modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-04-16 20:28:33 +02:00
parent d276c0fc73
commit 6dd724900c
1 changed files with 11 additions and 16 deletions
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27
TCPServer.cpp
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@@ -242,8 +242,6 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
}
else if (tokens[0] == "arduino" && tokens[2] == "set state") {
std::string temp = message;
this->broadcastMessage(temp, clientSocket);
if (TCPUtils::startWith(tokens[3], "0")) {
this->isRobotIdle++;
}
@@ -400,7 +398,7 @@ void TCPServer::startGame() {
// pi/4
this->broadcastMessage("strat;arduino;angle;314\n");
isRobotIdle = 0;
while (this->isRobotIdle < 4) {
while (this->isRobotIdle < 3) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
@@ -447,7 +445,7 @@ void TCPServer::startGame() {
this->broadcastMessage("strat;arduino;angle;157\n");
isRobotIdle = 0;
while (this->isRobotIdle < 4) {
while (this->isRobotIdle < 3) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
@@ -500,36 +498,36 @@ void TCPServer::startGame() {
this->broadcastMessage(toSend);
usleep(200'000);
isRobotIdle = 0;
while (this->isRobotIdle < 4) {
while (this->isRobotIdle < 3) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(200'000);
this->broadcastMessage("strat;arduino;angle;157\n");
usleep(200'000);
isRobotIdle = 0;
while (this->isRobotIdle < 4) {
while (this->isRobotIdle < 3) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(200'000);
this->broadcastMessage("strat;arduino;speed;130\n");
this->broadcastMessage("strat;arduino;go;762,0\n");
usleep(3'000'000);
usleep(1'000'000);
this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
pinceState[0] = NONE;
this->broadcastMessage("strat;servo_moteur;ouvrir pince;2\n");
pinceState[2] = NONE;
usleep(1'000'000);
usleep(200'000);
this->broadcastMessage("strat;servo_moteur;fermer pince;0\n");
this->broadcastMessage("strat;servo_moteur;fermer pince;2\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;1\n");
pinceState[1] = NONE;
usleep(1'000'000);
usleep(200'000);
this->broadcastMessage("strat;arduino;speed;150\n");
@@ -540,7 +538,7 @@ void TCPServer::startGame() {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(200'000);
// toSend = "start;arduino;angle;" + std::to_string(this->endRobotPose.theta * 100) + "\n";
// this->broadcastMessage(toSend);
@@ -598,7 +596,6 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
double x30Percent = xPrime * 0.3;
double y30Percent = yPrime * 0.3;
@@ -616,12 +613,11 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
// ReSharper disable once CppDFAUnreachableCode
// TODO set to 150 when the robot is ready
this->broadcastMessage("strat;arduino;speed;130\n");
usleep(1'000'000);
usleep(200'000);
xPrime += x30Percent;
yPrime += y30Percent;
@@ -636,7 +632,6 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(3'000'000);
toSend = "strat;servo_moteur;fermer pince;" + std::to_string(pince) + "\n";
this->broadcastMessage(toSend);