void ControllerImpl::disconnectToService(std::string name)
{
BaseService *srv = getService(name);
if (srv != NULL) {
// End service loop
srv->endServiceLoop();
}
}
char* MyController::sendSceneInfo(std::string header, int camID) {
m_my->setWheelVelocity(0.0, 0.0);
Vector3d myPos;
m_my->getPosition(myPos);
double x = myPos.x();
double z = myPos.z();
double theta = calcHeadingAngle(); // y方向の回転は無しと考える
// カメラがついているリンク名取得
std::string link = ""; //"WAIST_LINK0"; //m_my->getCameraLinkName(3);
if (camID < 3) {
link = m_my->getCameraLinkName(camID);
} else {
link = "WAIST_LINK0";
}
//const dReal *lpos = m_my->getParts(link.c_str())->getPosition();
Vector3d lpos;
m_my->getParts(link.c_str())->getPosition(lpos);
// カメラの位置取得(リンク座標系)
Vector3d cpos;
m_my->getCamPos(cpos, camID);
// カメラの位置(絶対座標系, ロボットの回転はないものとする)
printf("linkpos: %lf %lf %lf \n", lpos.x(), lpos.y(), lpos.z());
printf("camerapos: %lf %lf %lf \n", cpos.x(), cpos.y(), cpos.z());
Vector3d campos(lpos.x() + cpos.z() * sin(DEG2RAD(theta)),
lpos.y() + cpos.y(),
lpos.z() + cpos.z() * cos(DEG2RAD(theta)));
//Vector3d campos(cpos.x(), cpos.y(), cpos.z());
// カメラの方向取得(ロボットの回転,関節の回転はないものとする)
Vector3d cdir;
m_my->getCamDir(cdir, camID);
char *replyMsg = new char[1024];
sprintf(replyMsg, "%s %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf",
header.c_str(), x, z, theta, campos.x(), campos.y(), campos.z(), cdir.x(), cdir.y(), cdir.z());
printf("%s \n", replyMsg);
m_srv->sendMsgToSrv(replyMsg);
m_my->setWheelVelocity(0.0, 0.0);
return replyMsg;
}
// static member function (callback)
void BaseService::ServiceMain(DWORD dwArgc, LPTSTR* lpszArgv) {
// Get a pointer to the C++ object
BaseService* pService = m_pThis;
// Register the control request handler
pService->m_hServiceStatus =
RegisterServiceCtrlHandler(pService->m_szServiceName, Handler);
if (pService->m_hServiceStatus == NULL)
return;
// Start the initialization
pService->SetStatus(SERVICE_START_PENDING);
if (pService->OnInitialize()) {
pService->SetStatus(SERVICE_RUNNING);
pService->Run();
}
// Tell the service manager we are stopped
pService->SetStatus(SERVICE_STOPPED);
}
double MyController::onAction(ActionEvent &evt)
{
if(!checkService("RecogTrash")){
m_srv == NULL;
}
if(m_srv == NULL){
// ゴミ認識サービスが利用可能か調べる
if(checkService("RecogTrash")){
// ゴミ認識サービスに接続
m_srv = connectToService("RecogTrash");
}
}
//if(evt.time() < m_time) printf("state: %d \n", m_state);
switch(m_state) {
// 初期状態
case 0: {
if(m_srv == NULL){
// ゴミ認識サービスが利用可能か調べる
if(checkService("RecogTrash")){
// ゴミ認識サービスに接続
m_srv = connectToService("RecogTrash");
}
} else if(m_srv != NULL && m_executed == false){
//rotate toward upper
m_my->setJointVelocity("LARM_JOINT4", -m_jvel, 0.0);
m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0);
// 50°回転
m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time();
m_state = 5;
m_executed = false;
}
break;
}
case 5: {
if(evt.time() > m_time && m_executed == false) {
//m_my->setJointVelocity("LARM_JOINT1", 0.0, 0.0);
