From 4226d562e399eb9e14b6fa997598830c11dddf22 Mon Sep 17 00:00:00 2001 From: Allan Cueff Date: Wed, 8 May 2024 18:47:35 +0200 Subject: [PATCH] =?UTF-8?q?retour=20=C3=A0=20spam=20proximity=20TCP?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/localization.cpp | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/src/localization.cpp b/src/localization.cpp index 5c40af6..ad610d9 100644 --- a/src/localization.cpp +++ b/src/localization.cpp @@ -319,10 +319,7 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N if((double)nodes[pos].dist_mm_q2/4.0f < PROXIMITY_ALERT_RANGE) { proximityAlert = true; if (this->proximityLastRound) { - if(proximityValues.first == -1 || proximityValues.first > (int) ((double) nodes[pos].dist_mm_q2 / 4.0f)){ - proximityValues.first = (int) ((double) nodes[pos].dist_mm_q2 / 4.0f); - proximityValues.second = Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f);; - } + this->sendProximityAlert((int) ((double) nodes[pos].dist_mm_q2 / 4.0f), Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f)); } #ifdef LIDAR_LOG_DEBUG_MODE long epoch = std::chrono::duration_cast(std::chrono::system_clock::now().time_since_epoch()).count(); @@ -342,9 +339,6 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N } } } - if(this->proximityLastRound && proximityAlert){ - this->sendProximityAlert(proximityValues.first, proximityValues.second); - } //Get agglomerates without solo points vector>> agglomerated_points = Localization::getAgglomerates(points_inside); //Get most probable agglomerate average position