bool hotspot::talk(hextree::plannertalk::Request &req,
hextree::plannertalk::Response &res)
{
debugger("SEEKER REQUEST ACCEPT");
sleep(1);
if(req.option>3){
switch(req.option){
case 4:{
debugger("SEEKER_1.20 ACTIVATED");
findHotspot();
break;}
case 5:{
debugger("SEEKER_1.20 SIMULATION");
simulation();
break;}
}
return true;
}
return (res.result=false);
}
void hotspot::callback_choice(const std_msgs::Int8ConstPtr msg)
{
switch(msg->data){
case 4:{
debugger("SEEKER_1.20 ACTIVATED");
findHotspot();
break;}
case 5:{
debugger("SEEKER_1.20 SIMULATION");
simulation();
break;}
}
}
HotSpotID HotspotList::findHotspotID(const Common::Point where) {
Hotspot *hotspot = findHotspot(where);
return hotspot ? hotspot->getObjectID() : kNoHotSpotID;
}
