From ccbf983023e8a60e94bc7f6c67313d6fc188ef5d Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 8 May 2024 15:18:47 +0200
Subject: [PATCH] sleep

---
 TCPServer.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 8270d0b..6c6a0b6 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -123,8 +123,6 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
         return;
     }
     if (TCPUtils::contains(tokens[2], "stop proximity")) {
-        if (!gameStarted) return;
-
         this->broadcastMessage("strat;arduino;clear;1\n");
 
         this->stopEmergency = true;
@@ -917,7 +915,8 @@ void TCPServer::handleEmergency(int distance, double angle) {
         this->broadcastMessage("strat;arduino;clear;3\n");
 
         this->stopEmergency = false;
-        usleep(1'000'000);
+
+        std::this_thread::sleep_for(std::chrono::seconds(2));
 
         /*double newAngle = this->robotPose.theta + angle;
         double newX = this->robotPose.pos.x + 200 * std::cos(newAngle);