsigned short y;
+unsigned char isStopEnable = 1;//Permet de savoir si il faut autoriser le stop via les balises
 int flag = 0, flag_strat = 0, flag_timer;
 int flagReceptionTelemetres = 0, flagNonRepriseErrorMot = 0;
 char Ack_strat = 0;
@@ -118,7 +121,7 @@
 float cptf;
 int cpt,cpt1;
 
-typedef enum {INIT, ATT, CHOIX, DEMO, TEST_TELEMETRE, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, TEST_ELECTROV, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
+typedef enum {INIT, ATT, CHOIX, DEMO, TEST_MOTEUR, TEST_COULEUR, TEST_SERVO_BRAS, TEST_VENTOUSE, TEST_ELECTROV,TEST_AUD, SELECT_SIDE, TACTIQUE, DETAILS,LECTURE, LAUNCH, AFF_WAIT_JACK, WAIT_JACK, COMPTEUR, FIN} T_etat;
 T_etat etat = INIT;
 E_stratGameEtat     gameEtat  = ETAT_CHECK_CARTES;
 E_stratGameEtat     memGameEtat= gameEtat;
@@ -135,11 +138,11 @@
 Button DEMONSTRATION (0, 400, 400, 320, "Demo");
 //menu demo
 Button TEST_VENT(0, 25, 400, 100, "Test ventouses");
-Button TEST_TELE(0, 135, 400, 100, "Test telemetre");
+Button TEST_MOT(0, 135, 400, 100, "Test moteur");
 Button TEST_COUL(0,245,400,100,"Test capteurs couleur");
 Button TEST_BRAS(0,355,400,100,"Test Bras");
 Button TEST_AUDIO(0,465,400,100,"Test Audio");
-Button TEST_ELECTRV(0,575,400,100,"Test Electro Vannes");
+Button TEST_ELECTRV(0,575,400,100,"Test Divers");
 //menu demo/demo/
 Button TEST_A(0,25,195,100,"A");
 Button TEST_B(205,25,195,100,"B");
@@ -163,7 +166,7 @@
 void print_segment(int nombre, int decalage);
 void affichage_compteur (int nombre);
 void effacer_segment(long couleur);
-
+unsigned char doAction(unsigned char id, unsigned short arg1, short arg2);
 unsigned short telemetreDistance=0;
 unsigned short telemetreDistance_avant_gauche=0;
 unsigned short telemetreDistance_avant_droite=0;
@@ -210,7 +213,7 @@
 {
     if(gameEtat == ETAT_GAME_WAIT_FOR_JACK) {
         gameEtat = ETAT_GAME_START;//On débute le match
-        //etat=COMPTEUR;
+        etat=COMPTEUR;
         blocage_balise=1;
     }
 }
@@ -404,19 +407,20 @@
             lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"DEMO", LEFT_MODE);
             RETOUR.Draw(0xFFFF0000, 0);
             TEST_VENT.Draw(VERT, 0);
-            TEST_TELE.Draw(VERT, 0);
+            TEST_MOT.Draw(VERT, 0);
             TEST_COUL.Draw(VERT, 0);
             TEST_BRAS.Draw(VERT, 0);
             TEST_AUDIO.Draw(VERT, 0);
             TEST_ELECTRV.Draw(VERT, 0);
+            maximilien=0;
             while (etat == DEMO) {
                 canProcessRx();
                 if(TEST_VENT.Touched()) {
                     while(TEST_VENT.Touched());
                     etat = TEST_VENTOUSE;
-                } else if(TEST_TELE.Touched()) {
-                    while(TEST_TELE.Touched());
-                    etat = TEST_TELEMETRE;
+                } else if(TEST_MOT.Touched()) {
+                    while(TEST_MOT.Touched());
+                    etat = TEST_MOTEUR;
                 } else if(TEST_ELECTRV.Touched()) {
                     while(TEST_ELECTRV.Touched());
                     etat = TEST_ELECTROV;
@@ -428,8 +432,7 @@
                     etat =TEST_SERVO_BRAS ;
                 } else if(TEST_AUDIO.Touched()) {
                     while(TEST_AUDIO.Touched());
-                    TEST_AUDIO.Draw(VERT, 0);
-                    Debug_Audio(3,2);
+                    etat=TEST_AUD;
                 } else if(RETOUR.Touched()) {
                     while(RETOUR.Touched());
                     etat = CHOIX;
@@ -457,29 +460,29 @@
                     etat=DEMO;
                 } else if(TEST_A.Touched()) {
                     while (TEST_A.Touched());
-                    SendRawId(TEST_VENT_A);
+                    //SendRawId(TEST_VENT_A);
                     TEST_A.Draw(BLEU, BLANC);
                 }  else if(TEST_NUM.Touched()) {
                     while (TEST_NUM.Touched());
                     TEST_NUM.Draw(BLEU, BLANC);
                     switch(maximilien){
                     case 1:
-                    SendRawId(TEST_VENT_1);
+                    //SendRawId(TEST_VENT_1);
                     break;
                     case 2:
-                    SendRawId(TEST_VENT_2);
+                    //SendRawId(TEST_VENT_2);
                     break;
                     case 3:
-                    SendRawId(TEST_VENT_3);
+                    //SendRawId(TEST_VENT_3);
                     break;
