modelec/TCPSocketServer
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rafactoring

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This commit is contained in:
ackimixs
2024-05-04 22:06:00 +02:00
parent 820ea5ff96
commit 38f1f9b804
2 changed files with 79 additions and 51 deletions
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98
TCPServer.cpp
View File

@@ -125,7 +125,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (tokens[2] == "stop proximity") {
if (!gameStarted) return;
/* this->stopEmergency = true;
this->stopEmergency = true;
this->gameThread.~thread();
this->broadcastMessage("strat;arduino;clear;1");
@@ -135,19 +135,16 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (!handleEmergencyFlag) {
std::thread([this, args]() { this->handleEmergency(std::stoi(args[0]), std::stod(args[1]) / 100); }).detach();
}*/
}
}
else if (tokens[1] != "strat")
{
else if (tokens[1] != "strat") {
this->broadcastMessage(message, clientSocket);
}
// EMERGENCY
else if (tokens[0] == "tirette" && tokens[2] == "set state")
{
else if (tokens[0] == "tirette" && tokens[2] == "set state") {
this->broadcastMessage(message, clientSocket);
}
else if (tokens[2] == "ready")
{
else if (tokens[2] == "ready") {
for (ClientTCP& client : clients)
{
if (client.name == tokens[0])
@@ -178,7 +175,6 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
this->setPosition(this->lidarCalculatePos);
awaitForLidar = false;
}
else if (tokens[0] == "ihm") {
if (tokens[2] == "spawn") {
int spawnPointNb = std::stoi(tokens[3]);
@@ -188,14 +184,14 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
switch (spawnPointNb) {
case 3:
this->team = BLUE;
/*spawnPoint[0] = 250;
spawnPoint[0] = 250;
spawnPoint[1] = 1800;
spawnPoint[2] = 0;*/
spawnPoint[0] = 500;
spawnPoint[1] = 1000;
spawnPoint[2] = 0;
/*spawnPoint[0] = 500;
spawnPoint[1] = 1000;
spawnPoint[2] = 0;*/
// For test
/*finishPoint[0] = 400;
finishPoint[1] = 1790;
@@ -441,11 +437,11 @@ void TCPServer::checkIfAllClientsReady()
void TCPServer::startGame() {
for (int i = whereAmI; i < stratPatterns.size(); i++) {
/*auto time = std::chrono::system_clock::now();
auto time = std::chrono::system_clock::now();
if (time - gameStart > std::chrono::seconds(82)) {
this->goEnd();
return;
}*/
}
switch (stratPatterns[i]) {
case TURN_SOLAR_PANNEL_1:
@@ -1283,7 +1279,7 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
this->go(whiteDropPosition);
usleep(2'000'000);
// reposition
// reposition, TODO remove when lidar is working
if (sp == DROP_FLOWER_J1) {
this->setPosition(this->robotPose.pos.x, 142, this->robotPose.theta);
}
@@ -1408,45 +1404,77 @@ void TCPServer::go3Plants(const StratPattern sp) {
double direction;
double angle;
if (sp == TAKE_3_PLANT_TOP_1) {
plantPosition = {950, 700};
if (team == BLUE) {
angle = 0;
direction = 1;
if (sp == TAKE_3_PLANT_TOP_1) {
plantPosition = {950, 700};
}
else if (sp == TAKE_3_PLANT_TOP_2) {
plantPosition = {1200, 700};
}
else if (sp == TAKE_3_PLANT_BOTTOM_1) {
plantPosition = {950, 1300};
}
else if (sp == TAKE_3_PLANT_BOTTOM_2) {
plantPosition = {1200, 1300};
}
else {
return;
}
}
else if (sp == TAKE_3_PLANT_TOP_2) {
plantPosition = {1200, 700};
angle = 0;
direction = 1;
else if (team == YELLOW) {
angle = -PI;
direction = -1;
if (sp == TAKE_3_PLANT_TOP_1) {
plantPosition = {2050, 700};
}
else if (sp == TAKE_3_PLANT_TOP_2) {
plantPosition = {1800, 700};
}
else if (sp == TAKE_3_PLANT_BOTTOM_1) {
plantPosition = {2050, 1300};
}
else if (sp == TAKE_3_PLANT_BOTTOM_2) {
plantPosition = {1800, 1300};
}
else {
return;
}
}
else if (sp == TAKE_3_PLANT_BOTTOM_1) {
plantPosition = {950, 1300};
angle = 0;
direction = 1;
} else if (sp == TAKE_3_PLANT_BOTTOM_2) {
plantPosition = {1200, 1300};
angle = 0;
direction = 1;
} else {
else {
return;
}
this->setMaxSpeed();
this->transit(plantPosition[0]-400, plantPosition[1], 150);
this->transit(plantPosition[0]-600, plantPosition[1], 150);
awaitRobotIdle();
this->setSpeed(150);
this->rotate(angle);
awaitRobotIdle();
this->setMaxSpeed();
this->go(plantPosition[0]-400, plantPosition[1]);
awaitRobotIdle();
this->setSpeed(150);
this->rotate(angle);
awaitRobotIdle();
this->setMaxSpeed();
// TODO Check for falling flowers
for (int i = 0; i < 3; i++) {
this->openPince(i);
}
usleep(200'000);
this->transit(plantPosition[0], this->robotPose.pos.y, 130);
this->go(plantPosition);
awaitRobotIdle();
usleep(500'000);

32
TCPServer.h
View File

@@ -17,7 +17,7 @@
#include "utils.h"
#define MAX_SPEED 170
#define MAX_SPEED 200
#define MIN_SPEED 150
struct ClientTCP
@@ -114,22 +114,22 @@ private:
Team team;
std::vector<StratPattern> stratPatterns = {
// TURN_SOLAR_PANNEL_1,
// TURN_SOLAR_PANNEL_2,
// TURN_SOLAR_PANNEL_3,
// CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
TURN_SOLAR_PANNEL_1,
TURN_SOLAR_PANNEL_2,
TURN_SOLAR_PANNEL_3,
CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
GET_LIDAR_POS,
/*TAKE_FLOWER_BOTTOM,
TAKE_FLOWER_BOTTOM,
TAKE_FLOWER_BOTTOM,*/
// TAKE_3_PLANT_BOTTOM_1,
// DROP_FLOWER_BASE_2,
// TAKE_3_PLANT_BOTTOM_2,
// REMOVE_POT_J2,
// DROP_FLOWER_J2,
// GET_LIDAR_POS,
TAKE_3_PLANT_BOTTOM_1,
DROP_FLOWER_BASE_2,
TAKE_3_PLANT_BOTTOM_2,
REMOVE_POT_J2,
DROP_FLOWER_J2,
GET_LIDAR_POS,
/*DROP_PURPLE_FLOWER,
DROP_WHITE_FLOWER_J1,*/
@@ -138,8 +138,8 @@ private:
TAKE_FLOWER_TOP,
TAKE_FLOWER_TOP,*/
// TAKE_3_PLANT_TOP_1,
// DROP_FLOWER_J1,
TAKE_3_PLANT_TOP_1,
DROP_FLOWER_J1,
/*DROP_PURPLE_FLOWER,
DROP_WHITE_FLOWER_J2,*/
@@ -151,10 +151,10 @@ private:
/*DROP_WHITE_FLOWER_J2,
DROP_PURPLE_FLOWER,*/
// TAKE_3_PLANT_TOP_2,
// DROP_FLOWER_BASE_1,
TAKE_3_PLANT_TOP_2,
DROP_FLOWER_BASE_1,
// GO_END
GO_END
};
// This is the index of the current pattern