void ISitableRoom::onPlayerEnterRoom(stEnterRoomData* pEnterRoomPlayer,int8_t& nSubIdx )
{
IRoom::onPlayerEnterRoom(pEnterRoomPlayer, nSubIdx);
auto pp = getSitdownPlayerByUID(pEnterRoomPlayer->nUserUID);
if (pp)
{
auto pStandPlayer = getPlayerByUserUID(pEnterRoomPlayer->nUserUID);
if (pStandPlayer->nCoin >= pp->getCoin())
{
if (pStandPlayer->nCoin != pp->getCoin())
{
LOGFMTD("uid = %u reenter room coin is not the same . stand = %u , sit = %u", pp->getUserUID(), pStandPlayer->nCoin, pp->getCoin());
}
pStandPlayer->nCoin -= pp->getCoin();
}
else
{
LOGFMTE("uid = %u stand coin is few then sit , why ? but stand = %u , sit = %u", pp->getUserUID(), pStandPlayer->nCoin, pp->getCoin());
pStandPlayer->nCoin = 0;
}
pp->reactive(pEnterRoomPlayer->nUserSessionID);
}
}
//we want the boat to stay within 350-425 range finders for sensors
//Get feedback from fanboat
void mapping::sensorFilter_callback(const fanboat_ll::fanboatLL::ConstPtr& f_ll)
{
fll = *f_ll;
lab2::angle_msg boat;
//ROS_INFO("mapping");
leftS = fll.a0;
rightS = fll.a1;
if (initLeftS == -100){
initLeftS = 300;
}
if (initRightS == -100){
initRightS = 300;
}
if(state == 0){
doMapping();
ROS_INFO("MAPPING");
} else if (state == 1){
angle = yawClose;
turn(yawClose);
ROS_INFO("TURN CLOSE");
} else if (state == 2){
angle = yawFar;
turn(yawFar);
ROS_INFO("TURN FAR");
} else if (state == 3){
reactive();
ROS_INFO("GO TO THERE");
}
boat.angle = angle;
boat.thrust = thrust;
ROS_INFO("angle: %f", angle);
angles_pub_.publish(boat);
}
