void TargetAggregation::targetDetectedCallback(const ardrone_autonomy::navdata_vision_detect::ConstPtr& msg)
{
static int targetSeenCount = 0;
//this function will be called, even if there are no targets detected
if(msg->nb_detected > 0)
{
ROS_INFO("can see the target! seen it %d times in a row", targetSeenCount);
//canSeeTarget = true;
//only start doing something if a target has been seen more than some number
if(targetSeenCount > 40)
{
if(state == SEARCHING)
approachTarget();
if(state == APPROACHING)
{
recruitOtherDrones();
}
vision_sub.shutdown();
}
else targetSeenCount++;
}
else
{
//canSeeTarget = false;
//ROS_INFO("SADNESS. Lost the target :(");
targetSeenCount = 0;
}
return;
}
void Robot_Soldier::updateAI(float delta) {
if (AI_STATE == AI_PATROLLING) {
dumbWalk();
if (targetIsVisible(target)) {
cocos2d::log("ALERTED}\n");
AI_STATE = AI_ATTACK;
}
return;
}
else if (AI_STATE == AI_ATTACK) {
approachTarget();
if (targetIsVisible(target)) {
lost_track = 0;
shoot_target(1);
}
else {
lost_track++;
}
if (lost_track > 75) {
AI_STATE = AI_PATROLLING;
}
return;
}
}
