modelec/TCPSocketServer
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ackimixs
2024-04-16 12:10:10 +02:00
parent 8e97ca2554
commit 7a6e2e07d1
1 changed files with 2 additions and 3 deletions
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5
TCPServer.cpp
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@@ -211,12 +211,10 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
this->endRobotPose = {1200, 1700, 1.57079};
std::string toSend = "strat;all;set pos;" + std::to_string(this->robotPose.pos.x) + "," + std::to_string(this->robotPose.pos.y) + "," + std::to_string(this->robotPose.theta * 100) + "\n";
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
this->broadcastMessage(toSend);
usleep(200'000);
}
this->broadcastMessage(toSend, clientSocket);
}
else if (tokens[1] == "strat" && tokens[2] == "start")
{
@@ -452,6 +450,7 @@ void TCPServer::startGame() {
// ReSharper disable once CppDFAUnreachableCode
this->broadcastMessage("strat;arduino;angle;-157");
this->broadcastMessage("strat;servo_moteur;baisser bras;1");*/
usleep(1'000'000);
std::string toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->endRobotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->endRobotPose.pos.y)) + "\n";
this->broadcastMessage(toSend);