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Patch erreurs messages TCP

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This commit is contained in:
Allan Cueff
2024-05-04 10:11:10 +02:00
parent 0b11f7b6de
commit e6c5f3274b
2 changed files with 20 additions and 5 deletions
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22
src/localization.cpp
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@@ -17,6 +17,13 @@ void Localization::setRobotPosition(int x, int y, int alpha) {
} }
void Localization::setBeaconsPosition(pair<int, int> positions[3]){
for(unsigned int i = 0; i < 3; i++){
this->beaconsPositions[i] = positions[i];
}
}
void Localization::setBeaconsMode(bool state){ void Localization::setBeaconsMode(bool state){
this->beaconsMode = state; this->beaconsMode = state;
} }
@@ -337,14 +344,19 @@ void Localization::handleMessage(const std::string &message) {
vector<string> position = split(data, ","); vector<string> position = split(data, ",");
this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2])); this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2]));
} }
if (contains(verb, "set beacon mode")) { if (contains(verb, "set beacon")) {
//Enable or disable beacons triangulation //Enable or disable beacons triangulation. This must be put to 0 if no beacons are on the table
this->setBeaconsMode(stoi(data)); this->setBeaconsMode(stoi(data));
} }
if (contains(verb, "set beacon position")) { if (contains(verb, "set team")) {
//Update beacons position //Update beacons position
vector<string> position = split(data, ","); if(stoi(data) == 0){
this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2])); pair<int, int> positions[3] = BLUE_TEAM_BEACONS_POS;
this->setBeaconsPosition(positions);
} else if(stoi(data) == 1){
pair<int, int> positions[3] = YELLOW_TEAM_BEACONS_POS;
this->setBeaconsPosition(positions);
}
} }
if (contains(verb, "get pos")) { if (contains(verb, "get pos")) {
//ONLY IF ROBOT IS STOPPED : measure robot position from multiple lidar runs. //ONLY IF ROBOT IS STOPPED : measure robot position from multiple lidar runs.

3
src/localization.h
View File

@@ -10,6 +10,8 @@
#define AGGLOMERATES_TRIGGER 250 #define AGGLOMERATES_TRIGGER 250
#define BEACONS_RADIUS 50 #define BEACONS_RADIUS 50
#define TRIANGULATION_ROUNDS 3 #define TRIANGULATION_ROUNDS 3
#define YELLOW_TEAM_BEACONS_POS {make_pair(1,2), make_pair(3,4), make_pair(5,6)}
#define BLUE_TEAM_BEACONS_POS {make_pair(1,2), make_pair(3,4), make_pair(5,6)}
#include <iostream> #include <iostream>
#include <vector> #include <vector>
@@ -46,6 +48,7 @@ public:
void setLidarHealth(bool ok); void setLidarHealth(bool ok);
void setRobotPosition(int x, int y, int alpha); void setRobotPosition(int x, int y, int alpha);
void setBeaconsMode(bool state); void setBeaconsMode(bool state);
void setBeaconsPosition(pair<int, int> positions[3]);
[[nodiscard]] bool getLidarHealth() const; [[nodiscard]] bool getLidarHealth() const;
[[nodiscard]] bool getBeaconsMode() const; [[nodiscard]] bool getBeaconsMode() const;
[[nodiscard]] vector<int> getAvoidance() const; [[nodiscard]] vector<int> getAvoidance() const;