mirror of
https://github.com/modelec/TCPSocketServer.git
synced 2026-03-18 21:50:33 +01:00
game controller mode
This commit is contained in:
ackimixs
1665
TCPServer.cpp
1665
TCPServer.cpp
File diff suppressed because it is too large
Load Diff
231
TCPServer.h
231
TCPServer.h
@@ -15,9 +15,6 @@
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#include "utils.h"
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#define MAX_SPEED 200
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#define MIN_SPEED 150
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struct ClientTCP
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{
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std::string name;
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@@ -29,41 +26,6 @@ struct ClientTCP
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explicit ClientTCP(std::string name, int socket = -1) : name(std::move(name)), socket(socket) {}
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};
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enum Team {
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BLUE,
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YELLOW,
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TEST,
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};
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enum StratPattern {
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TURN_SOLAR_PANNEL_1,
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TURN_SOLAR_PANNEL_2,
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TURN_SOLAR_PANNEL_3,
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TAKE_FLOWER_BOTTOM,
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TAKE_FLOWER_TOP,
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DROP_PURPLE_FLOWER,
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DROP_WHITE_FLOWER_J1,
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DROP_WHITE_FLOWER_J2,
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GO_END,
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GET_LIDAR_POS,
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CHECKPOINT_MIDDLE,
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CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
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TAKE_3_PLANT_BOTTOM_1,
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TAKE_3_PLANT_BOTTOM_2,
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TAKE_3_PLANT_TOP_1,
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TAKE_3_PLANT_TOP_2,
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DROP_FLOWER_J1,
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DROP_FLOWER_J2,
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REMOVE_POT_J2,
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DROP_FLOWER_BASE_1,
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DROP_FLOWER_BASE_2,
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SLEEP_1S,
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SLEEP_5S,
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SLEEP_10S,
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ROTATE_0,
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ROTATE_270,
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};
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class TCPServer; // Forward declaration
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class ClientHandler {
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@@ -91,13 +53,10 @@ private:
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std::vector<ClientTCP> clients; // Store connected clients
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std::array<PinceState, 3> pinceState = {NONE, NONE, NONE};
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int isRobotIdle = 0;
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bool gameStarted = false;
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bool brasBaisser = true;
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std::chrono::time_point<std::chrono::system_clock> gameStart;
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int speed = 0;
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std::array<bool, 2> panneauCheck{false, false};
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struct Position {
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struct {
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@@ -108,76 +67,20 @@ private:
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};
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Position robotPose{};
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Position initRobotPose{};
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Position endRobotPose{};
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Position lidarCalculatePos{};
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std::vector<ArucoTag> arucoTags;
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Team team;
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std::vector<StratPattern> stratPatterns = {
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TURN_SOLAR_PANNEL_1,
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TURN_SOLAR_PANNEL_2,
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TURN_SOLAR_PANNEL_3,
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CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
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/*TAKE_FLOWER_BOTTOM,
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TAKE_FLOWER_BOTTOM,
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TAKE_FLOWER_BOTTOM,*/
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/*TAKE_3_PLANT_BOTTOM_1,
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DROP_FLOWER_BASE_2,*/
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TAKE_3_PLANT_BOTTOM_1,
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GET_LIDAR_POS,
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REMOVE_POT_J2,
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DROP_FLOWER_J2,
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ROTATE_270,
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/*DROP_PURPLE_FLOWER,
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DROP_WHITE_FLOWER_J1,*/
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// GET_LIDAR_POS,
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/*TAKE_FLOWER_TOP,
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TAKE_FLOWER_TOP,
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TAKE_FLOWER_TOP,*/
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TAKE_3_PLANT_TOP_1,
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GET_LIDAR_POS,
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DROP_FLOWER_J1,
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/*DROP_PURPLE_FLOWER,
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DROP_WHITE_FLOWER_J2,*/
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// GET_LIDAR_POS,
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/*TAKE_FLOWER_TOP,
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TAKE_FLOWER_TOP,
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TAKE_FLOWER_TOP,*/
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//TAKE_3_PLANT_TOP,
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/*DROP_WHITE_FLOWER_J2,
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DROP_PURPLE_FLOWER,*/
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TAKE_3_PLANT_TOP_2,
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DROP_FLOWER_BASE_1,
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GO_END
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};
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// This is the index of the current pattern
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int whereAmI = 0;
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bool stopEmergency = false;
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bool handleEmergencyFlag = false;
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bool awaitForLidar = false;
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std::thread gameThread;
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int lidarSocket = -1;
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int arduinoSocket = -1;
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int lidarGetPosTimeout = 0;
