From 7e3b0e7a9db886ae0c6a5173cd30ed48ec5a5849 Mon Sep 17 00:00:00 2001
From: Ulysse Cura <ulysse.cura@gmail.com>
Date: Fri, 23 May 2025 21:22:55 +0200
Subject: [PATCH] Making vscode config files compatible for compiling UDP

---
 .../.vscode/c_cpp_properties.json             |  4 ++-
 main controller code/.vscode/settings.json    |  7 +++-
 main controller code/.vscode/tasks.json       |  4 +--
 main controller code/CMakeLists.txt           | 34 +++++++++++++------
 4 files changed, 35 insertions(+), 14 deletions(-)

diff --git a/main controller code/.vscode/c_cpp_properties.json b/main controller code/.vscode/c_cpp_properties.json
index 1a9e4a1..8c3afb1 100644
--- a/main controller code/.vscode/c_cpp_properties.json	
+++ b/main controller code/.vscode/c_cpp_properties.json	
@@ -2,7 +2,9 @@
     "env": {
         "myDefaultIncludePath": [
             "${env:PICO_SDK_PATH}/src/**/include/",
-            "${workspaceFolder}/build/generated/pico_base/"
+            "${env:PICO_SDK_PATH}/lib/**/include/",
+            "${workspaceFolder}/build/generated/pico_base/",
+            "${workspaceFolder}/src/include/"
         ],
         "myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
     },
diff --git a/main controller code/.vscode/settings.json b/main controller code/.vscode/settings.json
index 8c27341..a0b6592 100644
--- a/main controller code/.vscode/settings.json	
+++ b/main controller code/.vscode/settings.json	
@@ -7,6 +7,11 @@
         "stdint.h": "c",
         "gyro.h": "c",
         "motors.h": "c",
-        "motion_control.h": "c"
+        "motion_control.h": "c",
+        "i2c_master.h": "c",
+        "udp_client.h": "c",
+        "udp_payload.h": "c",
+        "udp.h": "c",
+        "opt.h": "c"
     }
 }
\ No newline at end of file
diff --git a/main controller code/.vscode/tasks.json b/main controller code/.vscode/tasks.json
index c98bf9b..1255bf5 100644
--- a/main controller code/.vscode/tasks.json	
+++ b/main controller code/.vscode/tasks.json	
@@ -2,7 +2,7 @@
     "tasks": [
         {
             "type": "shell",
-            "command": "cd build; cmake ../; make",
+            "command": "cd build; cmake -DPICO_BOARD=pico_w ..; make",
             "label": "CMake in build/",
             "problemMatcher": [],
             "group": {
@@ -12,7 +12,7 @@
         },
         {
             "type": "shell",
-            "command": "cd build; cmake ../; make Flash",
+            "command": "cd build; cmake -DPICO_BOARD=pico_w ..; make Flash",
             "label": "CMake & Make & Flash",
             "problemMatcher": [],
             "group": {
diff --git a/main controller code/CMakeLists.txt b/main controller code/CMakeLists.txt
index bcce13b..239a777 100644
--- a/main controller code/CMakeLists.txt	
+++ b/main controller code/CMakeLists.txt	
@@ -2,38 +2,52 @@ cmake_minimum_required(VERSION 3.13)
 
 include(pico_sdk_import.cmake)
 
-project(motion_controller C CXX ASM)
-set(CMAKE_C_STNDARD 11)
+project(main_controller C CXX ASM)
+set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 17)
 
 set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
 
+# Définir explicitement la carte comme Pico W
+set(PICO_BOARD pico_w)
+if(NOT DEFINED PICO_BOARD)
+    add_definitions(-DPICO_BOARD=${PICO_BOARD})
+endif()
+
 pico_sdk_init()
 
-add_executable(motion_controller
+add_executable(main_controller
   src/main.c
   src/robot.c
   src/motors.c
   src/gyro.c
   src/motion_control.c
   src/i2c_master.c
+#  src/udp_fake_client.c
   src/udp_client.c
-  src/udp_buffer.c
+  src/udp_payload.c
+  src/wifi_operator.c
 )
 
-target_link_libraries(motion_controller
+target_include_directories(main_controller PRIVATE
+    ${CMAKE_CURRENT_LIST_DIR}/src
+    ${CMAKE_CURRENT_LIST_DIR}/src/include
+)
+
+target_link_libraries(main_controller
   hardware_i2c
   hardware_pwm
   hardware_uart
   pico_stdlib
+  pico_cyw43_arch_lwip_poll
 )
 
-pico_enable_stdio_usb(motion_controller 1)
-pico_enable_stdio_uart(motion_controller 1)
+pico_enable_stdio_usb(main_controller 1)
+pico_enable_stdio_uart(main_controller 1)
 
-pico_add_extra_outputs(motion_controller)
+pico_add_extra_outputs(main_controller)
 
 add_custom_target(Flash
-    DEPENDS motion_controller
-    COMMAND sudo picotool load -f ${PROJECT_BINARY_DIR}/motion_controller.uf2
+    DEPENDS main_controller
+    COMMAND sudo picotool load -f ${PROJECT_BINARY_DIR}/main_controller.uf2
 )