                     case 4:
-                    SendRawId(TEST_VENT_4);
+                    //SendRawId(TEST_VENT_4);
                     break;
                     case 5:
-                    SendRawId(TEST_VENT_5);
+                    //SendRawId(TEST_VENT_5);
                     break;
                     case 6:
-                    SendRawId(TEST_VENT_6);
+                    //SendRawId(TEST_VENT_6);
                     break;
                     }
                 } else if(TEST_PLUS.Touched()) {
@@ -507,49 +510,51 @@
             lcd.SetTextColor(LCD_COLOR_BLACK);
             lcd.Clear (LCD_COLOR_WHITE);   
             lcd.Clear (LCD_COLOR_WHITE);
-            lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Electro Vannes", LEFT_MODE);
-            sprintf(toto,"%hd",maximilien);
-            lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+            lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"A : Manches B : Pavillon", LEFT_MODE);
             RETOUR.Draw(0xFFFF0000,0);
             TEST_A.Draw(BLEU, BLANC);
-            TEST_NUM.Draw(BLEU, BLANC);
-            TEST_PLUS.Draw(BLEU, BLANC);
-            TEST_MOINS.Draw(BLEU, BLANC);
+            TEST_B.Draw(BLEU, BLANC);
             while(etat==TEST_ELECTROV) {
                 if(RETOUR.Touched()) {
                     while (RETOUR.Touched());
                     etat=DEMO;
                 } else if(TEST_A.Touched()) {
                     while (TEST_A.Touched());
-                    SendRawId(TEST_ELECTROV_A);
+                    //SendRawId(TEST_ELECTROV_A);
                     TEST_A.Draw(BLEU, BLANC);
+                }  else if(TEST_B.Touched()) {
+                    while (TEST_B.Touched());
+                    //SendRawId(TEST_ELECTROV_A);
+                    TEST_B.Draw(BLEU, BLANC);
+                }  
+            }
+            break;
+            
+        case TEST_AUD:  
+              
+            lcd.SetBackColor(LCD_COLOR_WHITE);
+            lcd.SetTextColor(LCD_COLOR_BLACK);
+            lcd.Clear (LCD_COLOR_WHITE);   
+            lcd.Clear (LCD_COLOR_WHITE);
+            lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Audio", LEFT_MODE);
+            sprintf(toto,"%hd",maximilien);
+            lcd.DisplayStringAt(50, LINE(20), (unsigned char *)toto, LEFT_MODE);
+            RETOUR.Draw(0xFFFF0000,0);
+            TEST_NUM.Draw(BLEU, BLANC);
+            TEST_PLUS.Draw(BLEU, BLANC);
+            TEST_MOINS.Draw(BLEU, BLANC);
+            while(etat==TEST_AUD) {
+                if(RETOUR.Touched()) {
+                    while (RETOUR.Touched());
+                    etat=DEMO;
                 }  else if(TEST_NUM.Touched()) {
                     while (TEST_NUM.Touched());
                     TEST_NUM.Draw(BLEU, BLANC);
-                    switch(maximilien){
-                    case 1:
-                    SendRawId(TEST_ELECTROV_1);
-                    break;
-                    case 2:
-                    SendRawId(TEST_ELECTROV_2);
-                    break;
-                    case 3:
-                    SendRawId(TEST_ELECTROV_3);
-                    break;
-                    case 4:
-                    SendRawId(TEST_ELECTROV_4);
-                    break;
-                    case 5:
-                    SendRawId(TEST_ELECTROV_5);
-                    break;
-                    case 6:
-                    SendRawId(TEST_ELECTROV_6);
-                    break;
-                    }
+                    Debug_Audio(3,maximilien);
                 } else if(TEST_PLUS.Touched()) {
                     while (TEST_PLUS.Touched());
                     TEST_PLUS.Draw(BLEU, BLANC);
-                    if(maximilien!=6)maximilien++;
+                    if(maximilien!=10)maximilien++;
                     sprintf(toto,"%hd",maximilien);
                     lcd.SetBackColor(LCD_COLOR_WHITE);
                     lcd.SetTextColor(LCD_COLOR_BLACK);
@@ -565,7 +570,7 @@
                 }
             }
             break;
-        
+            
         case TEST_SERVO_BRAS:  
               
             lcd.SetBackColor(LCD_COLOR_WHITE);
@@ -659,21 +664,28 @@
             }
             break;
 
-        case TEST_TELEMETRE:    //AFFICHAGE DE LA VALEUR LUE PAR LES 4 TELEMETRES
-            ModeDemo=1;
+        case TEST_MOTEUR:
