modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-05-03 17:31:47 +02:00
parent 22a494f2ad
commit 8d4aef9f5b
3 changed files with 157 additions and 14 deletions
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133
TCPServer.cpp
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@@ -475,6 +475,18 @@ void TCPServer::startGame() {
case CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER:
checkpoint(CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER);
break;
case DROP_FLOWER_J1:
dropFlowers(DROP_FLOWER_J1);
break;
case DROP_FLOWER_J2:
dropFlowers(DROP_WHITE_FLOWER_J2);
break;
case TAKE_3_PLANT_TOP:
go3Plants(TAKE_3_PLANT_TOP);
break;
case TAKE_3_PLANT_BOTTOM:
go3Plants(TAKE_3_PLANT_BOTTOM);
break;
}
whereAmI++;
}
@@ -1035,8 +1047,7 @@ void TCPServer::dropWhiteFlowers(const StratPattern sp) {
case WHITE_FLOWER:
pinceHaveWhiteFlower.push_back(i);
break;
case PURPLE_FLOWER:
case NONE:
default:
break;
}
}
@@ -1269,6 +1280,124 @@ void TCPServer::checkpoint(const StratPattern sp) {
}
}
void TCPServer::dropFlowers(StratPattern sp) {
std::array<int, 2> whiteDropSetup{};
std::array<int, 2> whiteDropPosition{};
double angle = PI / 2;
if (team == BLUE) {
if (sp == DROP_FLOWER_J1) {
whiteDropSetup = std::array{762, 300};
whiteDropPosition = std::array{762, 0};
angle = PI / 2;
} else if (sp == DROP_FLOWER_J2) {
if (!potJardiniere2Removed) {
this->go(200, 400);
awaitRobotIdle();
this->go(200, 900);
awaitRobotIdle();
this->go(220, 650);
awaitRobotIdle();
potJardiniere2Removed = true;
}
whiteDropSetup = std::array{300, 612};
whiteDropPosition = std::array{0, 612};
angle = -PI;
}
} else if (team == YELLOW) {
if (sp == DROP_FLOWER_J1) {
whiteDropSetup = std::array{2237, 300};
whiteDropPosition = std::array{2237, 0};
angle = PI / 2;
} else if (sp == DROP_FLOWER_J2) {
if (!potJardiniere2Removed) {
this->go(2800, 400);
awaitRobotIdle();
this->go(2800, 900);
awaitRobotIdle();
this->go(1780, 650);
awaitRobotIdle();
potJardiniere2Removed = true;
}
whiteDropSetup = std::array{1700, 612};
whiteDropPosition = std::array{0, 612};
angle = 0;
}
}
this->setSpeed(200);
this->go(whiteDropSetup);
awaitRobotIdle();
this->rotate(angle);
awaitRobotIdle();
this->leverBras();
usleep(500'000);
this->setSpeed(130);
this->go(whiteDropPosition);
usleep(2'000'000);
for (int i = 0; i < 3; i++) {
this->openPince(i);
pinceState[i] = NONE;
this->sendPoint(4);
}
usleep(1'000'000);
this->setSpeed(200);
this->go(whiteDropSetup);
awaitRobotIdle();
for (int i = 0; i < 3; i++) {
this->closePince(i);
}
this->transportBras();
}
void TCPServer::go3Plants(StratPattern sp) {
if (sp == TAKE_FLOWER_TOP) {
this->go(500, 700);
awaitRobotIdle();
this->rotate(0);
awaitRobotIdle();
}
else if (sp == TAKE_FLOWER_BOTTOM) {
this->go(500, 1300);
awaitRobotIdle();
this->rotate(0);
awaitRobotIdle();
} else {
return;
}
for (int i = 0; i < 3; i++) {
this->openPince(i);
}
usleep(200'000);
this->go(900, 1300);
awaitRobotIdle();
for (int i = 0; i < 3; i++) {
this->closePince(i);
pinceState[i] = FLOWER;
}
usleep(200'000);
this->go(800, 1300);
awaitRobotIdle();
}
void TCPServer::getLidarPos() {