modelec/TCPSocketServer
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handle the position of the robot

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This commit is contained in:
ackimixs
2024-04-09 21:10:11 +02:00
parent 4c9c7d2ab7
commit c2efaae3c0
2 changed files with 21 additions and 1 deletions
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14
TCPServer.cpp
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@@ -44,6 +44,8 @@ void ClientHandler::closeConnection() {
TCPServer::TCPServer(int port)
{
this->robotPose = {500, 500, -3.1415/2};
serverSocket = socket(AF_INET, SOCK_STREAM, 0);
if (serverSocket == -1) {
std::cerr << "Socket creation failed" << std::endl;
@@ -153,9 +155,19 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
checkIfAllClientsReady();
}
if (tokens[2] == "set pos") {
std::vector<std::string> pos = split(tokens[3], ",");
this->robotPose = {std::stof(pos[0]), std::stof(pos[1]), std::stof(pos[2])};
this->broadcastMessage(message.c_str(), 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);
this->broadcastMessage(toSend.c_str(), clientSocket);
}
if (tokens[2] == "spawn") {
// TODO change that to handle spawn point
const std::string toSend = "ihm;arduino;set;200,150,-1.57079";
this->robotPose = {200, 150, -1.57079};
const std::string toSend = "strat;all;set pos;200,150,-1.57079";
this->broadcastMessage(toSend.c_str(), clientSocket);
}
if (tokens[2] == "start")