modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-05-15 16:03:25 +02:00
parent 6027077762
commit aee524482d
1 changed files with 8 additions and 6 deletions
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14
TCPServer.cpp
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@@ -120,15 +120,18 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
return;
}
if (TCPUtils::contains(tokens[2], "stop proximity")) {
stopEmergency = true;
std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
this->lidarDectectionAngle = stod(args[1]);
if (stoi(args[0]) < 200) {
stopEmergency = true;
if (!handleEmergecnyFlag) {
std::thread([this]() { handleEmergency(); }).detach();
this->lidarDectectionAngle = stod(args[1]) / 100;
if (!handleEmergecnyFlag) {
std::thread([this]() { handleEmergency(); }).detach();
}
}
this->broadcastMessage(message, clientSocket);
}
else if (tokens[1] != "strat") {
this->broadcastMessage(message, clientSocket);
@@ -336,7 +339,6 @@ void TCPServer::handleEmergency() {
handleEmergecnyFlag = true;
this->broadcastMessage("strat;all;stop proximity;1\n", lidarSocket);
this->sendToClient("strat;arduino;clear;1\n", arduinoSocket);
this->sendToClient("strat;arduino;clear;1\n", arduinoSocket);