void WorldView::setSharedBall()
{
portals::Message<messages::FilteredBall> sharedBallMessage(0);
sharedBallMessage.get()->set_distance(commIn[4].message().ball_dist());
sharedBallMessage.get()->set_bearing(commIn[4].message().ball_bearing());
sharedBallOut.setMessage(sharedBallMessage);
portals::Message<messages::RobotLocation> locMessage(0);
locMessage.get()->set_x(commIn[4].message().my_x());
locMessage.get()->set_y(commIn[4].message().my_y());
locMessage.get()->set_h(commIn[4].message().my_h());
locOut.setMessage(locMessage);
}
void SharedBallModule::run_() {
updatedThisFrame = false;
for (int i=0; i<NUM_PLAYERS_PER_TEAM; i++) {
worldModelIn[i].latch();
if(i == 0)
incorporateGoalieWorldModel(worldModelIn[i].message());
// else
// incorporateWorldModel(worldModelIn[i].message());
}
if(updatedThisFrame)
framesSinceUpdate = 0;
else
framesSinceUpdate++;
portals::Message<messages::SharedBall> sharedBallMessage(0);
sharedBallMessage.get()->set_x(x);
sharedBallMessage.get()->set_y(y);
sharedBallMessage.get()->set_age(framesSinceUpdate);
sharedBallOutput.setMessage(sharedBallMessage);
}
