modelec/TCPSocketServer
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ackimixs
2024-04-11 18:17:28 +02:00
parent 9c341ce19b
commit 144cfde414
2 changed files with 17 additions and 17 deletions
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32
TCPServer.cpp
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@@ -17,7 +17,7 @@ void ClientHandler::handle() {
//std::cout << "Received: " << buffer << std::endl;
if (buffer == "quit") {
std::cout << "Client requested to quit. Closing connection." << std::endl;
std::cerr << "Client requested to quit. Closing connection." << std::endl;
break;
}
processMessage(buffer);
@@ -281,7 +281,7 @@ void TCPServer::startGame() {
waitForAruco = true;
this->broadcastMessage("strat;aruco;get aruco;1\n");
std::cout << "Ask for aruco" << std::endl;
// std::cout << "Ask for aruco" << std::endl;
while (this->waitForAruco) {
usleep(100'000);
@@ -293,18 +293,18 @@ void TCPServer::startGame() {
// TODO maybe rotate the robot but handle that here
}
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
std::cout << "Aruco found" << std::endl;
// std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
// std::cout << "Aruco found" << std::endl;
goToAruco(this->arucoTags[0], 1);
std::cout << "I'm on aruco" << std::endl;
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
// std::cout << "I'm on aruco" << std::endl;
// std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
// pi/4
this->broadcastMessage("strat;arduino;angle;0\n");
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
// std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
usleep(2'000'000);
std::cout << "An other aruco" << std::endl;
// std::cout << "An other aruco" << std::endl;
waitForAruco = true;
this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -316,22 +316,22 @@ void TCPServer::startGame() {
return;
}
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
std::cout << "Aruco found" << std::endl;
// std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
// std::cout << "Aruco found" << std::endl;
goToAruco(this->arucoTags[0], 2);
std::cout << "I'm on aruco" << std::endl;
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
// std::cout << "I'm on aruco" << std::endl;
// std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
this->broadcastMessage("strat;arduino;rotate;-78\n");
usleep(1'000'000);
this->broadcastMessage("strat;arduino;go;500,500\n");
usleep(6'000'000);
std::cout << "I'm on spawn point" << std::endl;
// std::cout << "I'm on spawn point" << std::endl;
// -pi/2
this->broadcastMessage("strat;arduino;angle;-157");
this->broadcastMessage("strat;servo_moteur;baisser bras;1");
this->broadcastMessage("strat;servo_moteur;clear;1");
std::cout << "End of game" << std::endl;
// std::cout << "End of game" << std::endl;
}
void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
@@ -372,7 +372,7 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
xPrime -= x5Percent;
yPrime -= decalage5Percent;
std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
// std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
double posV200X = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double posV200Y = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
@@ -422,6 +422,6 @@ void TCPServer::sendToClient(std::string &message, int clientSocket) {
this->sendToClient(message.c_str(), clientSocket);
}
bool TCPServer::shouldStop() {
bool TCPServer::shouldStop() const {
return _shouldStop;
}

2
TCPServer.h
View File

@@ -89,7 +89,7 @@ public:
void askArduinoPos();
bool shouldStop();
bool shouldStop() const;
~TCPServer();
};