modelec/TCPSocketServer
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ackimixs
2024-04-10 20:47:41 +02:00
parent 783fe09482
commit b9a8188eaf
1 changed files with 3 additions and 2 deletions
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5
TCPServer.cpp
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@@ -165,14 +165,13 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
if (tokens[2] == "get pos") {
std::string toSend = "strat;all;set pos;" + std::to_string(this->robotPose.pos.x) + "," + std::to_string(this->robotPose.pos.y) + "," + std::to_string(this->robotPose.theta * 100) + "\n";
this->broadcastMessage(toSend.c_str(), clientSocket);
this->broadcastMessage(toSend, clientSocket);
}
if (tokens[2] == "spawn") {
// TODO change that to handle spawn point
this->robotPose = {500, 500, -1.57079};
std::string toSend = "strat;all;set pos;" + std::to_string(this->robotPose.pos.x) + "," + std::to_string(this->robotPose.pos.y) + "," + std::to_string(this->robotPose.theta * 100) + "\n";
this->broadcastMessage(toSend, clientSocket);
}
if (tokens[2] == "start")
{
@@ -345,6 +344,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
double x = (xPrime * std::cos(robotPose.theta) + yPrime * std::sin(robotPose.theta)) + this->robotPose.pos.x;
double y = (-xPrime * std::sin(robotPose.theta) + yPrime * std::cos(robotPose.theta)) + this->robotPose.pos.y;
std::cout << x << " " << y << std::endl;
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "\n";
this->broadcastMessage(toSend);
usleep(3'000'000);