modelec/TCPSocketServer
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stopEmergency

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This commit is contained in:
ackimixs
2024-05-09 03:19:11 +02:00
parent 0db17c2731
commit 16474282f8
1 changed files with 1 additions and 20 deletions
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21
TCPServer.cpp
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@@ -450,8 +450,6 @@ void TCPServer::startGame() {
gameStarted = true;
for (int i = whereAmI; i < stratPatterns.size(); i++) {
if (stopEmergency) return;
auto time = std::chrono::system_clock::now();
if (time - gameStart > std::chrono::seconds(82)) {
this->goEnd();
@@ -801,7 +799,6 @@ void TCPServer::awaitRobotIdle() {
while (isRobotIdle < 2) {
usleep(50'000);
this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
timeout++;
if (stopEmergency) {
while (stopEmergency) {
stopEmergency = false;
@@ -810,6 +807,7 @@ void TCPServer::awaitRobotIdle() {
this->broadcastMessage(lastArduinoCommand);
awaitRobotIdle();
}
timeout++;
if (timeout > 80) {
this->broadcastMessage("strat;arduino;clear;1");
break;
@@ -1361,8 +1359,6 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
}
}
if (stopEmergency) return;
this->setMaxSpeed();
this->go(whiteDropSetup);
@@ -1389,8 +1385,6 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
this->sendPoint(3+1);
}
if (stopEmergency) return;
usleep(500'000);
this->closePince(0);
@@ -1404,8 +1398,6 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
this->sendPoint(3+1);
}
if (stopEmergency) return;
usleep(500'000);
this->openPince(0);
@@ -1458,8 +1450,6 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
return;
}
if (stopEmergency) return;
this->setMaxSpeed();
this->go(dropPosition);
@@ -1474,8 +1464,6 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->baisserBras();
if (stopEmergency) return;
for (int i = 0; i < 3; i++) {
this->openPince(i);
}
@@ -1498,8 +1486,6 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->closePince(i);
}
if (stopEmergency) return;
if (!detectedPurple) {
this->sendPoint(3);
}
@@ -1557,8 +1543,6 @@ void TCPServer::go3Plants(const StratPattern sp) {
return;
}
if (stopEmergency) return;
this->setMaxSpeed();
this->transit(plantPosition[0]-(600*direction), plantPosition[1], 170);
@@ -1582,7 +1566,6 @@ void TCPServer::go3Plants(const StratPattern sp) {
for (int i = 0; i < 5; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(110'000);
if (stopEmergency) return;
}
std::vector<PinceState> pinceCanTakeFLower = getNotFallenFlowers();
@@ -1601,8 +1584,6 @@ void TCPServer::go3Plants(const StratPattern sp) {
usleep(500'000);
if (stopEmergency) return;
for (int i = 0; i < 3; i++) {
this->closePince(i);
pinceState[i] = pinceCanTakeFLower[i];