m_my->setJointVelocity("LARM_JOINT4", 0.0, 0.0);
m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0);
sendSceneInfo("Start");
//m_srv->sendMsgToSrv("Start");
printf("Started! \n");
m_executed = true;
}
break;
}
// 物体の方向が帰ってきた
case 20: {
// 送られた座標に回転する
m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time());
//printf("debug %lf %lf \n", evt.time(), m_time);
m_state = 21;
m_executed = false;
break;
}
case 21: {
// ロボットが回転中
//printf("debug %lf %lf \n", evt.time(), m_time);
if(evt.time() > m_time && m_executed == false) {
// 物体のある場所に到着したので、車輪と止め、関節を回転し始め、物体を拾う
m_my->setWheelVelocity(0.0, 0.0);
// 物体のある方向に回転した
//printf("目的地の近くに移動します %lf %lf %lf \n", nextPos.x(), nextPos.y(), nextPos.z());
// 送られた座標に移動する
m_time = goToObj(nextPos, m_vel*4, m_range, evt.time());
//m_time = goToObj(nextPos, m_vel*4, 40, evt.time());
m_state = 22;
m_executed = false;
}
break;
}
case 22: {
// 送られた座標に移動した
if(evt.time() > m_time && m_executed == false) {
m_my->setWheelVelocity(0.0, 0.0);
printf("止める \n");
Vector3d myPos;
m_my->getPosition(myPos);
double x = myPos.x();
double z = myPos.z();
double theta = 0; // y方向の回転は無しと考える
char replyMsg[256];
bool found = recognizeNearestTrash(m_tpos, m_tname);
// ロボットのステートを更新
if (found == true) {
m_state = 500;
m_executed = false;
//printf("m_executed = false, state = 500 \n");
} else {
//printf("Didnot found anything \n");
m_state = 10;
m_executed = false;
}
}
break;
}
case 30: {
// 送られた座標に回転する
m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time());
//printf("case 30 time: %lf \n", m_time);
m_state = 31;
m_executed = false;
break;
}
// 物体を掴むために、ロボットの向く角度をズラス
case 31: {
if(evt.time() > m_time && m_executed == false) {
Vector3d grabPos;
//printf("斜めにちょっとずれた以前の時間 time: %lf \n", evt.time());
if(calcGrabPos(nextPos, 20, grabPos)) {
m_time = rotateTowardObj(grabPos, m_vel / 5, evt.time());
printf("斜め grabPos :%lf %lf %lf \n", grabPos.x(), grabPos.y(), grabPos.z());
printf("time: %lf \n", m_time);
}
m_state = 32;
m_executed = false;
}
break;
}
// 物体の方向が帰ってきた
case 32: {
if(evt.time() > m_time && m_executed == false) {
// 物体のある場所に到着したので、車輪と止め、関節を回転し始め、物体を拾う
m_my->setWheelVelocity(0.0, 0.0);
//printf("回転を止めた evt.time %lf \n", evt.time());
// 関節の回転を始める
m_my->setJointVelocity("RARM_JOINT1", -m_jvel, 0.0);
// 50°回転
m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time();
m_state = 33;
m_executed = false;
}
break;
}
case 33: {
// 関節回転中
if(evt.time() > m_time && m_executed == false) {
// 関節の回転を止める
m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0);
// 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
double x = myPos.x();
double z = myPos.z();
double theta = 0; // y方向の回転は無しと考える
//物体を掴めるか掴めないかによって処理を分岐させる
if(m_grasp) { // 物体を掴んだ
// 捨てたゴミをゴミ候補
std::vector<std::string>::iterator it;
// ゴミ候補を得る
it = std::find(m_trashes.begin(), m_trashes.end(), m_tname);
// 候補から削除する
m_trashes.erase(it);
printf("erased ... \n");
// ゴミ箱への行き方と問い合わせする
char replyMsg[256];
// もっとも近いゴミ箱を探す
//bool found = recognizeNearestTrashBox(m_trashBoxPos, m_trashBoxName);
