modelec/TCPSocketServer
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ackimixs
2024-05-03 16:00:34 +02:00
parent 4e19bef4f3
commit 22a494f2ad
2 changed files with 16 additions and 17 deletions
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28
TCPServer.cpp
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@@ -287,7 +287,9 @@ 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, lidarSocket);
if (!awaitForLidar) {
this->setPosition(this->robotPose, lidarSocket);
}
}
} else if (tokens[2] == "test aruco") {
int pince = std::stoi(tokens[3]);
@@ -664,13 +666,13 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
switch (pince) {
case 0:
decalage = 85;
decalage = 75;
break;
case 1:
decalage = 0;
break;
case 2:
decalage = -85;
decalage = -75;
break;
default:
decalage = 0;
@@ -741,7 +743,7 @@ void TCPServer::awaitRobotIdle() {
}
}
void TCPServer::handleArucoTag(ArucoTag &tag) {
void TCPServer::handleArucoTag(const ArucoTag &tag) {
if (!TCPUtils::contains(tag.name(), "flower")) {
return;
}
@@ -766,8 +768,8 @@ void TCPServer::handleArucoTag(ArucoTag &tag) {
this->arucoTags.push_back(tag);
}
std::optional<ArucoTag> TCPServer::getBiggestArucoTag(float borneMinX, float borneMaxX, float borneMinY,
float borneMaxY) {
std::optional<ArucoTag> TCPServer::getBiggestArucoTag(const float borneMinX, const float borneMaxX, const float borneMinY,
const float borneMaxY) {
bool found = false;
ArucoTag biggestTag = ArucoTag();
for (const auto & tag : arucoTags) {
@@ -781,7 +783,7 @@ std::optional<ArucoTag> TCPServer::getBiggestArucoTag(float borneMinX, float bor
}
std::optional<ArucoTag> TCPServer::getMostCenteredArucoTag(float borneMinX, float borneMaxX, float borneMinY, float borneMaxY) {
std::optional<ArucoTag> TCPServer::getMostCenteredArucoTag(const float borneMinX, const float borneMaxX, const float borneMinY, const float borneMaxY) {
bool found = false;
ArucoTag mostCenteredTag = ArucoTag();
for (const auto & tag : arucoTags) {
@@ -827,7 +829,7 @@ void TCPServer::handleEmergency(int distance, double angle) {
this->gameThread.detach();
}
void TCPServer::startTestAruco(int pince) {
void TCPServer::startTestAruco(const int pince) {
this->arucoTags.clear();
std::optional<ArucoTag> tag = std::nullopt;
@@ -1000,7 +1002,7 @@ void TCPServer::dropPurpleFlowers() {
this->baisserBras();
for (auto & toDrop : pinceHavePurpleFlower) {
for (const auto & toDrop : pinceHavePurpleFlower) {
this->openPince(toDrop);
usleep(200'000);
@@ -1023,7 +1025,7 @@ void TCPServer::dropPurpleFlowers() {
this->setSpeed(200);
}
void TCPServer::dropWhiteFlowers(StratPattern sp) {
void TCPServer::dropWhiteFlowers(const StratPattern sp) {
std::vector<int> pinceHaveWhiteFlower;
pinceHaveWhiteFlower.reserve(3);
@@ -1138,7 +1140,7 @@ void TCPServer::dropWhiteFlowers(StratPattern sp) {
this->transportBras();
}
void TCPServer::goAndTurnSolarPanel(StratPattern sp) {
void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
int previousSpeed = this->speed;
this->setSpeed(200);
if (team == BLUE) {
@@ -1224,7 +1226,7 @@ void TCPServer::goAndTurnSolarPanel(StratPattern sp) {
this->setSpeed(previousSpeed);
}
void TCPServer::checkpoint(StratPattern sp) {
void TCPServer::checkpoint(const StratPattern sp) {
this->setSpeed(200);
if (team == BLUE) {
switch (sp) {
@@ -1276,7 +1278,7 @@ void TCPServer::getLidarPos() {
// ReSharper disable once CppDFAConstantConditions
// ReSharper disable once CppDFAEndlessLoop
while (awaitForLidar) {
usleep(200'000);
usleep(100'000);
}
// ReSharper disable once CppDFAUnreachableCode

5
TCPServer.h
View File

@@ -112,15 +112,12 @@ private:
TAKE_FLOWER_BOTTOM,
TAKE_FLOWER_BOTTOM,
CHECKPOINT_BOTTOM_TO_TOP,
// DROP_FLOWER,
DROP_PURPLE_FLOWER,
DROP_WHITE_FLOWER_J1,
// GET_LIDAR_POS,
TAKE_FLOWER_TOP,
TAKE_FLOWER_TOP,
TAKE_FLOWER_TOP,
// GET_LIDAR_POS,
// DROP_FLOWER,
DROP_PURPLE_FLOWER,
DROP_WHITE_FLOWER_J2,
// GET_LIDAR_POS,
@@ -186,7 +183,7 @@ public:
void awaitRobotIdle();
void handleArucoTag(ArucoTag &tag);
void handleArucoTag(const ArucoTag &tag);
std::optional<ArucoTag> getBiggestArucoTag(float borneMinX, float borneMaxX, float borneMinY, float borneMaxY);