modelec/TCPSocketServer
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handle the SIGTERM, now stop the the thread of the game

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ackimixs
2024-04-19 10:55:26 +02:00
parent e82930bd29
commit f4efd38059
3 changed files with 26 additions and 211 deletions
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217
TCPServer.cpp
View File

@@ -461,10 +461,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;1000,1700\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
usleep(1'000'000);
@@ -507,10 +505,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;1000,1700\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
usleep(1'000'000);
@@ -553,10 +549,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;1000,1700\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;314\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
usleep(1'000'000);
@@ -681,10 +675,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;1000,250\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;-157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -809,12 +801,10 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;go;762,0\n");
usleep(1'000'000);
this->broadcastMessage("strat;arduino;speed;200\n");
for (int i = 0; i < 3; i++) {
if (pinceState[i] == WHITE_FLOWER) {
@@ -835,207 +825,14 @@ void TCPServer::startGameBlueTeam() {
}
}
/*toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 200)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
this->broadcastMessage("strat;arduino;angle;-157\n");
awaitRobotIdle();
timeout = 0;
found = false;
while (!found) {
for (const auto & arucoTag : this->arucoTags) {
if (TCPUtils::endWith(arucoTag.name(), "flower")) {
if (arucoTag.pos().first[0] < 800 && arucoTag.pos().first[0] > 300 && arucoTag.pos().first[1] < 300 && arucoTag.pos().first[1] > -300) {
tag = arucoTag;
found = true;
break;
}
}
}
if (!found) {
this->broadcastMessage("start;aruco;get aruco;1\n");
usleep(500'000);
timeout++;
if (timeout > 10) {
return;
}
}
}
if (pinceState[1] == NONE) {
goToAruco(tag, 1);
} else if (pinceState[2] == NONE) {
goToAruco(tag, 2);
} else if (pinceState[0] == NONE) {
goToAruco(tag, 0);
} else {
return;
}
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y - 350)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
timeout = 0;
found = false;
while (!found) {
for (const auto & arucoTag : this->arucoTags) {
if (TCPUtils::endWith(arucoTag.name(), "flower")) {
if (arucoTag.pos().first[0] < 800 && arucoTag.pos().first[0] > 300 && arucoTag.pos().first[1] < 300 && arucoTag.pos().first[1] > -300) {
tag = arucoTag;
found = true;
break;
}
}
}
if (!found) {
this->broadcastMessage("start;aruco;get aruco;1\n");
usleep(500'000);
timeout++;
if (timeout > 10) {
return;
}
}
}
if (pinceState[1] == NONE) {
goToAruco(tag, 1);
} else if (pinceState[2] == NONE) {
goToAruco(tag, 2);
} else if (pinceState[0] == NONE) {
goToAruco(tag, 0);
} else {
return;
}
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y - 350)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
timeout = 0;
found = false;
while (!found) {
for (const auto & arucoTag : this->arucoTags) {
if (TCPUtils::endWith(arucoTag.name(), "flower")) {
if (arucoTag.pos().first[0] < 800 && arucoTag.pos().first[0] > 300 && arucoTag.pos().first[1] < 300 && arucoTag.pos().first[1] > -300) {
tag = arucoTag;
found = true;
break;
}
}
}
if (!found) {
this->broadcastMessage("start;aruco;get aruco;1\n");
usleep(500'000);
timeout++;
if (timeout > 10) {
return;
}
}
}
if (pinceState[1] == NONE) {
goToAruco(tag, 1);
} else if (pinceState[2] == NONE) {
goToAruco(tag, 2);
} else if (pinceState[0] == NONE) {
goToAruco(tag, 0);
} else {
return;
}
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y - 200)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;314\n");
awaitRobotIdle();
pinceHavePurpleFlower.clear();
for (int i = 0; i < 3; i++) {
if (pinceState[i] == PURPLE_FLOWER) {
pinceHavePurpleFlower.push_back(i);
}
}
if (!pinceHavePurpleFlower.empty()) {
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
this->broadcastMessage("strat;aduino;go;225,225\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;314\n");
awaitRobotIdle();
for (auto & toDrop : pinceHavePurpleFlower) {
toSend = "strat;servo_moteur;ouvrir pince;" + std::to_string(toDrop) + "\n";
this->broadcastMessage(toSend);
usleep(200'000);
pinceState[toDrop] = NONE;
toSend = "strat;servo_moteur;fermer pince;" + std::to_string(toDrop) + "\n";
this->broadcastMessage(toSend);
usleep(100'000);
}
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x + 150)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
}
if (pinceHavePurpleFlower.size() < 3) {
this->broadcastMessage("strat;arduino;go;762,300\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;go;762,0\n");
usleep(1'000'000);
this->broadcastMessage("strat;arduino;speed;200\n");
for (int i = 0; i < 3; i++) {
if (pinceState[i] == WHITE_FLOWER) {
toSend = "strat;servo_moteur;ouvrir pince;" + std::to_string(i) + "\n";
this->broadcastMessage(toSend);
usleep(200'000);
pinceState[i] = NONE;
toSend = "strat;servo_moteur;fermer pince;" + std::to_string(i) + "\n";
this->broadcastMessage(toSend);
usleep(100'000);
}
this->broadcastMessage("strat;arduino;speed;200\n");
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 350)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
}
}*/
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->endRobotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->endRobotPose.pos.y)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>(this->endRobotPose.theta * 100));
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;servo_moteur;clear;1");
}
@@ -1276,10 +1073,8 @@ 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";
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
double robotPosForPotX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
@@ -1291,11 +1086,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
toSend = "strat;servo_moteur;fermer pince;" + std::to_string(pince) + "\n";
this->broadcastMessage(toSend);
usleep(500'000);
//this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
this->broadcastMessage("strat;arduino;speed;200\n");
pinceState[pince] = TCPUtils::startWith(arucoTag.name(), "Purple_flower") ? PURPLE_FLOWER : WHITE_FLOWER;
// toSend = "strat;client;have aruco;" + std::to_string(pince) + "," + arucoTag.name() + "," + (pinceState[pince] == PURPLE_FLOWER ? "purple" : "white") + "\n";
// this->broadcastMessage(toSend);
}
void TCPServer::askArduinoPos() {
@@ -1319,11 +1111,20 @@ void TCPServer::askArduinoPos() {
void TCPServer::awaitRobotIdle() {
isRobotIdle = 0;
int timeout = 0;
// ReSharper disable once CppDFAConstantConditions
// ReSharper disable once CppDFAEndlessLoop
usleep(200'000);
while (isRobotIdle < 3) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
timeout++;
if (timeout > 20) {
this->broadcastMessage("strat;arduino;clear;1");
}
}
}
void TCPServer::sleepServer(int ms) {
}

