From 5f8067c83d0540e1ad429b493dac1dcdee6f2f3d Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Thu, 18 Apr 2024 20:19:22 +0200
Subject: [PATCH] sleep

---
 TCPServer.cpp | 11 +++++++----
 TCPServer.h   |  2 +-
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 2219e67..af7d8e4 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -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");
     }
 }
diff --git a/TCPServer.h b/TCPServer.h
index 3bf6733..9e13b7e 100644
--- a/TCPServer.h
+++ b/TCPServer.h
@@ -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 {