bool
SSLGamePlanner::update ()
{
//if globalstate and refbox control didn't change,
//don't do anything
if (!isGlobalStateUptodate () && !update_refbox_control)
{
// ROS_INFO("waiting for global_state to be received");
return false;
}
if (!isPathPlannerConnected ())
{
// ROS_INFO("global_state is received, waiting for a path planner");
return false;
}
if (isGlobalStateUptodate ())
{
global_st = getGlobalState ();
for (uint8_t i = 0; i < ssl::config::TEAM_CAPACITY; i++)
{
if (team_ == ssl::BLUE)
{
team_global_state[i] = global_st.blue_team[i];
opponent_global_state[i] = global_st.yellow_team[i];
}
else
{
team_global_state[i] = global_st.yellow_team[i];
opponent_global_state[i] = global_st.blue_team[i];
}
if (global_st.balls.size () > 0)
ball_state = global_st.balls[0];
}
}
if (update_refbox_control)
{
ssl_game_state.transition (refbox_ctrl_.refbox_control, isBallKicked ());
update_refbox_control = false;
}
return true;
}
generic_callback(lua_State *_L)
{
L = getGlobalState(_L);
ref = lua_ref(L, true);
}
