void MainWindow::on_actionStopRobots_triggered() {
SimCommand cmd;
// TODO: check that this handles threads properly
for (OurRobot* robot : state()->self) {
if (robot->visible) {
SimCommand::Robot* r = cmd.add_robots();
r->set_shell(robot->shell());
r->set_blue_team(processor()->blueTeam());
Geometry2d::Point newPos =
_ui.fieldView->getTeamToWorld() * robot->pos;
r->mutable_pos()->set_x(newPos.x);
r->mutable_pos()->set_y(newPos.y);
r->mutable_vel()->set_x(0);
r->mutable_vel()->set_y(0);
r->set_w(0);
}
}
for (OpponentRobot* robot : state()->opp) {
if (robot->visible) {
SimCommand::Robot* r = cmd.add_robots();
r->set_shell(robot->shell());
r->set_blue_team(!processor()->blueTeam());
Geometry2d::Point newPos =
_ui.fieldView->getTeamToWorld() * robot->pos;
r->mutable_pos()->set_x(newPos.x);
r->mutable_pos()->set_y(newPos.y);
r->mutable_vel()->set_x(0);
r->mutable_vel()->set_y(0);
r->set_w(0);
}
}
_ui.fieldView->sendSimCommand(cmd);
}
void MainWindow::on_actionQuicksaveRobotLocations_triggered() {
_ui.actionQuickloadRobotLocations->setEnabled(true);
_quickLoadCmd.reset();
for (OurRobot* robot : state()->self) {
if (robot->visible) {
SimCommand::Robot* r = _quickLoadCmd.add_robots();
r->set_shell(robot->shell());
r->set_blue_team(processor()->blueTeam());
Geometry2d::Point newPos =
_ui.fieldView->getTeamToWorld() * robot->pos;
r->mutable_pos()->set_x(newPos.x);
r->mutable_pos()->set_y(newPos.y);
r->mutable_vel()->set_x(0);
r->mutable_vel()->set_y(0);
r->set_w(0);
}
}
for (OpponentRobot* robot : state()->opp) {
if (robot->visible) {
SimCommand::Robot* r = _quickLoadCmd.add_robots();
r->set_shell(robot->shell());
r->set_blue_team(!processor()->blueTeam());
Geometry2d::Point newPos =
_ui.fieldView->getTeamToWorld() * robot->pos;
r->mutable_pos()->set_x(newPos.x);
r->mutable_pos()->set_y(newPos.y);
r->mutable_vel()->set_x(0);
r->mutable_vel()->set_y(0);
r->set_w(0);
}
}
Geometry2d::Point ballPos =
_ui.fieldView->getTeamToWorld() * state()->ball.pos;
_quickLoadCmd.mutable_ball_pos()->set_x(ballPos.x);
_quickLoadCmd.mutable_ball_pos()->set_y(ballPos.y);
_quickLoadCmd.mutable_ball_vel()->set_x(0);
_quickLoadCmd.mutable_ball_vel()->set_y(0);
}