// ゴミを置くべき座標を探す
bool found = findPlace2PutObj(m_trashBoxPos, m_tname);
if(found) {
// ゴミ箱が検出出来た
std::cout << "trashboxName " << m_trashBoxName << std::endl;
sprintf(replyMsg, "AskTrashBoxRoute %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf",
x, z, theta, m_trashBoxPos.x(), m_trashBoxPos.y(), m_trashBoxPos.z());
} else {
sprintf(replyMsg, "AskTrashBoxPos %6.1lf %6.1lf %6.1lf",
x, z, theta);
}
m_srv->sendMsgToSrv(replyMsg);
m_executed = true;
} else { // 物体を掴めなかった、次に探す場所を問い合わせる
// ゴミを掴めなかったもしくはゴミが無かった、次にゴミのある場所を問い合わせする
// 逆方向に関節の回転を始める
m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0);
// 50°回転
m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time();
m_state = 34;
m_lastFailedTrash = m_tname;
m_executed = false;
}
}
break;
}
case 34: {
if(evt.time() > m_time && m_executed == false) {
// 関節の回転を止める
m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0);
// 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
double x = myPos.x();
double z = myPos.z();
double theta = 0;
char replyMsg[256];
sprintf(replyMsg, "AskObjPos %6.1lf %6.1lf %6.1lf", x, z, theta);
printf("case 34 debug %s \n", replyMsg);
m_srv->sendMsgToSrv(replyMsg);
m_executed = true;
}
break;
}
case 40: {
// 送られた座標に回転する
m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time());
m_state = 41;
m_executed = false;
break;
}
case 41: {
// 送られた座標に回転中
if(evt.time() > m_time && m_executed == false) {
// 送られた座標に移動する
printf("目的地の近くに移動します %lf %lf %lf \n", nextPos.x(), nextPos.y(), nextPos.z());
m_time = goToObj(nextPos, m_vel*4, m_range, evt.time());
m_state = 42;
m_executed = false;
}
break;
}
case 42: {
// 送られた座標に移動中
if(evt.time() > m_time && m_executed == false) {
// 送られた座標に到着した、 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
double x = myPos.x();
double z = myPos.z();
double theta = 0; // y方向の回転は無しと考える
char replyMsg[256];
// もっとも近いゴミ箱を探す
bool found = recognizeNearestTrashBox(m_trashBoxPos, m_trashBoxName);
if(found) {
// ゴミ箱が検出出来た
std::cout << "trashboxName " << m_trashBoxName << std::endl;
sprintf(replyMsg, "AskTrashBoxRoute %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf %6.1lf",
x, z, theta, m_trashBoxPos.x(), m_trashBoxPos.y(), m_trashBoxPos.z());
} else {
sprintf(replyMsg, "AskTrashBoxPos %6.1lf %6.1lf %6.1lf",
x, z, theta);
}
m_srv->sendMsgToSrv(replyMsg);
m_executed = true;
}
break;
}
case 50: {
if(evt.time() > m_time && m_executed == false) {
Vector3d throwPos;
//printf("斜めにちょっとずれた以前の時間 time: %lf \n", evt.time());
// 送られた座標に到着した、 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
printf("robot pos %lf %lf \n", myPos.x(), myPos.z());
// grasp中のパーツを取得します
CParts *parts = m_my->getParts("RARM_LINK7");
// grasp中のパーツの座標を取得出来れば、回転する角度を逆算出来る。
Vector3d partPos;
if (parts->getPosition(partPos)) {
printf("parts pos before rotate %lf %lf %lf \n", partPos.x(), partPos.y(), partPos.z());
}
//if(calcGrabPos(nextPos, 20, throwPos)) {
if(calcGrabPos(nextPos, 20, throwPos)) {
m_time = rotateTowardObj(throwPos, m_vel / 5, evt.time());
