modelec/TCPSocketServer
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Merge remote-tracking branch 'origin/gamecontroller' into gamecontroller

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This commit is contained in:
ackimixs
2024-06-03 11:42:02 +02:00
parent 6a10cd8570 f5941b2046
commit 96b3802850
2 changed files with 75 additions and 20 deletions
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91
TCPServer.cpp
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@@ -124,12 +124,12 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
lidarDecetionDistance = stoi(args[0]);
if (lidarDecetionDistance < 300) {
if (lidarDecetionDistance < 400) {
stopEmergency = true;
this->lidarDectectionAngle = stod(args[1]) / 100;
if (!handleEmergecnyFlag) {
if (!handleEmergencyFlag) {
std::thread([this]() { handleEmergency(); }).detach();
}
}
@@ -153,7 +153,8 @@ 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;750\n");
this->broadcastMessage("strat;lidar;set range;400\n");
this->broadcastMessage("strat;gc;nonvalid borne;2000\n");
lidarSocket = clientSocket;
}
std::cout << client.socket << " | " << client.name << " is ready" << std::endl;
@@ -166,18 +167,33 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (tokens[2] == "axis") {
std::vector<std::string> args = Modelec::split(tokens[3], ",");
double value = std::stod(args[1]);
if (value > -2000 && value < 2000) {
value = 0;
}
if (args[0] == "0") {
if (!handleEmergecnyFlag) {
if (!handleEmergencyFlag || !alertLidar) {
if (value < -15000) value = -15000;
if (value > 15000) value = 15000;
if (value > -5000 && value < 5000) value = 0;
int angle;
if (value < 0) {
angle = static_cast<int>(Modelec::mapValue(value, -32767.0, -2000.0, -PI / 2, 0.0) * 100);
if (value < -23000) {
angle = -PI * 100 / 2;
}
else {
angle = static_cast<int>(Modelec::mapValue(value, -15000.0, -5000.0, -PI / 2, 0.0) * 100);
}
}
else if (value == 0) {
angle = 0;
}
else {
angle = static_cast<int>(Modelec::mapValue(value, 2000.0, 32768.0, 0.0, PI / 2) * 100);
if (value > 0) {
angle = PI * 100 / 2;
}
else {
angle = static_cast<int>(Modelec::mapValue(value, 5000.0, 15000.0, 0.0, PI / 2) * 100);
}
}
this->broadcastMessage("strat;arduino;angle;" + std::to_string(angle) + "\n");
@@ -186,24 +202,39 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
else if (args[0] == "1") {
int speed;
if (value > -4000 && value < 4000) {
value = 0;
}
value = -value;
if (value < 0) {
speed = static_cast<int>(Modelec::mapValue(value, -32767.0, 0.0, -310.0, -70.0));
if (value < -25000) {
speed = -310;
}
else {
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 {
speed = static_cast<int>(Modelec::mapValue(value, 0.0, 32768.0, 70.0, 310.0));
if (value > 25000) {
speed = 310;
}
else {
speed = static_cast<int>(Modelec::mapValue(value, 4000.0, 25000.0, 70.0, 310.0));
}
}
if (!handleEmergecnyFlag) {
if (!handleEmergencyFlag || !alertLidar) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
else {
if (speed >= 0 && ((this->lidarDectectionAngle > PI / 2 && this->lidarDectectionAngle < 3 * PI / 2) || (this->lidarDecetionDistance > speed * 1.5))) {
if (speed >= 0 && (this->lidarDectectionAngle > PI / 2 && this->lidarDectectionAngle < 3 * PI / 2)) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
else if (speed <= 0 && ((this->lidarDectectionAngle < PI / 2 || this->lidarDectectionAngle > 3 * PI / 2) || (this->lidarDecetionDistance > speed * 1.5))) {
else if (speed <= 0 && (this->lidarDectectionAngle < PI / 2 || this->lidarDectectionAngle > 3 * PI / 2)) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
}
@@ -212,10 +243,23 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
int speed;
if (value < 0) {
speed = static_cast<int>(Modelec::mapValue(value, -32767.0, -2000.0, -310.0, 0.0));
if (value < -25000) {
speed = -310;
}
else {
speed = static_cast<int>(Modelec::mapValue(value, -25000.0, -2000.0, -310.0, 0.0));
}
}
else if (value == 0) {
speed = 0;
}
else {
speed = static_cast<int>(Modelec::mapValue(value, 2000.0, 32768.0, 0.0, 310.0));
if (value > 25000) {
speed = 310;
}
else {
speed = static_cast<int>(Modelec::mapValue(value, 2000.0, 25000.0, 0.0, 310.0));
}
}
this->broadcastMessage("start;arduino;rotate;" + std::to_string(speed));
@@ -234,6 +278,15 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
else if (tokens[3] == "1") {
this->togglePince(2);
}
else if (tokens[3] == "11") {
this->alertLidar = true;
this->broadcastMessage("strat;gc;start proximity alert;1\n");
}
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") {
this->togglePanel(0);
}
@@ -369,7 +422,7 @@ size_t TCPServer::nbClients() const {
void TCPServer::handleEmergency() {
handleEmergecnyFlag = true;
handleEmergencyFlag = true;
this->sendToClient("strat;arduino;clear;1\n", arduinoSocket);
this->sendToClient("strat;arduino;clear;1\n", arduinoSocket);
@@ -378,7 +431,7 @@ void TCPServer::handleEmergency() {
stopEmergency = false;
usleep(300'000);
}
handleEmergecnyFlag = false;
handleEmergencyFlag = false;
}

4
TCPServer.h
View File

@@ -78,7 +78,7 @@ private:
bool stopEmergency = false;
bool handleEmergecnyFlag = false;
bool handleEmergencyFlag = false;
int arduinoSocket = -1;
int lidarSocket = -1;
@@ -93,6 +93,8 @@ private:
int lidarDecetionDistance = 0;
bool alertLidar = true;
public:
explicit TCPServer(int port);