modelec/TCPSocketServer
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ackimixs
2024-05-08 15:13:38 +02:00
parent f6d80dd4fa
commit 32d959a513
1 changed files with 4 additions and 0 deletions
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4
TCPServer.cpp
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@@ -906,12 +906,15 @@ std::vector<PinceState> TCPServer::getNotFallenFlowers() const {
void TCPServer::handleEmergency(int distance, double angle) { void TCPServer::handleEmergency(int distance, double angle) {
this->handleEmergencyFlag = true; this->handleEmergencyFlag = true;
this->broadcastMessage("strat;arduino;clear;2\n");
// TODO handle here the emergency like wait for 2 second and then if emergency is again on, that means the robot of the other team do not move, if that go back otherwise continue // TODO handle here the emergency like wait for 2 second and then if emergency is again on, that means the robot of the other team do not move, if that go back otherwise continue
usleep(2'000'000); usleep(2'000'000);
// ReSharper disable once CppDFAConstantConditions // ReSharper disable once CppDFAConstantConditions
while (this->stopEmergency) { while (this->stopEmergency) {
// TODO here go back by twenty centimeter // TODO here go back by twenty centimeter
// ReSharper disable once CppDFAUnreachableCode // ReSharper disable once CppDFAUnreachableCode
this->broadcastMessage("strat;arduino;clear;3\n");
this->stopEmergency = false; this->stopEmergency = false;
usleep(500'000); usleep(500'000);
@@ -923,6 +926,7 @@ void TCPServer::handleEmergency(int distance, double angle) {
this->go(newX, newY); this->go(newX, newY);
awaitRobotIdle();*/ awaitRobotIdle();*/
} }
this->broadcastMessage("strat;arduino;clear;4\n");
try { try {
this->gameThread.~thread(); this->gameThread.~thread();