modelec/TCPSocketServer
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ackimixs
2024-05-09 02:31:58 +02:00
parent 400e010154
commit 644a375647
2 changed files with 21 additions and 24 deletions
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43
TCPServer.cpp
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@@ -133,9 +133,9 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
this->stopEmergency = true;
if (!handleEmergencyFlag) {
std::thread([this, args]() { this->handleEmergency(std::stoi(args[0]), std::stod(args[1]) / 100); }).detach();
}
// if (!handleEmergencyFlag) {
// std::thread([this, args]() { this->handleEmergency(std::stoi(args[0]), std::stod(args[1]) / 100); }).detach();
// }
}
else if (tokens[1] != "strat") {
this->broadcastMessage(message, clientSocket);
@@ -802,6 +802,13 @@ void TCPServer::awaitRobotIdle() {
usleep(50'000);
this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
timeout++;
if (stopEmergency) {
while (stopEmergency) {
usleep(100'000);
}
this->broadcastMessage(lastArduinoCommand);
awaitRobotIdle();
}
if (timeout > 80) {
this->broadcastMessage("strat;arduino;clear;1");
break;
@@ -912,7 +919,7 @@ std::vector<PinceState> TCPServer::getNotFallenFlowers() const {
}
void TCPServer::handleEmergency(int distance, double angle) {
this->handleEmergencyFlag = true;
/*this->handleEmergencyFlag = true;
this->broadcastMessage("strat;arduino;clear;2\n");
@@ -926,7 +933,7 @@ void TCPServer::handleEmergency(int distance, double angle) {
this->stopEmergency = false;
std::this_thread::sleep_for(std::chrono::seconds(1));
std::this_thread::sleep_for(std::chrono::seconds(1));*/
/*double newAngle = this->robotPose.theta + angle;
double newX = this->robotPose.pos.x + 200 * std::cos(newAngle);
@@ -934,7 +941,7 @@ void TCPServer::handleEmergency(int distance, double angle) {
usleep(200'000);
this->go(newX, newY);
awaitRobotIdle();*/
}
/*}
this->broadcastMessage("strat;arduino;clear;4\n");
try {
@@ -949,7 +956,7 @@ void TCPServer::handleEmergency(int distance, double angle) {
this->gameThread.detach();
this->handleEmergencyFlag = false;
this->handleEmergencyFlag = false;*/
}
void TCPServer::startTestAruco(const int pince) {
@@ -1713,47 +1720,44 @@ void TCPServer::checkpoint(const StratPattern sp) {
template<class X, class Y>
void TCPServer::go(X x, Y y) {
if (stopEmergency) return;
lastArduinoCommand = "strat;arduino;go;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "\n";
this->broadcastMessage("strat;arduino;go;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "\n");
}
template<class X>
void TCPServer::go(std::array<X, 2> data) {
if (stopEmergency) return;
lastArduinoCommand = "strat;arduino;go;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "\n";
this->broadcastMessage("strat;arduino;go;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "\n");
}
template<class X>
void TCPServer::rotate(X angle) {
if (stopEmergency) return;
lastArduinoCommand = "strat;arduino;angle;" + std::to_string(static_cast<int>(angle * 100)) + "\n";
this->broadcastMessage("strat;arduino;angle;" + std::to_string(static_cast<int>(angle * 100)) + "\n");
}
void TCPServer::setSpeed(const int speed) {
if (stopEmergency) return;
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
this->speed = speed;
}
void TCPServer::setMaxSpeed() {
if (stopEmergency) return;
this->setSpeed(MAX_SPEED);
}
void TCPServer::setMinSpeed() {
if (stopEmergency) return;
this->setSpeed(MIN_SPEED);
}
template<class X, class Y>
void TCPServer::transit(X x, Y y, const int endSpeed) {
if (stopEmergency) return;
lastArduinoCommand = "strat;arduino;transit;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(endSpeed) + "\n";
this->broadcastMessage("strat;arduino;transit;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(endSpeed) + "\n");
}
template<class X>
void TCPServer::transit(std::array<X, 2> data, const int endSpeed) {
if (stopEmergency) return;
lastArduinoCommand = "strat;arduino;transit;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(endSpeed) + "\n";
this->broadcastMessage("strat;arduino;transit;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(endSpeed) + "\n");
}
@@ -1798,42 +1802,34 @@ void TCPServer::setPosition(const Position pos, const std::string &toSend) {
}
void TCPServer::baisserBras() {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
}
void TCPServer::transportBras() {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;transport bras;1\n");
}
void TCPServer::leverBras() {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
}
void TCPServer::openPince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;ouvrir pince;" + std::to_string(pince) + "\n");
}
void TCPServer::fullyOpenPince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;ouvrir total pince;" + std::to_string(pince) + "\n");
}
void TCPServer::middlePince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;middle pince;" + std::to_string(pince) + "\n");
}
void TCPServer::closePince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;fermer pince;" + std::to_string(pince) + "\n");
}
void TCPServer::checkPanneau(int servo_moteur) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;check panneau;" + std::to_string(servo_moteur) + "\n");
}
@@ -1842,7 +1838,6 @@ void TCPServer::uncheckPanneau(int servo_moteur) {
}
void TCPServer::askLidarPosition() {
if (stopEmergency) return;
this->broadcastMessage("start;lidar;get pos;1\n");
}

2
TCPServer.h
View File

@@ -177,6 +177,8 @@ private:
int lidarGetPosTimeout = 0;
std::string lastArduinoCommand{};
public:
explicit TCPServer(int port);