5
TCPServer.h
View File

@@ -8,6 +8,7 @@
#include <thread>
#include <vector>
#include <algorithm>
#include <atomic>
#include <map>
#include "utils.h"
@@ -48,7 +49,7 @@ private:
std::vector<std::thread> clientThreads;
std::vector<int> clientSockets; // Store connected client sockets
int connectedClients = 0; // Track the number of connected clients
bool _shouldStop = false; // Flag to indicate if the server should stop
std::atomic<bool> _shouldStop = false; // Flag to indicate if the server should stop
std::vector<ClientTCP> clients; // Store connected clients
PinceState pinceState[3] = {NONE, NONE, NONE};
@@ -110,5 +111,7 @@ public:
void awaitRobotIdle();
void sleepServer(int ms);
~TCPServer();
};

15
main.cpp
View File

@@ -1,6 +1,17 @@
#include "TCPServer.h"
#include <csignal>
std::atomic<bool> shouldStop = false;
void signalHandler( int signum ) {
shouldStop = true;
exit(signum);
}
int main(int argc, char* argv[]) {
signal(SIGINT, signalHandler);
int port = 8080;
if (argc >= 2) {
@@ -12,8 +23,8 @@ int main(int argc, char* argv[]) {
try {
server.start();
while (!server.shouldStop()) {
usleep(1'000'000);
while (!server.shouldStop() && !shouldStop) {
usleep(500'000);
}
server.stop();