modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-04-11 11:13:37 +02:00
parent 77ec8cba7f
commit f3d89f7680
1 changed files with 12 additions and 2 deletions
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14
TCPServer.cpp
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@@ -198,7 +198,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
}
this->waitForAruco = false;
}
std::cout << "Received: " << message << std::endl;
// std::cout << "Received: " << message << std::endl;
}
@@ -281,6 +281,7 @@ void TCPServer::startGame() {
waitForAruco = true;
this->broadcastMessage("strat;aruco;get aruco;1\n");
std::cout << "Ask for aruco" << std::endl;
while (this->waitForAruco) {
usleep(100'000);
@@ -291,16 +292,20 @@ void TCPServer::startGame() {
return;
// TODO maybe rotate the robot but handle that here
}
std::cout << "Aruco found" << std::endl;
goToAruco(this->arucoTags[0], 1);
std::cout << "I'm on aruco" << std::endl;
// pi/4
this->broadcastMessage("strat;arduino;angle;0");
usleep(1'000'000);
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
usleep(4'000'000);
this->broadcastMessage("strat;aruco;get aruco;1\n");
std::cout << "An other aruco" << std::endl;
waitForAruco = true;
this->broadcastMessage("strat;aruco;get aruco;1\n");
while (this->waitForAruco) {
usleep(100'000);
}
@@ -308,14 +313,19 @@ void TCPServer::startGame() {
if (this->arucoTags.empty()) {
return;
}
std::cout << "Aruco found" << std::endl;
goToAruco(this->arucoTags[0], 0);
std::cout << "I'm on aruco" << std::endl;
this->broadcastMessage("strat;arduino;go;500,500\n");
usleep(2'000'000);
std::cout << "I'm on spawn point" << std::endl;
// -pi/2
this->broadcastMessage("strat;arduino;angle;-157");
this->broadcastMessage("strat;servo_moteur;baisser bras;1");
this->broadcastMessage("strat;servo_moteur;clear;1");
std::cout << "End of game" << std::endl;
}
void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {