modelec/connectors
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This commit is contained in:
ackimixs
2024-05-19 11:14:10 +02:00
parent 480ca510ba
commit ac7fd2c5e0
3 changed files with 22 additions and 17 deletions
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9
CMakeLists.txt
View File

@@ -3,8 +3,11 @@ project(connectors)
set(CMAKE_CXX_STANDARD 17)
find_package(PkgConfig REQUIRED)
pkg_check_modules(TCPSocket REQUIRED TCPSocket)
find_package(Modelec COMPONENTS
TCPClient
Utils
REQUIRED
)
add_executable(connectors
serialib.cpp
@@ -13,4 +16,4 @@ add_executable(connectors
main.cpp
)
target_link_libraries(connectors TCPSocket)
target_link_libraries(connectors Modelec::TCPClient Modelec::Utils)

24
MyTCPClient.cpp
View File

@@ -7,7 +7,7 @@ MyTCPClient::MyTCPClient(const char *ip, int port) : TCPClient(ip, port), robotP
void MyTCPClient::handleMessage(const std::string &message) {
// std::cout << message << std::endl;
std::vector<std::string> token = TCPSocket::split(message, ";");
std::vector<std::string> token = Modelec::split(message, ";");
if (token.size() != 4) {
std::cerr << "Invalid message format : " << message << std::endl;
@@ -20,7 +20,7 @@ void MyTCPClient::handleMessage(const std::string &message) {
this->write_2_arduino("p\n");
}
else if (token[2] == "go") {
std::vector<std::string> args = TCPSocket::split(token[3], ",");
std::vector<std::string> args = Modelec::split(token[3], ",");
std::string command = "G " + std::to_string(std::stoi(args[0])) + " " + std::to_string(std::stoi(args[1])) + "\n";
if (this->write_2_arduino(command) != 1) {
@@ -34,7 +34,7 @@ void MyTCPClient::handleMessage(const std::string &message) {
}
usleep(100);
} else if (token[2] == "transit") {
std::vector<std::string> args = TCPSocket::split(token[3], ",");
std::vector<std::string> args = Modelec::split(token[3], ",");
int x = std::stoi(args[0]);
int y = std::stoi(args[1]);
@@ -50,7 +50,7 @@ void MyTCPClient::handleMessage(const std::string &message) {
std::cerr << "Error writing to arduino" << std::endl;
}
} else if (token[2] == "set pos") {
std::vector<std::string> args = TCPSocket::split(token[3], ",");
std::vector<std::string> args = Modelec::split(token[3], ",");
std::string command = "S " + std::to_string(std::stoi(args[0])) + " " + std::to_string(std::stoi(args[1])) + " " + args[2] + "\n";
std::cout << command << std::endl;
if (this->write_2_arduino(command) != 1) {
@@ -108,15 +108,15 @@ void MyTCPClient::stop() {
}
void MyTCPClient::handleMessageFromArduino(const std::string &message) {
if (waitForPong && TCPSocket::startWith(message, "pong")) {
if (waitForPong && Modelec::startWith(message, "pong")) {
this->sendMessage("arduino;ihm;pong;1");
waitForPong = false;
} else {
try {
// std::cout << "Received from arduino : " << message << std::endl;
std::vector<std::string> args = TCPSocket::split(message, ":");
std::vector<std::string> args = Modelec::split(message, ":");
if (args.size() == 2) {
if (transitMode.waitingFor2 && TCPSocket::startWith(args[1], "2")) {
if (transitMode.waitingFor2 && Modelec::startWith(args[1], "2")) {
std::cout << "Recieved 2 slow down speed" << std::endl;
std::string command = "V " + std::to_string(transitMode.endSPeed) + "\n";
@@ -128,25 +128,25 @@ void MyTCPClient::handleMessageFromArduino(const std::string &message) {
std::cerr << "Error writing to arduino" << std::endl;
}
} else {
this->isDoingSomething = !TCPSocket::startWith(args[1], "1");
this->isDoingSomething = !Modelec::startWith(args[1], "1");
}
}
std::vector<std::string> token = TCPSocket::split(args[0], ",");
std::vector<std::string> token = Modelec::split(args[0], ",");
if (token.size() == 3) {
if (TCPSocket::startWith(token[0], ".")) {
if (Modelec::startWith(token[0], ".")) {
this->robotPose.pos.x = std::stoi("0" + token[0]);
} else {
this->robotPose.pos.x = std::stoi(token[0]);
}
if (TCPSocket::startWith(token[1], ".")) {
if (Modelec::startWith(token[1], ".")) {
this->robotPose.pos.y = std::stoi("0" + token[1]);
} else {
this->robotPose.pos.y = std::stoi(token[1]);
}
if (TCPSocket::startWith(token[2], ".")) {
if (Modelec::startWith(token[2], ".")) {
this->robotPose.theta = std::stof("0" + token[2]) / 100;
} else {
this->robotPose.theta = std::stof(token[2]) / 100;

6
MyTCPClient.h
View File

@@ -1,7 +1,9 @@
#pragma once
#include "TCPSocket/TCPClient.hpp"
#include "TCPSocket/TCPUtils.hpp"
#include <Modelec/TCPClient.h>
#include <Modelec/Utils.h>
#include <vector>
#include "serialib.h"