void MVisionSensors::update() { ADD_PROTO_TIMESTAMP; this->clear_vision_body_angles(); vector<float> bodyAngles = sensors->getVisionBodyAngles(); for (vector<float>::iterator i = bodyAngles.begin(); i != bodyAngles.end(); i++) { this->add_vision_body_angles(*i); } FootBumper leftFootBumper = sensors->getLeftFootBumper(); PSensors::PFootBumper* lfb = this->mutable_left_foot_bumper(); lfb->set_left(leftFootBumper.left); lfb->set_right(leftFootBumper.right); FootBumper rightFootBumper = sensors->getRightFootBumper(); PSensors::PFootBumper* rfb = this->mutable_right_foot_bumper(); rfb->set_left(rightFootBumper.left); rfb->set_right(rightFootBumper.right); this->set_ultra_sound_distance_left(sensors->getUltraSoundLeft()); this->set_ultra_sound_distance_right(sensors->getUltraSoundRight()); this->set_battery_charge(sensors->getBatteryCharge()); this->set_battery_current(sensors->getBatteryCurrent()); //std::cout << this->DebugString() << std::endl; }
void Sensors::updateVisionSensorsInMemory(man::memory::MVisionSensors::ptr vs) const { using namespace man::memory::proto; vs->get()->clear_vision_body_angles(); vector<float> bodyAngles = this->getVisionBodyAngles(); for (vector<float>::iterator i = bodyAngles.begin(); i != bodyAngles.end(); i++) { vs->get()->add_vision_body_angles(*i); } FootBumper leftFootBumper = this->getLeftFootBumper(); PSensors::PFootBumper* lfb = vs->get()->mutable_left_foot_bumper(); lfb->set_left(leftFootBumper.left); lfb->set_right(leftFootBumper.right); FootBumper rightFootBumper = this->getRightFootBumper(); PSensors::PFootBumper* rfb = vs->get()->mutable_right_foot_bumper(); rfb->set_left(rightFootBumper.left); rfb->set_right(rightFootBumper.right); vs->get()->set_ultra_sound_distance_left(this->getUltraSoundLeft()); vs->get()->set_ultra_sound_distance_right(this->getUltraSoundRight()); vs->get()->set_battery_charge(this->getBatteryCharge()); vs->get()->set_battery_current(this->getBatteryCurrent()); }