From d10aa4baf38e8f1c3675b4a224d929da3552fd53 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 15 May 2024 18:10:17 +0200
Subject: [PATCH] speed

---
 TCPServer.cpp | 32 ++------------------------------
 TCPServer.h   |  2 --
 2 files changed, 2 insertions(+), 32 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 7614728..78950d3 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -173,7 +173,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
                 }
             }
             else if (args[0] == "1") {
-                int speed = static_cast<int>((- value * 3.2) / 327.670f);
+                int speed = static_cast<int>((- value * 3.1) / 327.670f);
                 if (!handleEmergecnyFlag) {
                     this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
                 }
@@ -187,7 +187,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
                 }
             }
             else if (args[0] == "2") {
-                double speed = static_cast<int>((value * 3.2) / 327.670f);
+                double speed = static_cast<int>((value * 3.1) / 327.670f);
                 this->broadcastMessage("start;arduino;rotate;" + std::to_string(speed));
             }
         }
@@ -227,13 +227,6 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
             this->broadcastMessage("strat;arduino;clear;1\n");
         }
     }
-    else if (tokens[0] == "arduino") {
-        if (tokens[2] == "set pos") {
-            std::vector<std::string> pos = TCPUtils::split(tokens[3], ",");
-            this->robotPose = {std::stof(pos[0]), std::stof(pos[1]), std::stof(pos[2]) / 100};
-            this->sendToClient("strat;lidar;set pos;" + std::to_string(this->robotPose.pos.x) + "," + std::to_string(this->robotPose.pos.y) + "," + std::to_string(this->robotPose.theta) + "\n", lidarSocket);
-        }
-    }
 }
 
 void TCPServer::broadcastMessage(const char* message, int senderSocket)
@@ -371,27 +364,6 @@ void TCPServer::checkIfAllClientsReady() {
     if (allReady)
     {
         this->broadcastMessage("strat;all;ready;1\n");
-        std::thread([this]() { askArduinoPos(); }).detach();
-        this->broadcastMessage("strat;arduino;set pos;0,0,0");
-        this->broadcastMessage("strat;arduino;set pos;0,0,0");
-    }
-}
-
-void TCPServer::askArduinoPos() {
-    for (const auto & client : clients) {
-        if (client.name == "arduino") {
-            this->arduinoSocket = client.socket;
-            break;
-        }
-    }
-
-    if (this->arduinoSocket == -1) {
-        return;
-    }
-
-    while (!this->_shouldStop) {
-        this->sendToClient("strat;arduino;get pos;1\n", this->arduinoSocket);
-        usleep(50'000);
     }
 }
 
diff --git a/TCPServer.h b/TCPServer.h
index 5ac838b..3b4a8e8 100644
--- a/TCPServer.h
+++ b/TCPServer.h
@@ -106,8 +106,6 @@ public:
 
     void stop();
 
-    void askArduinoPos();
-
     [[nodiscard]] size_t nbClients() const;
 
     [[nodiscard]] bool shouldStop() const;