modelec/TCPSocketServer
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change sleep

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This commit is contained in:
ackimixs
2024-04-15 21:15:34 +02:00
parent 61a954ed29
commit d9233089ae
1 changed files with 12 additions and 5 deletions
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17
TCPServer.cpp
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@@ -386,8 +386,15 @@ void TCPServer::startGame() {
// pi/4
this->broadcastMessage("strat;arduino;angle;-314\n");
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
usleep(1'000'000);
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -423,8 +430,8 @@ void TCPServer::startGame() {
return;
}
isRobotMoving = true;
this->broadcastMessage("strat;arduino;go;500,500\n");
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
@@ -480,8 +487,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double thetaPrime = std::atan2(yPrime, xPrime);
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>((this->robotPose.theta + rotate + thetaPrime) * 100)) + "\n";
isRobotMoving = true;
this->broadcastMessage(toSend);
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
@@ -498,8 +505,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double pos30PercentY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(pos30PercentX)) + "," + std::to_string(static_cast<int>(pos30PercentY)) + "\n";
isRobotMoving = true;
this->broadcastMessage(toSend);
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
@@ -518,8 +525,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double robotPosForPotY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(robotPosForPotX)) + "," + std::to_string(static_cast<int>(robotPosForPotY)) + "\n";
isRobotMoving = true;
this->broadcastMessage(toSend);
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");