+            lcd.SetBackColor(LCD_COLOR_WHITE);
+            lcd.SetTextColor(LCD_COLOR_BLACK);
+            lcd.Clear (LCD_COLOR_WHITE);   
             lcd.Clear (LCD_COLOR_WHITE);
-            lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Telemetre", LEFT_MODE);
-            RETOUR.Draw(0xFFFF0000, 0);
-            while(etat==TEST_TELEMETRE) {
-                SendRawId(DATA_RECALAGE);
-                SendRawId(DATA_TELEMETRE_LOGIQUE);
-                wait_ms(100);
-                canProcessRx();
+            lcd.DisplayStringAt(0, LINE(0), (uint8_t *)"Test Moteur", LEFT_MODE);
+            RETOUR.Draw(0xFFFF0000,0);
+            TEST_A.Draw(BLEU, BLANC);
+            TEST_B.Draw(BLEU, BLANC);
+            while(etat==TEST_MOTEUR) {
                 if(RETOUR.Touched()) {
-                    while( RETOUR.Touched());
+                    while (RETOUR.Touched());
                     etat=DEMO;
-                    ModeDemo=0;
-                }
+                } else if(TEST_A.Touched()) {
+                    while (TEST_A.Touched());
+                    BendRadius(150,1800,1,0);
+                    TEST_A.Draw(BLEU, BLANC);
+                } else if(TEST_B.Touched()) {
+                    while (TEST_B.Touched());
+                    BendRadius(150,1800,0,0);
+                    TEST_B.Draw(BLEU, BLANC);
+                } 
             }
             break;      ///////////////////////////////////////////FIN DES DEMOS/////////////////////////////////////////////////
 
@@ -964,7 +976,7 @@
 
             gameEtat = ETAT_GAME_WAIT_FOR_JACK;
             Debug_Audio(3,7);
-            if (etat == TEST_TELEMETRE|| etat ==TEST_VENTOUSE || etat == TEST_COULEUR || etat ==TEST_SERVO_BRAS) {
+            if (etat == TEST_MOTEUR|| etat ==TEST_VENTOUSE || etat == TEST_COULEUR || etat ==TEST_SERVO_BRAS) {
                 SendRawId(DEBUG_FAKE_JAKE);
             } else {
                 etat = AFF_WAIT_JACK;
@@ -1485,7 +1497,7 @@
                     int tempo = 0;
                     waitingAckID= ACK_ACTION;       //On veut un ack de type action
                     waitingAckFrom = ACKNOWLEDGE_HERKULEX; //de la part des herkulex
-                    //tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
+                    tempo = doAction(instruction.arg1,instruction.arg2,instruction.arg3);
                     //  unsigned char test=(unsigned char) tempo;
                     // SendMsgCan(0x5BD, &test,1);
                     if(tempo == 1) {
@@ -1948,8 +1960,6 @@
                 }
 
                 break;
-                case SOMO:
-                break;
                 default:
                 break;
                 /*
@@ -2435,3 +2445,339 @@
     return (nombresDeMesuresAuxTelemetresQuiSontCoherentes)? moyennageTelemetre : y_robot ; // SetOdometrie(ODOMETRIE_SMALL_POSITION, x_robot, moyennageTelemetre, theta_robot);
 }
 
+/*************************************************************************************************/
+/* FUNCTION NAME: doAction                                                                       */
+/* DESCRIPTION  : Effectuer une action specifique correspondant au numéro dans le fichier strat  */
+/*************************************************************************************************/
+
+unsigned char doAction(unsigned char id, unsigned short arg1, short arg2)
+{
+    int retour = 1;
+    CANMessage msgTx=CANMessage();
+    msgTx.format=CANStandard;
+    msgTx.type=CANData;
+    switch(id) 
+    {
+        case 101: //bras avant droit
+            SendRawId(TEST_BRAS_1_AT);
+            break;
+        case 102: //bras avant millieu
+            SendRawId(TEST_BRAS_2_AT);
+            break;
+        case 103: //attraper presentoir arriere
+            //SendRawId(PRESENTOIR_ARRIERE);
+            break;
+        case 104: //balance avant
+            //SendRawId(BALANCE_AVANT);
+            break;
+        case 105: //balance arriere
+            //SendRawId(BALANCE_ARRIERE);
+            break;
+        case 106: //accelerateur avant
+            //SendRawId(ACCELERATEUR_AVANT);
+            //distance_recalage=arg1;
+            //distance_revenir=arg2;
+            //Send2Short(ACCELERATEUR_AVANT, distance_recalage,distance_revenir);
+            break;
+        case 107: //accelerateur arriere
+            //distance_recalage=arg1;
