modelec/TCPSocketServer
1
0
Fork 0
mirror of https://github.com/modelec/TCPSocketServer.git synced 2026-01-19 17:07:37 +01:00
Code Issues Packages Projects Releases Wiki Activity

sleep

Browse Source
This commit is contained in:
ackimixs
2024-04-18 16:24:17 +02:00
parent 00aef50a59
commit a46a0a3830
1 changed files with 3 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
TCPServer.cpp
View File

@@ -476,7 +476,6 @@ void TCPServer::startGameBlueTeam() {
timeout = 0;
found = false;
this->arucoTags.clear();
while (!found) {
for (const auto & arucoTag : this->arucoTags) {
if (TCPUtils::contains(arucoTag.name(), "flower")) {
@@ -523,7 +522,7 @@ void TCPServer::startGameBlueTeam() {
found = false;
while (!found) {
for (const auto & arucoTag : this->arucoTags) {
if (TCPUtils::endWith(arucoTag.name(), "flower")) {
if (TCPUtils::contains(arucoTag.name(), "flower")) {
if (arucoTag.pos().first[0] < 800 && arucoTag.pos().first[0] > 300 && arucoTag.pos().first[1] < 300 && arucoTag.pos().first[1] > -300) {
tag = arucoTag;
found = true;
@@ -1291,8 +1290,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
//this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
this->broadcastMessage("strat;arduino;speed;200\n");
pinceState[pince] = TCPUtils::startWith(arucoTag.name(), "Purple_flower") ? PURPLE_FLOWER : WHITE_FLOWER;
toSend = "strat;client;have aruco;" + std::to_string(pince) + "," + arucoTag.name() + "," + (pinceState[pince] == PURPLE_FLOWER ? "purple" : "white") + "\n";
this->broadcastMessage(toSend);
// toSend = "strat;client;have aruco;" + std::to_string(pince) + "," + arucoTag.name() + "," + (pinceState[pince] == PURPLE_FLOWER ? "purple" : "white") + "\n";
// this->broadcastMessage(toSend);
}
void TCPServer::askArduinoPos() {