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transit

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This commit is contained in:
ackimixs
2024-04-17 20:15:46 +02:00
parent 762eac5fe1
commit 8d3fd34d2b
2 changed files with 29 additions and 1 deletions
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24
MyTCPClient.cpp
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@@ -33,6 +33,20 @@ void MyTCPClient::handleMessage(const std::string &message) {
std::cerr << "Error writing to arduino" << std::endl;
}
usleep(100);
} else if (token[2] == "transit") {
std::vector<std::string> args = TCPSocket::split(token[3], ",");
int x = std::stoi(args[0]);
int y = std::stoi(args[1]);
int endSpeed = std::stoi(args[2]);
transitMode = {x, y, endSpeed};
std::string command = "T " + std::to_string(x) + " " + std::to_string(y) + "\n";
if (this->write_2_arduino(command) != 1) {
std::cerr << "Error writing to arduino" << std::endl;
}
} else if (token[2] == "set pos") {
std::vector<std::string> args = TCPSocket::split(token[3], ",");
std::string command = "S " + std::to_string(std::stoi(args[0])) + " " + std::to_string(std::stoi(args[1])) + " " + args[2] + "\n";
@@ -90,8 +104,16 @@ void MyTCPClient::handleMessageFromArduino(const std::string &message) {
// std::cout << "Received from arduino : " << message << std::endl;
std::vector<std::string> args = TCPSocket::split(message, ":");
if (args.size() == 2) {
if (TCPSocket::startWith(args[1], "2")) {
std::string command = "V " + std::to_string(transitMode.endSPeed) + "\n";
if (this->write_2_arduino(command) != 1) {
std::cerr << "Error writing to arduino" << std::endl;
}
} else {
this->isDoingSomething = TCPSocket::startWith(args[1], "0");
}
std::vector<std::string> token = TCPSocket::split(args[0], ",");
this->isDoingSomething = TCPSocket::startWith(args[1], "0");
if (token.size() == 3) {
if (TCPSocket::startWith(token[0], ".")) {
this->robotPose.pos.x = std::stoi("0" + token[0]);

6
MyTCPClient.h
View File

@@ -50,4 +50,10 @@ private:
} pos;
float theta;
} robotPose;
struct Transit {
int x;
int y;
int endSPeed;
} transitMode;
};