void Processor::sendRadioData() {
Packet::RadioTx* tx = _state.logFrame->mutable_radio_tx();
tx->set_txmode(Packet::RadioTx::UNICAST);
// Halt overrides normal motion control, but not joystick
if (_state.gameState.halt()) {
// Force all motor speeds to zero
for (OurRobot* r : _state.self) {
Packet::Control* control = r->control;
control->set_xvelocity(0);
control->set_yvelocity(0);
control->set_avelocity(0);
control->set_dvelocity(0);
control->set_kcstrength(0);
control->set_shootmode(Packet::Control::KICK);
control->set_triggermode(Packet::Control::STAND_DOWN);
control->set_song(Packet::Control::STOP);
}
}
// Add RadioTx commands for visible robots and apply joystick input
for (OurRobot* r : _state.self) {
if (r->visible || _manualID == r->shell()) {
Packet::Robot* txRobot = tx->add_robots();
// Copy motor commands.
// Even if we are using the joystick, this sets robot_id and the
// number of motors.
txRobot->CopyFrom(r->robotPacket);
if (r->shell() == _manualID) {
const JoystickControlValues controlVals =
getJoystickControlValues();
applyJoystickControls(controlVals, txRobot->mutable_control(),
r);
}
}
}
if (_radio) {
_radio->send(*_state.logFrame->mutable_radio_tx());
}
}
void Processor::sendRadioData() {
Packet::RadioTx* tx = _state.logFrame->mutable_radio_tx();
// Halt overrides normal motion control, but not joystick
if (_state.gameState.halt()) {
// Force all motor speeds to zero
for (OurRobot* r : _state.self) {
Packet::RadioTx::Robot& txRobot = r->radioTx;
txRobot.set_body_x(0);
txRobot.set_body_y(0);
txRobot.set_body_w(0);
txRobot.set_kick(0);
txRobot.set_dribbler(0);
}
}
// Add RadioTx commands for visible robots and apply joystick input
for (OurRobot* r : _state.self) {
if (r->visible || _manualID == r->shell()) {
Packet::RadioTx::Robot* txRobot = tx->add_robots();
// Copy motor commands.
// Even if we are using the joystick, this sets robot_id and the
// number of motors.
txRobot->CopyFrom(r->radioTx);
if (r->shell() == _manualID) {
JoystickControlValues controlVals = getJoystickControlValues();
applyJoystickControls(controlVals, txRobot, r);
}
}
}
if (_radio) {
_radio->send(*_state.logFrame->mutable_radio_tx());
}
}