modelec/TCPSocketServer
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update

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This commit is contained in:
bap-0-1
2024-05-28 20:01:02 +02:00
parent 7a42a14848
commit 6ffacc39e4
2 changed files with 7 additions and 9 deletions
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14
TCPServer.cpp
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@@ -130,7 +130,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
this->lidarDectectionAngle = stod(args[1]) / 100;
if (!handleEmergecnyFlag) {
if (!handleEmergencyFlag) {
std::thread([this]() { handleEmergency(); }).detach();
}
}
@@ -155,6 +155,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
this->broadcastMessage("strat;lidar;start;1\n");
this->broadcastMessage("strat;lidar;set table;0\n");
this->broadcastMessage("strat;lidar;set range;300\n");
this->broadcastMessage("strat;gc;nonvalid borne;2000\n");
lidarSocket = clientSocket;
}
std::cout << client.socket << " | " << client.name << " is ready" << std::endl;
@@ -167,11 +168,8 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (tokens[2] == "axis") {
std::vector<std::string> args = Modelec::split(tokens[3], ",");
double value = std::stod(args[1]);
if (value > -2000 && value < 2000) {
value = 0;
}
if (args[0] == "0") {
if (!handleEmergecnyFlag || !alertLidar) {
if (!handleEmergencyFlag || !alertLidar) {
if (value < -15000) value = -15000;
if (value > 15000) value = 15000;
@@ -229,7 +227,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
}
if (!handleEmergecnyFlag || !alertLidar) {
if (!handleEmergencyFlag || !alertLidar) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
else {
@@ -423,7 +421,7 @@ size_t TCPServer::nbClients() const {
void TCPServer::handleEmergency() {
handleEmergecnyFlag = true;
handleEmergencyFlag = true;
this->sendToClient("strat;arduino;clear;1\n", arduinoSocket);
this->sendToClient("strat;arduino;clear;1\n", arduinoSocket);
@@ -432,7 +430,7 @@ void TCPServer::handleEmergency() {
stopEmergency = false;
usleep(300'000);
}
handleEmergecnyFlag = false;
handleEmergencyFlag = false;
}

2
TCPServer.h
View File

@@ -78,7 +78,7 @@ private:
bool stopEmergency = false;
bool handleEmergecnyFlag = false;
bool handleEmergencyFlag = false;
int arduinoSocket = -1;
int lidarSocket = -1;