+            //distance_revenir=arg2;
+            //Send2Short(ACCELERATEUR_ARRIERE, distance_recalage,distance_revenir);
+            break;
+        case 108: //goldenium avant
+            //SendRawId(GOLDENIUM_AVANT);
+            x = arg1;
+            if(InversStrat == 1) {
+                y = 3000 - arg2;
+            } else {
+                y = arg2;
+            }
+            //Send2Short(GOLDENIUM_AVANT, x, y);
+            break;
+        case 109: //goldenium arriere
+            x=arg1;
+            y=arg2;
+            //Send2Short(GOLDENIUM_ARRIERE, x,y);
+            break;
+        case 110: //sol avant
+            //SendRawId(SOL_AVANT);
+        case 130: //sol avant
+            SendRawId(TEST_BRAS_1_RE);
+            break;
+        case 131: //sol avant
+            SendRawId(TEST_BRAS_2_RE);
+            break;
+        case 132: //sol avant
+            SendRawId(TEST_BRAS_3_RE);
+            break;
+        case 133: //sol avant
+            SendRawId(TEST_BRAS_4_RE);
+            break;
+        case 134: //sol avant
+            SendRawId(TEST_BRAS_5_RE);
+            break;
+        case 135: //sol avant
+            SendRawId(TEST_BRAS_6_RE);
+            break;
+        case 111: //sol arriere
+           // SendRawId(SOL_ARRIERE);
+            break;
+        case 112: //sol avant relache
+            //SendRawId(SOL_AVANT_RELACHE);
+            break;
+        case 113: //sol arriere relache
+            //SendRawId(SOL_ARRIERE_RELACHE);
+            break;
+        case 114://relache les 3 ventouses avants
+           // SendRawId(AVANT_RELACHE);
+            break;
+
+        case 115://bras avant gauche attraper
+            SendRawId(TEST_BRAS_3_AT);
+            break;
+            
+        case 116://bras arreiere droit
+            SendRawId(TEST_BRAS_6_AT);
+            break;
+       /* case 116://relache une pompe
+            unsigned char arg_tempo;
+            if(InversStrat == 1) {
+                switch(arg1) {
+                    case AV_DROIT:
+                        arg_tempo = AV_GAUCHE;
+                        break;
+                    case AV_GAUCHE:
+                        arg_tempo = AV_DROIT;
+                        break;
+                    case AR_DROIT:
+                        arg_tempo = AR_GAUCHE;
+                        break;
+                    case AR_GAUCHE:
+                        arg_tempo = AR_DROIT;
+                        break;
+                    default :
+                        arg_tempo =(unsigned char)arg1;
+                        break;
+                }
+
+            } else arg_tempo =(unsigned char)arg1;
+            SendMsgCan(HACHEUR_RELEASE_ATOM, &arg_tempo,1);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;*/
+        case 117://bras arriere millieu
+            SendRawId(TEST_BRAS_5_AT);
+            break;
+        case 118://bras arriere gauche
+            SendRawId(TEST_BRAS_4_AT);
+            break;
+        case 119:
+            //SendRawId(VENTOUSE_AR_CENTRE_BALANCE);
+            break;
+        case 120:
+            //SendRawId(ACCELERATEUR_INSERTION_AVANT_GAUCHE);
+            break;
+
+        case 121:
+            //SendRawId(ACCELERATEUR_INSERTION_ARRIERE_GAUCHE);
+            break;
+
+        case 150:
+            SCORE_PR+=arg1;
+            liaison_Tx.envoyer_short(0x30,SCORE_PR);
+            waitingAckFrom = 0;
+            waitingAckID = 0;
+            break;
+
+
+        case 200 :
+            SendRawId(DATA_TELEMETRE);
+            /*telemetreDistance = dataTelemetre();
+            wait_ms(1);
+            telemetreDistance = dataTelemetre();
+            telemetreDistance = telemetreDistance - 170;*/
+            break;
+
+        case 201 :
+            SendRawId(0x99);//
+            retour = 2;
+            break;
+
+
+        case 11://0 Désactiver le stop,1 Activer le stop saut de strat,2 Activer le stop avec evitement
+            isStopEnable =(unsigned char) arg1;
+            // SendMsgCan(0x5BC, &isStopEnable,1);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+
+
+
+        case 20://Désactiver l'asservissement
+            setAsservissementEtat(0);
+            break;
+
+        case 21://Activer l'asservissement
+            setAsservissementEtat(1);
+            break;
+
+        case 22://Changer la vitesse du robot