printf("斜めに捨てる throwPos :%lf %lf %lf \n", throwPos.x(), throwPos.y(), throwPos.z());
//printf("time: %lf \n", m_time);
}
m_state = 51;
m_executed = false;
}
break;
}
case 51: {
// ゴミ箱に到着したので、車輪を停止し、アームを下ろし、物体をゴミ箱に捨てる準備をする
m_my->setWheelVelocity(0.0, 0.0);
// grasp中のパーツを取得します
CParts *parts = m_my->getParts("RARM_LINK7");
// grasp中のパーツの座標を取得出来れば、回転する角度を逆算出来る。
Vector3d partPos;
if (parts->getPosition(partPos)) {
printf("parts pos after rotate %lf %lf %lf \n", partPos.x(), partPos.y(), partPos.z());
}
// releaseします
parts->releaseObj();
// ゴミが捨てられるまで少し待つ
sleep(1);
// grasp終了
m_grasp = false;
//confirmThrewTrashPos(m_threwPos, m_tname);
//printf("捨てた座標： %lf %lf %lf \n", m_threwPos.x(), m_threwPos.y(), m_threwPos.z());
// 関節の回転を始める
m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0);
m_time = DEG2RAD(ROTATE_ANG) / m_jvel + evt.time() + 1.0;
m_state = 52;
m_executed = false;
break;
}
case 52: {
// 関節が回転中
if(evt.time() > m_time && m_executed == false) {
// 関節が元に戻った、関節の回転を止める
m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0);
// 自分の位置の取得
Vector3d myPos;
m_my->getPosition(myPos);
double x = myPos.x();
double z = myPos.z();
double theta = 0; // y方向の回転は無しと考える
// ゴミを捨てたので、次にゴミのある場所を問い合わせする
char replyMsg[256];
if(recognizeNearestTrash(m_tpos, m_tname)) {
m_executed = false;
// 物体が発見された
m_state = 500;
} else {
sprintf(replyMsg, "AskObjPos %6.1lf %6.1lf %6.1lf", x, z, theta);
m_srv->sendMsgToSrv(replyMsg);
m_executed = true;
}
}
break;
}
case 100: {
m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0);
m_my->setWheelVelocity(0.0, 0.0);
break;
}
case 800: {
if(evt.time() > m_time && m_executed == false) {
sendSceneInfo();
m_executed = true;
}
break;
}
case 805: {
if(evt.time() > m_time && m_executed == false) {
// 送られた座標に移動する
double range = 0;
m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time());
m_state = 807;
m_executed = false;
}
break;
}
case 807: {
if(evt.time() > m_time && m_executed == false) {
m_my->setWheelVelocity(0.0, 0.0);
printf("移動先 x: %lf, z: %lf \n", nextPos.x(), nextPos.z());
m_time = goToObj(nextPos, m_vel*4, m_range, evt.time());
m_state = 810;
m_executed = false;
}
break;
}
case 810: {
// 送られた座標に移動中
if(evt.time() > m_time && m_executed == false) {
m_my->setWheelVelocity(0.0, 0.0);
m_time = rotateTowardObj(m_lookingPos, m_rotateVel, evt.time());
m_executed = false;
m_state = 815;
}
break;
}
case 815: {
// 送られた座標に移動中
if(evt.time() > m_time && m_executed == false) {
m_my->setWheelVelocity(0.0, 0.0);
sendSceneInfo();
printf("sent data to SIGViewer \n");
m_executed = true;
}
break;
}
case 920: {
// 送られた座標に回転する
m_time = rotateTowardObj(nextPos, m_rotateVel, evt.time());
m_state = 921;
m_executed = false;
break;
}
case 921: {
// ロボットが回転中
if(evt.time() > m_time && m_executed == false) {
m_my->setWheelVelocity(0.0, 0.0);
m_executed = false;
}
break;
}
default: {
break;
}
}
return 0.05;
}
double MyController::onAction(ActionEvent &evt)
{
// サービスが使用可能か定期的にチェックする
bool available = checkService("CleanUpReferee");
