modelec/TCPSocketServer
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ackimixs
2024-05-15 13:37:26 +02:00
parent f95f29092e
commit e2e186795d
2 changed files with 46 additions and 15 deletions
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57
TCPServer.cpp
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@@ -120,9 +120,12 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
return;
}
if (TCPUtils::contains(tokens[2], "stop proximity")) {
// TODO handle math to know if the robot is in face of the obstacle
stopEmergency = true;
std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
this->lidarDectectionAngle = stod(args[1]);
if (!handleEmergecnyFlag) {
std::thread([this]() { handleEmergency(); }).detach();
}
@@ -161,26 +164,25 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
value = 0;
}
if (args[0] == "0") {
// this value represent the angle of the robot
// wrap the value between TODO
if (!handleEmergecnyFlag) {
// double angle =
double angle = static_cast<int>((value * PI / 2) / 327.67f);
this->broadcastMessage("strat;arduino;angle;" + std::to_string(angle) + "\n");
}
}
else if (args[0] == "1") {
// my value are between -32768 and 32767
// this value represent the speed of the robot
// wrap the value between -200 and 200
int speed = static_cast<int>((- value * 3.2) / 327.670f);
if (!handleEmergecnyFlag) {
int speed = static_cast<int>((- value * 2) / 327.670f);
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
else {
if (speed > 0 && (this->lidarDectectionAngle > PI / 2 || this->lidarDectectionAngle < - PI / 2)) {
this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
}
}
}
else if (args[0] == "2") {
// TODO rotate
// my value are between -32768 and 32767
// the value represent the speed of the rotate and the -/+ the direction
// double angle =
double speed = static_cast<int>((value * 3.2) / 327.670f);
this->broadcastMessage("start;arduino;rotate;" + std::to_string(speed));
}
}
else if (tokens[2] == "button down") {
@@ -211,10 +213,16 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
int nb = std::stoi(args[0]);
double percentage = 100 - std::stod(args[1]) / 327.670f;
double percentage = std::stod(args[1]) / 327.670f;
this->percentagePanel(nb + 6, static_cast<int>(percentage));
}
}
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);
}
}
}
@@ -356,6 +364,25 @@ void TCPServer::checkIfAllClientsReady() {
if (allReady)
{
this->broadcastMessage("strat;all;ready;1\n");
std::thread([this]() { askArduinoPos(); }).detach();
}
}
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);
}
}

4
TCPServer.h
View File

@@ -81,6 +81,8 @@ private:
Axis axisLeft{0, 0};
double lidarDectectionAngle = 0;
public:
explicit TCPServer(int port);
@@ -104,6 +106,8 @@ public:
void stop();
void askArduinoPos();
[[nodiscard]] size_t nbClients() const;
[[nodiscard]] bool shouldStop() const;