modelec/TCPSocketServer
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aruco

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This commit is contained in:
ackimixs
2024-04-30 16:14:31 +02:00
parent 7d28ba563f
commit 8b69b38877
1 changed files with 12 additions and 8 deletions
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20
TCPServer.cpp
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@@ -716,15 +716,14 @@ void TCPServer::awaitRobotIdle() {
int timeout = 0;
// ReSharper disable once CppDFAConstantConditions
// ReSharper disable once CppDFAEndlessLoop
usleep(100'000);
while (isRobotIdle < 2) {
usleep(100'000);
usleep(50'000);
this->broadcastMessage("strat;arduino;get state;1\n");
timeout++;
/*if (timeout > 30) {
if (timeout > 30) {
this->broadcastMessage("strat;arduino;clear;1");
break;
}*/
}
}
}
@@ -808,17 +807,22 @@ void TCPServer::handleEmergency(int distance, double angle) {
void TCPServer::startTestAruco(int pince) {
this->arucoTags.clear();
std::optional<ArucoTag> tag = std::nullopt;
for (int i = 0; i < 5; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(220'000);
}
tag = getMostCenteredArucoTag(100, 800, -400, 400);
int timeout = 0;
while (!tag.has_value()) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(500'000);
usleep(220'000);
tag = getMostCenteredArucoTag(100, 800, -400, 400);
timeout++;
if (timeout > 10) {
if (timeout > 5) {
break;
}
}
@@ -905,7 +909,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->arucoTags.clear();
std::optional<ArucoTag> tag = std::nullopt;
for (int i = 0; i < 4; i++) {
for (int i = 0; i < 5; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(220'000);
}