modelec/TCPSocketServer
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stopEmergency

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This commit is contained in:
ackimixs
2024-05-08 16:10:33 +02:00
parent 3bc0bc4bb9
commit ddd721d564
1 changed files with 14 additions and 9 deletions
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23
TCPServer.cpp
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@@ -435,7 +435,6 @@ void TCPServer::checkIfAllClientsReady()
if (allReady)
{
std::cout << "All clients are ready" << std::endl;
this->broadcastMessage("strat;all;ready;1\n");
std::thread([this]() { askArduinoPos(); }).detach();
}
@@ -793,14 +792,6 @@ void TCPServer::awaitRobotIdle() {
usleep(50'000);
this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
timeout++;
if (stopEmergency) {
try {
std::terminate();
}
catch (const std::exception& ex) {
std::cout << ex.what() << std::endl;
}
}
if (timeout > 80) {
this->broadcastMessage("strat;arduino;clear;1");
break;
@@ -936,6 +927,12 @@ void TCPServer::handleEmergency(int distance, double angle) {
}
this->broadcastMessage("strat;arduino;clear;4\n");
try {
this->gameThread.~thread();
} catch (const std::exception& ex) {
std::cout << ex.what() << std::endl;
}
this->gameStarted = false;
this->gameThread = std::thread([this]() { this->startGame(); });
@@ -1686,39 +1683,47 @@ void TCPServer::checkpoint(const StratPattern sp) {
template<class X, class Y>
void TCPServer::go(X x, Y y) {
if (stopEmergency) return;
this->broadcastMessage("strat;arduino;go;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "\n");
}
template<class X>
void TCPServer::go(std::array<X, 2> data) {
if (stopEmergency) return;
this->broadcastMessage("strat;arduino;go;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "\n");
}
template<class X>
void TCPServer::rotate(X angle) {
if (stopEmergency) return;
this->broadcastMessage("strat;arduino;angle;" + std::to_string(static_cast<int>(angle * 100)) + "\n");
}
void TCPServer::setSpeed(const int speed) {
if (stopEmergency) return;
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
this->speed = speed;
}
void TCPServer::setMaxSpeed() {
if (stopEmergency) return;
this->setSpeed(MAX_SPEED);
}
void TCPServer::setMinSpeed() {
if (stopEmergency) return;
this->setSpeed(MIN_SPEED);
}
template<class X, class Y>
void TCPServer::transit(X x, Y y, const int endSpeed) {
if (stopEmergency) return;
this->broadcastMessage("strat;arduino;transit;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(endSpeed) + "\n");
}
template<class X>
void TCPServer::transit(std::array<X, 2> data, const int endSpeed) {
if (stopEmergency) return;
this->broadcastMessage("strat;arduino;transit;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(endSpeed) + "\n");
}