if(!available && m_ref != NULL) m_ref = NULL;
// 使用可能
else if(available && m_ref == NULL){
// サービスに接続
m_ref = connectToService("CleanUpReferee");
}
// 自分の位置取得
Vector3d myPos;
m_my->getPosition(myPos);
// 衝突中の場合,衝突が継続しているかチェック
if(colState){
CParts *parts = m_my->getMainParts();
bool state = parts->getCollisionState();
// 衝突していない状態に戻す
if(!state) colState = false;
}
int entSize = m_entities.size();
for(int i = 0; i < entSize; i++){
// ロボットまたはゴミ箱の場合は除く
if(m_entities[i] == "robot_000" ||
m_entities[i] == "trashbox_0" ||
m_entities[i] == "trashbox_1" ||
m_entities[i] == "trashbox_2"){
continue;
}
// エンティティ取得
SimObj *ent = getObj(m_entities[i].c_str());
// 位置取得
Vector3d tpos;
ent->getPosition(tpos);
// ゴミ箱からゴミを結ぶベクトル
Vector3d vec(tpos.x()-myPos.x(), tpos.y()-myPos.y(), tpos.z()-myPos.z());
// ゴミがゴミ箱の中に入ったかどうか判定
if(abs(vec.x()) < tboxSize_x/2.0 &&
abs(vec.z()) < tboxSize_z/2.0 &&
tpos.y() < tboxMax_y &&
tpos.y() > tboxMin_y ){
// ゴミがリリースされているか確認
if(!ent->getIsGrasped()){
std::string msg;
bool success = false;
// 台の上に置く(成功)
if(strcmp(ent->name(), "mayonaise_0") == 0 && tpos.y() != 57.85) {tpos.y(57.85); success = true;}
else if(strcmp(ent->name(), "chigarette") == 0 && tpos.y() != 54.04){ tpos.y(54.04); success = true;}
else if(strcmp(ent->name(), "chocolate") == 0 && tpos.y() != 51.15){ tpos.y(51.15); success = true;}
else if(strcmp(ent->name(), "mugcup") == 0 && tpos.y() != 54.79){ tpos.y(54.79); success = true;}
else if(strcmp(ent->name(), "petbottle_0") == 0 && tpos.y() != 67.45){ tpos.y(67.45); success = true;}
else if(strcmp(ent->name(), "petbottle_3") == 0 && tpos.y() != 61.95){ tpos.y(61.95); success = true;}
else if(strcmp(ent->name(), "clock") == 0 && tpos.y() != 56.150){ tpos.y(56.150); success = true;}
else if(strcmp(ent->name(), "kettle") == 0 && tpos.y() != 60.650){ tpos.y(60.650); success = true;}
// 台の上に置く(失敗)
else if(strcmp(ent->name(), "petbottle_1") == 0 && tpos.y() != 67.45){ tpos.y(67.45);}
else if(strcmp(ent->name(), "petbottle_2") == 0 && tpos.y() != 67.45){ tpos.y(67.45);}
else if(strcmp(ent->name(), "petbottle_4") == 0 && tpos.y() != 61.95){ tpos.y(61.95);}
else if(strcmp(ent->name(), "mayonaise_1") == 0 && tpos.y() != 57.85){ tpos.y(57.85);}
else if(strcmp(ent->name(), "can_0") == 0 && tpos.y() != 55.335){ tpos.y(55.335);}
else if(strcmp(ent->name(), "can_1") == 0 && tpos.y() != 55.335){ tpos.y(55.335);}
else if(strcmp(ent->name(), "can_2") == 0 && tpos.y() != 57.050){ tpos.y(57.050);}
else if(strcmp(ent->name(), "can_3") == 0 && tpos.y() != 57.050){ tpos.y(57.050);}
else if(strcmp(ent->name(), "banana") == 0 && tpos.y() != 51.69){ tpos.y(51.69);}
else if(strcmp(ent->name(), "apple") == 0 && tpos.y() != 54.675){ tpos.y(54.675);}
else{continue;}
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
if(success){
msg = "CleanUpReferee/";
msg += ent->name();
msg += " succeeded/1000";
}
else{
msg = "CleanUpReferee/";
msg += ent->name();
msg += " failed/-600";
}
if(m_ref != NULL) {
