modelec/TCPSocketServer
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use a global thread for the game

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This commit is contained in:
ackimixs
2024-04-26 22:42:40 +02:00
parent 0ff3ca63c4
commit 0769d4b668
2 changed files with 35 additions and 22 deletions
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49
TCPServer.cpp
View File

@@ -129,12 +129,13 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (!gameStarted) return;
this->stopEmergency = true;
this->gameThread.~thread();
this->broadcastMessage("strat;arduino;clear;1");
std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
if (!handleEmergencyFlag) {
std::thread([this, args]() { this->handleEmergency(std::stoi(args[0]), std::stod(args[1])); }).detach();
std::thread([this, args]() { this->handleEmergency(std::stoi(args[0]), std::stod(args[1]) / 100); }).detach();
}
}
@@ -225,16 +226,19 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
{
this->broadcastMessage(message.c_str(), clientSocket);
this->gameStarted = true;
switch (this->team) {
case BLUE:
case YELLOW:
this->gameStarted = true;
std::thread([this]() { this->startGame(); }).detach();
this->gameThread = std::thread([this]() { this->startGame(); });
break;
case TEST:
std::thread([this]() { this->startGameTest(); }).detach();
this->gameThread = std::thread([this]() { this->startGameTest(); });
break;
}
this->gameThread.detach();
}
else if (tokens[0] == "aruco" && tokens[2] == "get aruco") {
std::string arucoResponse = tokens[3];
@@ -266,6 +270,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
} else if (tokens[2] == "set pos") {
std::vector<std::string> pos = TCPUtils::split(tokens[3], ",");
this->robotPose = {std::stof(pos[0]), std::stof(pos[1]), std::stof(pos[2]) / 100};
this->setPosition(this->robotPose, "lidar");
}
} else if (tokens[2] == "get speed") {
this->sendToClient("strat;" + tokens[0] + ";set speed;" + std::to_string(this->speed) + "\n", clientSocket);
@@ -279,8 +284,6 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
void TCPServer::broadcastMessage(const char* message, int senderSocket)
{
if (stopEmergency) std::terminate();
for (int clientSocket : clientSockets) {
if (clientSocket != senderSocket) { // Exclude the sender's socket
send(clientSocket, message, strlen(message), 0);
@@ -339,6 +342,8 @@ void TCPServer::stop() {
for (auto& thread : clientThreads) {
thread.join();
}
this->gameThread.join();
// Close the server socket
close(serverSocket);
}
@@ -377,7 +382,6 @@ void TCPServer::checkIfAllClientsReady()
void TCPServer::startGame() {
for (int i = whereAmI; i < stratPatterns.size(); i++) {
if (stopEmergency) std::terminate();
auto time = std::chrono::system_clock::now();
if (time - gameStart > std::chrono::seconds(85)) {
@@ -673,8 +677,6 @@ void TCPServer::awaitRobotIdle() {
// ReSharper disable once CppDFAEndlessLoop
usleep(200'000);
while (isRobotIdle < 3) {
if (stopEmergency) std::terminate();
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
timeout++;
@@ -728,11 +730,18 @@ void TCPServer::handleEmergency(int distance, double angle) {
usleep(500'000);
if (this->stopEmergency) {
// TODO here go back by twenty centimeter
usleep(200'000);
}
this->handleEmergencyFlag = false;
this->startGame();
this->gameThread.~thread();
this->gameStarted = false;
this->gameThread = std::thread([this]() { this->startGame(); });
this->gameThread.detach();
}
void TCPServer::startTestAruco(int pince) {
@@ -751,8 +760,6 @@ void TCPServer::startTestAruco(int pince) {
}
void TCPServer::goEnd() {
if (stopEmergency) std::terminate();
std::vector<std::array<int, 2>> checkponts;
if (this->robotPose.pos.y > 1000) {
if (team == BLUE) {
@@ -816,8 +823,6 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
for (int i = 0; i < 5; i++) {
if (stopEmergency) std::terminate();
usleep(200'000);
this->broadcastMessage("strat;aruco;get aruco;1\n");
}
@@ -1090,23 +1095,23 @@ void TCPServer::rotate(X angle) {
this->broadcastMessage("strat;arduino;angle" + std::to_string(static_cast<int>(angle * 100)) + "\n");
}
void TCPServer::setSpeed(int speed) {
void TCPServer::setSpeed(const int speed) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
this->speed = speed;
}
template<class X, class Y>
void TCPServer::transit(X x, Y y, int endSpeed) {
void TCPServer::transit(X x, Y y, const int endSpeed) {
this->broadcastMessage("strat;arduino;transit" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(endSpeed) + "\n");
}
template<class X>
void TCPServer::transit(std::array<X, 2> data, int endSpeed) {
void TCPServer::transit(std::array<X, 2> data, const int endSpeed) {
this->broadcastMessage("strat;arduino;transit" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(endSpeed) + "\n");
}
template<class X, class Y, class Z>
void TCPServer::setPosition(X x, Y y, Z theta, int clientSocket) {
void TCPServer::setPosition(X x, Y y, Z theta, const int clientSocket) {
if (clientSocket == -1) {
this->broadcastMessage("strat;all;set pos;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(static_cast<int>(theta * 100)) + "\n");
} else {
@@ -1115,7 +1120,7 @@ void TCPServer::setPosition(X x, Y y, Z theta, int clientSocket) {
}
template<class X>
void TCPServer::setPosition(std::array<X, 3> data, int clientSocket) {
void TCPServer::setPosition(std::array<X, 3> data, const int clientSocket) {
if (clientSocket == -1) {
this->broadcastMessage("strat;all;set pos;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(static_cast<int>(data[2] * 100)) + "\n");
} else {
@@ -1123,7 +1128,7 @@ void TCPServer::setPosition(std::array<X, 3> data, int clientSocket) {
}
}
void TCPServer::setPosition(Position pos, int clientSocket) {
void TCPServer::setPosition(const Position pos, const int clientSocket) {
if (clientSocket == -1) {
this->broadcastMessage("strat;all;set pos;" + std::to_string(static_cast<int>(pos.pos.x)) + "," + std::to_string(static_cast<int>(pos.pos.y)) + "," + std::to_string(static_cast<int>(pos.theta * 100)) + "\n");
} else {
@@ -1131,6 +1136,10 @@ void TCPServer::setPosition(Position pos, int clientSocket) {
}
}
void TCPServer::setPosition(const Position pos, const std::string &toSend) {
this->broadcastMessage("strat" + toSend + "set pos" + std::to_string(static_cast<int>(pos.pos.x)) + "," + std::to_string(static_cast<int>(pos.pos.y)) + "," + std::to_string(static_cast<int>(pos.theta * 100)) + "\n");
}
void TCPServer::baisserBras() {
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
}

8
TCPServer.h
View File

@@ -130,6 +130,8 @@ private:
bool awaitForLidar = false;
std::thread gameThread;
public:
explicit TCPServer(int port);
@@ -214,11 +216,13 @@ public:
template<class X, class Y, class Z>
void setPosition(X x, Y y, Z theta, int clientSocket = -1);
void setPosition(Position pos, int clientSocket = -1);
template<class X>
void setPosition(std::array<X, 3> data, int clientSocket = -1);
void setPosition(Position pos, int clientSocket = -1);
void setPosition(Position pos, const std::string &toSend);
void openPince(int pince);
void middlePince(int pince);