modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-04-18 20:19:22 +02:00
parent 89eab6b16f
commit 5f8067c83d
2 changed files with 8 additions and 5 deletions
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11
TCPServer.cpp
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@@ -264,7 +264,9 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
}
else if (tokens[0] == "arduino" && tokens[2] == "set state") {
this->isRobotIdle = TCPUtils::startWith(tokens[3], "0");
if (TCPUtils::startWith(tokens[3], "0")) {
this->isRobotIdle++;
}
}
std::cout << "Received: " << message << std::endl;
}
@@ -1315,11 +1317,12 @@ void TCPServer::askArduinoPos() {
}
void TCPServer::awaitRobotIdle() {
isRobotIdle = false;
isRobotIdle = 0;
// ReSharper disable once CppDFAConstantConditions
// ReSharper disable once CppDFAEndlessLoop
while (!isRobotIdle) {
usleep(100'000);
usleep(200'000);
while (isRobotIdle < 3) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
}

2
TCPServer.h
View File

@@ -52,7 +52,7 @@ private:
std::vector<ClientTCP> clients; // Store connected clients
PinceState pinceState[3] = {NONE, NONE, NONE};
bool isRobotIdle = true;
int isRobotIdle = 0;
struct Position {
struct {