modelec/TCPSocketServer
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add emergency

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This commit is contained in:
ackimixs
2024-05-07 21:42:12 +02:00
parent 5b28181e73
commit f7db464191
1 changed files with 6 additions and 6 deletions
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12
TCPServer.cpp
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@@ -125,7 +125,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (tokens[2] == "stop proximity") {
if (!gameStarted) return;
/*this->stopEmergency = true;
this->stopEmergency = true;
this->gameThread.~thread();
this->broadcastMessage("strat;arduino;clear;1");
@@ -135,7 +135,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (!handleEmergencyFlag) {
std::thread([this, args]() { this->handleEmergency(std::stoi(args[0]), std::stod(args[1]) / 100); }).detach();
}*/
}
}
else if (tokens[1] != "strat") {
this->broadcastMessage(message, clientSocket);
@@ -784,11 +784,11 @@ void TCPServer::awaitRobotIdle() {
while (isRobotIdle < 2) {
usleep(50'000);
this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
/*timeout++;
timeout++;
if (timeout > 80) {
this->broadcastMessage("strat;arduino;clear;1");
break;
}*/
}
}
}
@@ -905,12 +905,12 @@ void TCPServer::handleEmergency(int distance, double angle) {
if (this->stopEmergency) {
// TODO here go back by twenty centimeter
// ReSharper disable once CppDFAUnreachableCode
double newAngle = this->robotPose.theta + angle;
/*double newAngle = this->robotPose.theta + angle;
double newX = this->robotPose.pos.x + 200 * std::cos(newAngle);
double newY = this->robotPose.pos.y + 200 * std::sin(newAngle);
usleep(200'000);
this->go(newX, newY);
awaitRobotIdle();
awaitRobotIdle();*/
}
this->gameThread.~thread();