void NaoMarkServiceDetection::callback(const std::string &key, const AL::ALValue &value, const AL::ALValue &msg)
{
AL::ALValue marks = fMemoryProxy.getData("LandmarkDetected");
if(marks.getSize() > 0 && !_isMarkFound)
{
int TimeStampField = marks[0][1];
if((int)marks[1][0][1][0] == _markToFind)
{
if((float)marks[1][0][0][3] < 0.2f)
{
if(_isAllowedToMove)
motionProxy->moveToward(0.5f,0,marks[1][0][0][1]);
_naoMarkDetected = true;
}
else
{
motionProxy->moveToward(0,0,0);
_isMarkFound = true;
}
}
else
motionProxy->moveToward(0,0,0);
}
}
void NaoMarkServiceDetection::backGroundService()
{
_isThreadRuning = true;
while(_isThreadRuning)
{
_naoMarkDetected = false;
Sleep((DWORD)1000);
if(!_naoMarkDetected && _markToFind != -1 && !_isMarkFound)
{
motionProxy->moveToward(0,0,0);
FindMarkArround();
}
}
}