modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-04-08 22:07:15 +02:00
parent 23579db0f9
commit 3ba74ae82f
1 changed files with 4 additions and 4 deletions
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8
TCPServer.cpp
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@@ -163,7 +163,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
this->broadcastMessage(message.c_str(), clientSocket);
this->actionNb = 0;
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;1\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
this->broadcastMessage("strat;aruco;get aruco;1\n");
}
if (tokens[0] == "aruco" && tokens[2] == "get aruco") {
@@ -174,18 +174,18 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
} else {
std::cout << "Aruco tags received" << std::endl;
std::vector<std::string> arucoArgs = split(aruco, ",");
int x = static_cast<int>(std::stof(arucoArgs[2]));
int x = static_cast<int>(std::stof(arucoArgs[2])) - 70;
int y = static_cast<int>(std::stof(arucoArgs[4]));
std::string toSend = "strat;arduino;go;" + std::to_string(x) + "," + std::to_string(y);
this->broadcastMessage(toSend.c_str());
usleep(3'000'000);
this->broadcastMessage("strat;servo_moteur;fermer pince;1\n");
this->broadcastMessage("strat;servo_moteur;fermer pince;0\n");
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
usleep(1'000'000);
this->broadcastMessage("strat;arduino;go;1000,1500\n");
usleep(6'000'000);
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;1\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
usleep(2'000'000);
this->broadcastMessage("strat;arduino;go;500,500\n");
}