modelec/detection_adversaire
1
0
Fork 0
mirror of https://github.com/modelec/detection_adversaire.git synced 2026-03-18 21:30:27 +01:00
Code Issues Packages Projects Releases Wiki Activity

clean code

Browse Source
This commit is contained in:
Allan Cueff
2024-05-08 22:15:39 +02:00
parent 6413ae66fe
commit 0958d329f2
2 changed files with 6 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/localization.cpp
View File

@@ -369,7 +369,7 @@ void Localization::processTriangulation(const vector<pair<double, int>>& overall
}
#ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:processTriangulation:373:T" << epoch << " >> detected beacons >> " << beaconsDetected[0] << ";" << beaconsDetected[1] << ";" << beaconsDetected[2] << endl;
cout << "### localization.cpp:processTriangulation:372:T" << epoch << " >> detected beacons >> " << beaconsDetected[0] << ";" << beaconsDetected[1] << ";" << beaconsDetected[2] << endl;
#endif
vector<int> robotPos = this->determineRobotPosition(overallNearestBeaconDetectedPointRelative, beaconsDetected);
this->sendMessage("strat", "set pos", to_string(robotPos[0]) + ',' + to_string(robotPos[1]) + ',' + to_string(robotPos[2]));
@@ -415,7 +415,7 @@ void Localization::handleMessage(const std::string &message) {
vector<string> position = split(data, ",");
#ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:handleMessage:419:T" << epoch << " >> got position TCP message >> " << position[0] << ";" << position[1] << ";" << position[2] << endl;
cout << "### localization.cpp:handleMessage:418:T" << epoch << " >> got position TCP message >> " << position[0] << ";" << position[1] << ";" << position[2] << endl;
#endif
this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2]));
}
@@ -439,7 +439,7 @@ void Localization::handleMessage(const std::string &message) {
this->triangulationMode = true;
#ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:handleMessage:443:T" << epoch << " >> got triangulation TCP message" << endl;
cout << "### localization.cpp:handleMessage:442:T" << epoch << " >> got triangulation TCP message" << endl;
#endif
}
}

5
src/main.cpp
View File

@@ -14,7 +14,7 @@ void stop_loop(int) {
using namespace std;
using namespace std::this_thread;
using namespace std::chrono_literals;
int main(int argc, char* argv[]) {
//TCP socket connection
@@ -37,7 +37,6 @@ int main(int argc, char* argv[]) {
op_result = drv->getHealth(healthinfo);
if (SL_IS_OK(op_result)) {
localizer.setLidarHealth(true);
localizer.sendMessage("strat", "ready", "1");
}
signal(SIGINT, stop_loop);
while(true){
@@ -102,6 +101,8 @@ int main(int argc, char* argv[]) {
drv->stop();
drv->setMotorSpeed(0);
drv->disconnect();
} else {
localizer.sendMessage("strat", "set health", "0");
}
delete *channel;
delete drv;