void RegularBattleScene::updateBall(int player, int index)
{
auto &poke = *data()->team(player).poke(index);
gui.pokeballs[player][index]->setToolTip(tr("%1 lv %2 -- %3%%4").arg(PokemonInfo::Name(poke.num())).arg(poke.level()).arg(poke.lifePercent()).arg(poke.status() == 0 ? "" : QString(" (%1)").arg(StatInfo::ShortStatus(poke.status()).toUpper())));
updateBallStatus(player, index);
}
void RegularBattleScene::updateBall(int player, int index)
{
auto &poke = *data()->team(player).poke(index);
gui.pokeballs[player][index]->setToolTip(tr("%1 lv %2 -- %3%").arg(PokemonInfo::Name(poke.num())).arg(poke.level()).arg(poke.lifePercent()));
updateBallStatus(player, index);
}
void RegularBattleScene::onPokeballStatusChanged(int player, int poke, int)
{
updateBallStatus(player, poke);
if (poke < data()->numberOfSlots()/2) {
updatePoke(data()->spot(player, poke));
}
}
void Robot::keepGoal()
{
int v_level = 0;
abort = false;
bool rotating=false;
bool kmt_abort = false;
cv::Point2f ballVelocity,ballPosition;
bool vt_ballLocated;
cv::Point2f keeper_center = ownGoal_coord + ownGoal_frontDir*KEEPER_DIST2GOAL;
cv::Point2f keeper_dir(ownGoal_frontDir.y,-ownGoal_frontDir.x);
moveTo(keeper_center,30);
rotateTo(keeper_dir);
void *kmt_params[6];
float targetDist = BOT_CENTER2CAM_CENTER;
float moveDist = 0;
kmt_params[0] = &targetDist;
kmt_params[1] = &moveDist;
kmt_params[2] = &v_level;
kmt_params[3] = this;
kmt_params[4] = &kmt_abort;
kmt_params[5] = &rotating;
pthread_t km_thread;
pthread_create(&km_thread,NULL,&keeperMotionThread,(void*)kmt_params);
usleep(1000);
while(!kmt_abort)
{
if(v_level==0 && !rotating)
{
adjustWorldCoordinate(image_r,1);
}
float temp_dist = moveDist;
cv::Point2f shift = temp_dist*cv::Point2f(ownGoal_frontDir.y,-ownGoal_frontDir.x);
x = keeper_center.x+shift.x;
y = keeper_center.y+shift.y;
float temp_v_level = v_level;
cv::Point2f robot_velocity(temp_v_level*DELTA_V*sin(ori),temp_v_level*DELTA_V*cos(ori));
updateBallStatus();
updateRadar();
if(!ballLocated)
{
continue;
}
if(length(ball_velocity)<MIN_BALL_SPEED_TO_KEEP || ball_velocity.dot(ownGoal_frontDir)/length(ball_velocity)>-0.1)
{
//targetDist = 0;
continue;
}
float ball2goal_time = getTime(ball_coord,ball_velocity,ownGoal_coord,keeper_dir);
float ball2keepline_time = getTime(ball_coord,ball_velocity,keeper_center,keeper_dir);
cv::Point2f goalPoint = ball_coord + ball2goal_time*ball_velocity;
cv::Point2f moveToPoint = ball_coord + ball2keepline_time*ball_velocity;
if(ball2keepline_time<0 || length(goalPoint-ownGoal_coord)>ownGoal_width/2+GOAL_WIDTH_DELTA)
{
//targetDist = 0;
continue;
}
shootRoute.clear();
shootRoute.push_back(cv::Point(x,y));
shootRoute.push_back(moveToPoint);
targetDist = (moveToPoint - keeper_center).dot(keeper_dir)+BOT_CENTER2CAM_CENTER;
}
}
