modelec/TCPSocketServer
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change name and sleep

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ackimixs
2024-04-16 11:33:24 +02:00
parent 2f505e8ad8
commit 8e97ca2554
1 changed files with 3 additions and 2 deletions
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5
TCPServer.cpp
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@@ -453,13 +453,14 @@ void TCPServer::startGame() {
this->broadcastMessage("strat;arduino;angle;-157");
this->broadcastMessage("strat;servo_moteur;baisser bras;1");*/
std::string toSend = "stat;arduino;go;" + std::to_string(this->endRobotPose.pos.x) + "," + std::to_string(this->endRobotPose.pos.y) + "\n";
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);
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
toSend = "start;arduino;angle;" + std::to_string(this->endRobotPose.theta * 100) + "\n";
this->broadcastMessage(toSend);
@@ -531,7 +532,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(1'000'000);
usleep(500'000);
// ReSharper disable once CppDFAUnreachableCode
// TODO set to 150 when the robot is ready