m_ref->sendMsgToSrv(msg.c_str());
}
else{
LOG_MSG((msg.c_str()));
}
}
}
}
return retValue;
}
// static member function (callback) to handle commands from the
// service control manager
void BaseService::Handler(DWORD dwControl) {
// Get a pointer to the object
BaseService* pService = m_pThis;
DWORD currentState = pService->m_Status.dwCurrentState;
switch (dwControl) {
case SERVICE_CONTROL_STOP:
pService->SetStatus(SERVICE_STOP_PENDING);
pService->OnStop();
currentState = SERVICE_STOPPED;
break;
case SERVICE_CONTROL_PAUSE:
pService->SetStatus(SERVICE_PAUSE_PENDING);
pService->OnPause();
currentState = SERVICE_PAUSED;
break;
case SERVICE_CONTROL_CONTINUE:
pService->SetStatus(SERVICE_CONTINUE_PENDING);
pService->OnContinue();
currentState = SERVICE_RUNNING;
break;
case SERVICE_CONTROL_INTERROGATE:
pService->OnInterrogate();
break;
case SERVICE_CONTROL_SHUTDOWN:
pService->OnShutdown();
return;
default:
if (dwControl >= 128 && dwControl <= 255)
pService->OnUserControl(dwControl);
break;
}
// Report current status
pService->SetStatus(currentState);
}
double MyController::onAction(ActionEvent &evt)
{
/*gettimeofday(&t0, NULL);
int sec, msec;
if (t0.tv_usec < t1.tv_usec) {
sec = t0.tv_sec - t1.tv_sec - 1;
msec= 1000000 + t0.tv_usec - t1.tv_usec;
}
else {
sec = t0.tv_sec - t1.tv_sec;
msec = t0.tv_usec - t1.tv_usec;
}
LOG_MSG(("%d.%d",sec,msec));
t1 = t0;*/
// check whether Referee service is available or not
bool available = checkService("RoboCupReferee");
if(!available && m_ref != NULL) m_ref = NULL;
else if(available && m_ref == NULL){
m_ref = connectToService("RoboCupReferee");
}
if (check1_clear == true && a == false && b == false && d == false){
//total = total + 300;
//stringstream ss;
//ss << total;
//string result = ss.str();
//sendMsg("SIGViewer", result);
std::string msg = "RoboCupReferee/Check point1 clear/300";
if(m_ref != NULL){
m_ref->sendMsgToSrv(msg.c_str());
}
LOG_MSG((msg.c_str()));
a = true;
}
if (elevator_clear == true && a == true && b == false && d == false){
//total = total + 300;
//stringstream ss2;
//ss2 << total;
//string result2 = ss2.str();
//sendMsg("SIGViewer", result2);
std::string msg = "RoboCupReferee/Elevator clear" "/300";
if(m_ref != NULL){
m_ref->sendMsgToSrv(msg.c_str());
}
LOG_MSG((msg.c_str()));
b = true;
}
if (crowd_clear == true && a == true && b == true && d == false){
//total = total + 300;
//stringstream ss5;
//ss5 << total;
//string result5 = ss5.str();
//sendMsg("SIGViewer", result5);
std::string msg = "RoboCupReferee/Crowded loacation clear" "/300";
if(m_ref != NULL){
m_ref->sendMsgToSrv(msg.c_str());
}
LOG_MSG((msg.c_str()));
d = true;
}
if (all_clear == true && a == true && b == true && d == true && e == false){
//total = total + 100;
//stringstream ss;
//ss << total;
//string result = ss.str();
//sendMsg("SIGViewer", result);
std::string msg = "RoboCupReferee/All check points clear" "/100";
if(m_ref != NULL){
m_ref->sendMsgToSrv(msg.c_str());
}
LOG_MSG((msg.c_str()));
e = true;
}
return retValue;
}