Merge pull request #3 from modelec/joystick

Joystick

TCPServer.cpp

@@ -74,14 +74,11 @@ TCPServer::TCPServer(int port)
 
     clients.reserve(5);
 
-    clients.emplace_back("tirette");
-    // clients.emplace_back("aruco");
     clients.emplace_back("ihm");
     clients.emplace_back("lidar");
     clients.emplace_back("arduino");
     clients.emplace_back("servo_moteur");
-    // clients.emplace_back("point");
-
+    clients.emplace_back("gc");
 }
 
 void TCPServer::acceptConnections()
@@ -154,6 +151,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
                 break;
             }
         }
+        checkIfAllClientsReady();
     }
     else if (tokens[0] == "gc") {
         if (tokens[2] == "axis") {
@@ -344,6 +342,23 @@ void TCPServer::start()
     std::thread([this]() { acceptConnections(); }).detach();
 }
 
+void TCPServer::checkIfAllClientsReady() {
+    bool allReady = true;
+    for (auto&[name, socket, isReady] : clients)
+    {
+        if (!isReady)
+        {
+            // std::cout << name << " is not ready" << std::endl;
+            allReady = false;
+        }
+    }
+
+    if (allReady)
+    {
+        this->broadcastMessage("strat;all;ready;1\n");
+    }
+}
+
 void TCPServer::toggleBras() {
     brasBaisser = !brasBaisser;
     if (brasBaisser) {

TCPServer.h

@@ -110,6 +110,8 @@ public:
 
     void handleEmergency();
 
+    void checkIfAllClientsReady();
+
     void toggleBras();
 
     void togglePince(int pince);