bool Gripper::handlePickUp(gripper::PickUp::Request &req, gripper::PickUp::Response &res)
{
handlePickup(req.fully);
res.succeeded = (unsigned char) true;
return true;
}
bool Gripper::initialise() {
glue.init();
return false;
RX.setMotorName("/tilt_controller/", 15E-3, 1);
RX.initCompleted();
RX.setMultiplier(2.0);
handlePickup(true);
ros::Rate sleep(5);
for (int i = 0; i < 10; ++i) {
sleep.sleep();
loopOnce();
while(!RX.hasCompleted())
{
loopOnce();
}
}
MX.setMotorName("/pan_controller/", 3E-02, 2);
MX.runIntoLimit();
while(!MX.hasCompleted())
{
loopOnce();
}
for (int i = 0; i < 10; ++i) {
sleep.sleep();
loopOnce();
while(!RX.hasCompleted() | !MX.hasCompleted())
{
loopOnce();
}
}
spindle.initialise();
spindle.intialiseExternal();
spindle.isInitialised();
while(!spindle.isInitialised())
{
loopOnce();
}
initialised = true;
return true;
}
void GameHandler::processMessage(NetComputer *computer, MessageIn &message)
{
GameClient &client = *static_cast<GameClient *>(computer);
if (client.status == CLIENT_LOGIN)
{
if (message.getId() != PGMSG_CONNECT)
return;
std::string magic_token = message.readString(MAGIC_TOKEN_LENGTH);
client.status = CLIENT_QUEUED; // Before the addPendingClient
mTokenCollector.addPendingClient(magic_token, &client);
return;
}
else if (client.status != CLIENT_CONNECTED)
{
return;
}
switch (message.getId())
{
case PGMSG_SAY:
handleSay(client, message);
break;
case PGMSG_NPC_TALK:
case PGMSG_NPC_TALK_NEXT:
case PGMSG_NPC_SELECT:
case PGMSG_NPC_NUMBER:
case PGMSG_NPC_STRING:
handleNpc(client, message);
break;
case PGMSG_PICKUP:
handlePickup(client, message);
break;
case PGMSG_USE_ITEM:
handleUseItem(client, message);
break;
case PGMSG_DROP:
handleDrop(client, message);
break;
case PGMSG_WALK:
handleWalk(client, message);
break;
case PGMSG_EQUIP:
handleEquip(client, message);
break;
case PGMSG_UNEQUIP:
handleUnequip(client, message);
break;
case PGMSG_MOVE_ITEM:
handleMoveItem(client, message);
break;
case PGMSG_ATTACK:
handleAttack(client, message);
break;
case PGMSG_USE_SPECIAL_ON_BEING:
handleUseSpecialOnBeing(client, message);
break;
case PGMSG_USE_SPECIAL_ON_POINT:
handleUseSpecialOnPoint(client, message);
break;
case PGMSG_ACTION_CHANGE:
handleActionChange(client, message);
break;
case PGMSG_DIRECTION_CHANGE:
handleDirectionChange(client, message);
break;
case PGMSG_DISCONNECT:
handleDisconnect(client, message);
break;
case PGMSG_TRADE_REQUEST:
handleTradeRequest(client, message);
break;
case PGMSG_TRADE_CANCEL:
case PGMSG_TRADE_AGREED:
case PGMSG_TRADE_CONFIRM:
case PGMSG_TRADE_ADD_ITEM:
case PGMSG_TRADE_SET_MONEY:
handleTrade(client, message);
break;
case PGMSG_NPC_BUYSELL:
handleNpcBuySell(client, message);
break;
case PGMSG_RAISE_ATTRIBUTE:
handleRaiseAttribute(client, message);
break;
case PGMSG_LOWER_ATTRIBUTE:
handleLowerAttribute(client, message);
break;
case PGMSG_RESPAWN:
// plausibility check is done by character class
client.character->respawn();
break;
case PGMSG_NPC_POST_SEND:
handleNpcPostSend(client, message);
break;
case PGMSG_PARTY_INVITE:
handlePartyInvite(client, message);
break;
case PGMSG_BEING_EMOTE:
handleTriggerEmoticon(client, message);
break;
default:
LOG_WARN("Invalid message type");
client.send(MessageOut(XXMSG_INVALID));
break;
}
}
