modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-05-06 19:00:14 +02:00
parent d5417b53c9
commit b8b5f11b4d
1 changed files with 3 additions and 7 deletions
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10
TCPServer.cpp
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@@ -789,7 +789,7 @@ void TCPServer::awaitRobotIdle() {
int timeout = 0;
// ReSharper disable once CppDFAConstantConditions
// ReSharper disable once CppDFAEndlessLoop
usleep(100'000);
usleep(50'000);
while (isRobotIdle < 3) {
usleep(50'000);
this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
@@ -799,7 +799,6 @@ void TCPServer::awaitRobotIdle() {
break;
}
}
usleep(50'000);
}
void TCPServer::handleArucoTag(const ArucoTag &tag) {
@@ -1508,7 +1507,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
this->setMaxSpeed();
this->go(plantPosition[0]-400, plantPosition[1]);
this->go(plantPosition[0]-400, this->robotPose.pos.y);
awaitRobotIdle();
this->setSpeed(150);
@@ -1518,15 +1517,12 @@ void TCPServer::go3Plants(const StratPattern sp) {
this->setMaxSpeed();
// TODO Check for falling flowers
this->arucoTags.clear();
for (int i = 0; i < 5; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(110'000);
}
// TODO, Les bornes ici est l'angle que la plante doit avoir pour etre considére comme tombée (par rapport a la caméra)
std::vector<int> pinceCanTakeFLower = getNotFallenFlowers();
for (int i = 0; i < 3; i++) {
@@ -1536,7 +1532,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
usleep(200'000);
this->go(plantPosition);
this->go(plantPosition[0], this->robotPose.pos.y);
awaitRobotIdle();
usleep(500'000);