+            SendSpeed(arg1);//,(unsigned short)arg2, (unsigned short)arg2);
+            wait_us(200);
+            waitingAckFrom = 0;
+            waitingAckID = 0;
+            break;
+        case 23:
+            SendAccel(arg1,(unsigned short)arg2);//,(unsigned short)arg2, (unsigned short)arg2);
+            wait_us(200);
+            waitingAckFrom = 0;
+            waitingAckID = 0;
+            break;
+
+
+        case 19: // CHANGER LA VITESSE + DECELERATION
+            //SendSpeedDecel(arg1,(unsigned short) arg2);
+            wait_us(200);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+
+        case 30://Action tempo
+            wait_ms(arg1);
+            waitingAckFrom = 0;
+            waitingAckID = 0;
+            break;
+        //pompe 1 à 6 ON
+        case 202 :
+            //SendRawId(TEST_VENT_1_ON);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 203 :
+            //SendRawId(TEST_VENT_2_ON);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 204 :
+            //SendRawId(TEST_VENT_3_ON);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 205 :
+           // SendRawId(TEST_VENT_4_ON);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 206 :
+           // SendRawId(TEST_VENT_5_ON);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 207 :
+           // SendRawId(TEST_VENT_6_ON);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 208 :
+           // SendRawId(TEST_VENT_1_OFF);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 209 :
+            //SendRawId(TEST_VENT_2_OFF);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 210 :
+           // SendRawId(TEST_VENT_3_OFF);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 211 :
+            //SendRawId(TEST_VENT_4_OFF);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 212 :
+           // SendRawId(TEST_VENT_5_OFF);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 213 :
+            //SendRawId(TEST_VENT_6_OFF);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+        case 214 :
+            SendRawId(BRAS_AT);
+            break;
+            
+        case 215://test bras competition ( à tester)
+            unsigned char arg_tempo;
+                switch(arg1) 
+                {
+                    case AV_DROIT:
+                        arg_tempo = 1;
+                        break;
+                    case AV_CENTRE:
+                        arg_tempo = 2;
+                        break;
+                    case AV_GAUCHE:
+                        arg_tempo = 3;
+                        break;
+                    case AR_DROIT:
+                        arg_tempo = 4;
+                        break;
+                    case AR_CENTRE:
+                        arg_tempo = 5;
+                        break;
+                    case AR_GAUCHE:
+                        arg_tempo = 6;
+                        break;
+                    default :
+                        arg_tempo =(unsigned char)arg1;
+                        break;
+                }
+            SendMsgCan(BRAS_AT, 0,arg_tempo);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+            
+        case 216://test bras competition ( à tester)
+            unsigned char arg_tempo1;
+                switch(arg1) 
+                {
+                    case AV_DROIT:
+                        arg_tempo1 = 1;
+                        break;
+                    case AV_CENTRE:
+                        arg_tempo1 = 2;
+                        break;
+                    case AV_GAUCHE:
+                        arg_tempo1 = 3;
+                        break;
+                    case AR_DROIT:
+                        arg_tempo1 = 4;
+                        break;
+                    case AR_CENTRE:
+                        arg_tempo1 = 5;
+                        break;
+                    case AR_GAUCHE:
+                        arg_tempo1 = 6;
+                        break;
+                    default :
+                        arg_tempo1 =(unsigned char)arg1;
+                        break;
+                }
+            //SendMsgCan(BRAS_RE, 0,arg_temp1);
+            waitingAckFrom = 0;
+            waitingAckID =0;
+            break;
+            
+        default:
+            retour = 0;//L'action n'existe pas, il faut utiliser le CAN
+
+    }
+    return retour;//L'action est spécifique.
+
+}