modelec/TCPSocketServer
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clear if value = 0

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This commit is contained in:
bap-0-1
2024-06-01 08:58:33 +02:00
parent 6ffacc39e4
commit 7588cdec01
1 changed files with 7 additions and 4 deletions
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11
TCPServer.cpp
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@@ -125,7 +125,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
lidarDecetionDistance = stoi(args[0]);
// TODO distance de detection proportionnelle a la vitesse
if (lidarDecetionDistance < 300) {
if (lidarDecetionDistance < 400) {
stopEmergency = true;
this->lidarDectectionAngle = stod(args[1]) / 100;
@@ -154,7 +154,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
else if (client.name == "lidar") {
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;lidar;set range;400\n");
this->broadcastMessage("strat;gc;nonvalid borne;2000\n");
lidarSocket = clientSocket;
}
@@ -186,7 +186,8 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
}
else if (value == 0) {
angle = 0;
this->broadcastMessage("strat;arduino;clear;1\n");
return;
}
else {
if (value > 0) {
@@ -217,7 +218,8 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
speed = static_cast<int>(Modelec::mapValue(value, -25000.0, -4000.0, -310.0, -70.0));
}
} else if (value == 0) {
speed = 0;
this->broadcastMessage("strat;arduino;clear;1\n");
return;
} else {
if (value > 25000) {
speed = 310;
@@ -284,6 +286,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
else if (tokens[3] == "12") {
this->alertLidar = false;
this->handleEmergencyFlag = false;
this->broadcastMessage("strat;gc;stop proximity alert;1\n");
}
else if (tokens[3] == "13") {