void GameStateModule::update()
{
// Check comm input last so we can reset button toggles.
if (buttonPressInput.message().toggle() != last_button)
{
last_button = !last_button;
if (!commInput.message().have_remote_gc()
|| latest_data.state() == STATE_PLAYING)
{
advanceState();
}
}
if (initialStateInput.message().toggle() != last_initial)
{
last_initial = !last_initial;
if (!commInput.message().have_remote_gc())
reset();
}
if (switchTeamInput.message().toggle() != last_team)
{
last_team = !last_team;
if (!commInput.message().have_remote_gc()
&& latest_data.state() == STATE_INITIAL)
switchTeam();
}
if (switchKickOffInput.message().toggle() != last_kickoff)
{
last_kickoff = !last_kickoff;
if (!commInput.message().have_remote_gc()
&& latest_data.state() == STATE_INITIAL)
switchKickOff();
}
if (commInput.message().have_remote_gc())
{
latest_data = commInput.message();
if (latest_data.state() != STATE_PLAYING)
{
keep_time = false;
}
else
{
keep_time = true;
}
}
if (keep_time)
{
// @TODO: keep track of secs remaining if we have no comm.
}
}
void GameStateModule::update()
{
// Check comm input last so we can reset button toggles.
if (buttonPressInput.message().toggle() != last_button)
{
last_button = !last_button;
if (!commInput.message().have_remote_gc()
|| latest_data.state() == STATE_PLAYING)
{
advanceState();
}
}
if (initialStateInput.message().toggle() != last_initial)
{
last_initial = !last_initial;
if (!commInput.message().have_remote_gc())
reset();
}
if (switchTeamInput.message().toggle() != last_team)
{
last_team = !last_team;
if (!commInput.message().have_remote_gc()
&& latest_data.state() == STATE_INITIAL)
switchTeam();
}
if (switchKickOffInput.message().toggle() != last_kickoff)
{
last_kickoff = !last_kickoff;
if (!commInput.message().have_remote_gc()
&& latest_data.state() == STATE_INITIAL)
switchKickOff();
}
if (commInput.message().have_remote_gc())
{
latest_data = commInput.message();
if (latest_data.state() != STATE_PLAYING)
{
keep_time = false;
start_time = 0;
}
else
{
keep_time = true;
if (!start_time)
{
start_time = realtime_micro_time();
}
}
// Did GC get our message yet??
for (int i = 0; i < latest_data.team_size(); ++i)
{
messages::TeamInfo* team = latest_data.mutable_team(i);
if (team->team_number() == team_number)
{
messages::RobotInfo* player = team->mutable_player(player_number-1);
if (response_status == GAMECONTROLLER_RETURN_MSG_MAN_PENALISE)
{
if(player->penalty())
{
response_status = GAMECONTROLLER_RETURN_MSG_ALIVE;
}
}
else if (response_status == GAMECONTROLLER_RETURN_MSG_MAN_UNPENALISE)
{
if(!player->penalty())
{
response_status == GAMECONTROLLER_RETURN_MSG_ALIVE;
}
}
}
}
}
if (keep_time && commInput.message().have_remote_gc())
{
long long diff_time = realtime_micro_time() - start_time;
latest_data.set_secs_remaining(600 -
static_cast<unsigned int>(diff_time/MICROS_PER_SECOND));
//TODO keep track of penalty times
}
}
