modelec/TCPSocketServer
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change sleep

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This commit is contained in:
ackimixs
2024-04-15 20:37:29 +02:00
parent bbd80b9d38
commit 0744fad78c
2 changed files with 12 additions and 15 deletions
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25
TCPServer.cpp
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@@ -235,9 +235,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
}
else if (tokens[0] == "arduino" && tokens[2] == "set state") {
std::cout << message << std::endl;
this->canMove = TCPUtils::startWith(tokens[3], "0");
std::cout << this->canMove << std::endl;
this->isRobotMoving = TCPUtils::startWith(tokens[3], "0");
}
// std::cout << "Received: " << message << std::endl;
}
@@ -425,11 +423,10 @@ void TCPServer::startGame() {
return;
}
canMove = false;
isRobotMoving = true;
this->broadcastMessage("strat;arduino;go;500,500\n");
while (!this->canMove) {
usleep(200'000);
std::cout << this->canMove << std::endl;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
@@ -483,9 +480,9 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double thetaPrime = std::atan2(yPrime, xPrime);
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>((this->robotPose.theta + rotate + thetaPrime) * 100)) + "\n";
canMove = false;
isRobotMoving = true;
this->broadcastMessage(toSend);
while (!this->canMove) {
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
@@ -501,9 +498,9 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double pos30PercentY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(pos30PercentX)) + "," + std::to_string(static_cast<int>(pos30PercentY)) + "\n";
canMove = false;
isRobotMoving = true;
this->broadcastMessage(toSend);
while (!this->canMove) {
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
@@ -521,10 +518,10 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double robotPosForPotY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(robotPosForPotX)) + "," + std::to_string(static_cast<int>(robotPosForPotY)) + "\n";
canMove = false;
isRobotMoving = false;
this->broadcastMessage(toSend);
while (!this->canMove) {
usleep(200'000);
while (!this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(200'000);

2
TCPServer.h
View File

@@ -51,7 +51,7 @@ private:
std::vector<ClientTCP> clients; // Store connected clients
PinceState pinceState[3] = {NONE, NONE, NONE};
bool canMove = false;
bool isRobotMoving = false;
struct Position {
struct {