modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-05-08 16:22:32 +02:00
parent ddd721d564
commit bea252174a
1 changed files with 28 additions and 0 deletions
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28
TCPServer.cpp
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@@ -443,6 +443,8 @@ void TCPServer::checkIfAllClientsReady()
void TCPServer::startGame() {
for (int i = whereAmI; i < stratPatterns.size(); i++) {
if (stopEmergency) return;
auto time = std::chrono::system_clock::now();
if (time - gameStart > std::chrono::seconds(82)) {
this->goEnd();
@@ -1341,6 +1343,8 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
}
}
if (stopEmergency) return;
this->setMaxSpeed();
this->go(whiteDropSetup);
@@ -1367,6 +1371,8 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
this->sendPoint(3+1);
}
if (stopEmergency) return;
usleep(500'000);
this->closePince(0);
@@ -1380,6 +1386,8 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
this->sendPoint(3+1);
}
if (stopEmergency) return;
usleep(500'000);
this->openPince(0);
@@ -1432,6 +1440,8 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
return;
}
if (stopEmergency) return;
this->setMaxSpeed();
this->go(dropPosition);
@@ -1446,6 +1456,8 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->baisserBras();
if (stopEmergency) return;
for (int i = 0; i < 3; i++) {
this->openPince(i);
}
@@ -1468,6 +1480,8 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->closePince(i);
}
if (stopEmergency) return;
if (!detectedPurple) {
this->sendPoint(3);
}
@@ -1525,6 +1539,8 @@ void TCPServer::go3Plants(const StratPattern sp) {
return;
}
if (stopEmergency) return;
this->setMaxSpeed();
this->transit(plantPosition[0]-600, plantPosition[1], 170);
@@ -1548,6 +1564,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
for (int i = 0; i < 5; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(110'000);
if (stopEmergency) return;
}
std::vector<PinceState> pinceCanTakeFLower = getNotFallenFlowers();
@@ -1566,6 +1583,8 @@ void TCPServer::go3Plants(const StratPattern sp) {
usleep(500'000);
if (stopEmergency) return;
for (int i = 0; i < 3; i++) {
this->closePince(i);
pinceState[i] = pinceCanTakeFLower[i];
@@ -1768,34 +1787,42 @@ void TCPServer::setPosition(const Position pos, const std::string &toSend) {
}
void TCPServer::baisserBras() {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
}
void TCPServer::transportBras() {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;transport bras;1\n");
}
void TCPServer::leverBras() {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
}
void TCPServer::openPince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;ouvrir pince;" + std::to_string(pince) + "\n");
}
void TCPServer::fullyOpenPince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;ouvrir total pince;" + std::to_string(pince) + "\n");
}
void TCPServer::middlePince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;middle pince;" + std::to_string(pince) + "\n");
}
void TCPServer::closePince(int pince) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;fermer pince;" + std::to_string(pince) + "\n");
}
void TCPServer::checkPanneau(int servo_moteur) {
if (stopEmergency) return;
this->broadcastMessage("strat;servo_moteur;check panneau;" + std::to_string(servo_moteur) + "\n");
}
@@ -1804,6 +1831,7 @@ void TCPServer::uncheckPanneau(int servo_moteur) {
}
void TCPServer::askLidarPosition() {
if (stopEmergency) return;
this->broadcastMessage("start;lidar;get pos;1\n");
}