modelec/TCPSocketServer
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go to endpoint

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ackimixs
2024-04-16 11:19:56 +02:00
parent 3d6e9bffd7
commit 3a95a14bc6
2 changed files with 25 additions and 1 deletions
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23
TCPServer.cpp
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@@ -205,8 +205,17 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
file << finishPoint[0] << " " << finishPoint[1];
file.close();*/
this->robotPose = {500, 500, -1.57079};
// this->robotPose = {500, 500, -1.57079};
this->robotPose = {1200, 1700, 1.57079};
this->initRobotPose = {1200, 1700, 1.57079};
this->endRobotPose = {1200, 1700, 1.57079};
std::string toSend = "strat;all;set pos;" + std::to_string(this->robotPose.pos.x) + "," + std::to_string(this->robotPose.pos.y) + "," + std::to_string(this->robotPose.theta * 100) + "\n";
for (int i = 0; i < 3; i++) {
this->broadcastMessage(toSend);
usleep(200'000);
}
this->broadcastMessage(toSend, clientSocket);
}
else if (tokens[1] == "strat" && tokens[2] == "start")
@@ -443,6 +452,18 @@ void TCPServer::startGame() {
// ReSharper disable once CppDFAUnreachableCode
this->broadcastMessage("strat;arduino;angle;-157");
this->broadcastMessage("strat;servo_moteur;baisser bras;1");*/
std::string toSend = "stat;arduino;go;" + std::to_string(this->endRobotPose.pos.x) + "," + std::to_string(this->endRobotPose.pos.y) + "\n";
this->broadcastMessage(toSend);
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
toSend = "start;arduino;angle;" + std::to_string(this->endRobotPose.theta * 100) + "\n";
this->broadcastMessage(toSend);
this->broadcastMessage("strat;servo_moteur;clear;1");
}