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struct Axis {
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int x, y;
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};
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std::string lastArduinoCommand{};
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Axis axisLeft{0, 0};
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Axis axisRight{0, 0};
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bool gameWithControllerStarted = false;
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public:
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explicit TCPServer(int port);
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@@ -204,121 +107,17 @@ public:
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[[nodiscard]] size_t nbClients() const;
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void checkIfAllClientsReady();
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void startGame();
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void startGameTest();
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void goToAruco(const ArucoTag &arucoTag, int pince);
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void askArduinoPos();
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[[nodiscard]] bool shouldStop() const;
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int awaitRobotIdle();
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void toggleBras();
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void handleArucoTag(const ArucoTag &tag);
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void togglePince(int pince);
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std::optional<ArucoTag> getBiggestArucoTag(float borneMinX, float borneMaxX, float borneMinY, float borneMaxY);
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void togglePanel(int servo_moteur);
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std::optional<ArucoTag> getMostCenteredArucoTag(float borneMinX, float borneMaxX, float borneMinY, float borneMaxY);
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void percentagePanel(int servo_moteur, int percentage);
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std::vector<PinceState> getNotFallenFlowers() const;
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void handleEmergency(int distance, double angle);
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/*
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* Start Strategy function
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*/
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void goAndTurnSolarPanel(StratPattern sp);
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void findAndGoFlower(StratPattern sp);
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void goEnd();
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void dropPurpleFlowers();
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void dropWhiteFlowers(StratPattern sp);
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void getLidarPos();
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void checkpoint(StratPattern sp);
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void dropJardiniereFlowers(StratPattern sp);
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void dropBaseFlowers(StratPattern sp);
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void go3Plants(StratPattern sp);
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void removePot(StratPattern sp);
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/*
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* End Strategy function
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*/
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void startTestAruco(int pince);
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// Call to broadcast
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void setSpeed(int speed);
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void setMaxSpeed();
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void setMinSpeed();
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template<class X, class Y>
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void go(X x, Y y);
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template<class X>
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void go(std::array<X, 2> data);
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template<class X>
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void rotate(X angle);
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template<class X, class Y>
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void transit(X x,Y y, int endSpeed);
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template<class X>
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void transit(std::array<X, 2> data, int endSpeed);
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template<class X, class Y, class Z>
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void setPosition(X x, Y y, Z theta, int clientSocket = -1);
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template<class X>
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void setPosition(std::array<X, 3> data, int clientSocket = -1);
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void setPosition(Position pos, int clientSocket = -1);
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template<class X, class Y, class Z>
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void setPosition(X x, Y y, Z theta, const std::string &toSend);
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template<class X>
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void setPosition(std::array<X, 3> data, const std::string &toSend);
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void setPosition(Position pos, const std::string &toSend);
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void openPince(int pince);
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void fullyOpenPince(int pince);
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void middlePince(int pince);
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void closePince(int pince);
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void baisserBras();
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void leverBras();
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void transportBras();
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void checkPanneau(int servo_moteur);
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void uncheckPanneau(int servo_moteur);
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void askLidarPosition();
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void sendPoint(int point);
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void setTeam(Team team);
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void sendAxisToArduino();
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~TCPServer();
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};
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16
main.cpp
16
main.cpp
@@ -18,17 +18,13 @@ int main(int argc, char* argv[]) {
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TCPServer server(port);
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try {
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server.start();
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server.start();
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while (!server.shouldStop() && !shouldStop) {
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usleep(500'000);
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}
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server.stop();
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} catch (const std::exception& ex) {
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std::cerr << "Error: " << ex.what() << std::endl;
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return 1;
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while (!server.shouldStop() && !shouldStop) {
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usleep(500'000);
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}
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server.stop();
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return 0;
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}
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