modelec/TCPSocketServer
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lidar detection

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This commit is contained in:
ackimixs
2024-05-16 09:16:23 +02:00
parent bafe073e21
commit 56bf715ba8
1 changed files with 5 additions and 4 deletions
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9
TCPServer.cpp
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@@ -125,7 +125,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
lidarDecetionDistance = stoi(args[0]);
// TODO distance de detection proportionnelle a la vitesse
if (stoi(args[0]) < 300) {
if (lidarDecetionDistance < 300) {
stopEmergency = true;
this->lidarDectectionAngle = stod(args[1]) / 100;
@@ -153,7 +153,8 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
else if (client.name == "lidar") {
this->broadcastMessage("strat;lidar;start;1\n");
this->broadcastMessage("strat;lidar;set beacon;0\n");
this->broadcastMessage("strat;lidar;set table;0\n");
this->broadcastMessage("strat;lidar;set range;750\n");
lidarSocket = clientSocket;
}
std::cout << client.socket << " | " << client.name << " is ready" << std::endl;
@@ -192,10 +193,10 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
else {
if (speed >= 0 && (this->lidarDectectionAngle > PI / 2 && this->lidarDectectionAngle < 3 * PI / 2)) {
if (speed >= 0 && ((this->lidarDectectionAngle > PI / 2 && this->lidarDectectionAngle < 3 * PI / 2) || (this->lidarDecetionDistance > speed * 1.5))) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
else if (speed <= 0 && (this->lidarDectectionAngle < PI / 2 || this->lidarDectectionAngle > 3 * PI / 2)) {
else if (speed <= 0 && ((this->lidarDectectionAngle < PI / 2 || this->lidarDectectionAngle > 3 * PI / 2) || (this->lidarDecetionDistance > speed * 1.5))) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
}