void TeamDataSender::update(TeamDataSenderOutput& teamDataSenderOutput)
{
if(theTeamMateData.sendThisFrame)
{
++sendFrames;
// Own pose information and ball observation:
TEAM_OUTPUT(idTeamMateRobotPose, bin, RobotPoseCompressed(theRobotPose));
TEAM_OUTPUT(idTeamMateSideConfidence, bin, theSideConfidence);
TEAM_OUTPUT(idTeamMateBallModel, bin, BallModelCompressed(theBallModel));
// Obstacle stuff
TEAM_OUTPUT(idObstacleClusters, bin, ObstacleClustersCompressed(theObstacleClusters, maxNumberOfObstacleClustersToSend));
TEAM_OUTPUT(idTeamMateRobotsModel, bin, RobotsModelCompressed(theRobotsModel, maxNumberOfRobotsToSend));
TEAM_OUTPUT(idTeamMateObstacleModel, bin,ObstacleModelCompressed(theObstacleModel, maxNumberOfObstaclesToSend));
// Robot status
TEAM_OUTPUT(idTeamMateIsPenalized, bin, (theRobotInfo.penalty != PENALTY_NONE));
TEAM_OUTPUT(idTeamMateHasGroundContact, bin, theGroundContactState.contact);
TEAM_OUTPUT(idTeamMateIsUpright, bin, (theFallDownState.state == theFallDownState.upright));
if(theGroundContactState.contact)
TEAM_OUTPUT(idTeamMateTimeSinceLastGroundContact, bin, theFrameInfo.time);
TEAM_OUTPUT(idTeamCameraHeight, bin, theCameraMatrix.translation.z);
if(sendFrames % 20 == 0)
TEAM_OUTPUT(idRobotHealth, bin, theRobotHealth);
}
}
void TeamDataSender::update(TeamDataSenderOutput& teamDataSenderOutput)
{
if(theTeammateData.sendThisFrame)
{
++sendFrames;
TEAM_OUTPUT(idRobot, bin, theRobotInfo.number);
// Own pose information and ball observation:
TEAM_OUTPUT(idRobotPose, bin, RobotPoseCompressed(theRobotPose));
TEAM_OUTPUT(idSideConfidence, bin, theSideConfidence);
TEAM_OUTPUT(idBallModel, bin, BallModelCompressed(theBallModel));
TEAM_OUTPUT(idTeammateBallAge, bin, static_cast<float>(theBallModel.timeWhenLastSeen ? theFrameInfo.getTimeSince(theBallModel.timeWhenLastSeen) / 1000.f : -1.f));
TEAM_OUTPUT(idFieldFeatureOverview, bin, theFieldFeatureOverview);
// Obstacle stuff
TEAM_OUTPUT(idObstacleModelCompressed, bin, ObstacleModelCompressed(theObstacleModel, maxNumberOfObstaclesToSend));
// Information about the behavior (i.e. the robot's state and intentions)
TEAM_OUTPUT(idBehaviorStatus, bin, theBehaviorStatus);
TEAM_OUTPUT(idSPLStandardBehaviorStatus, bin, theSPLStandardBehaviorStatus);
TEAM_OUTPUT(idTeammateRoles, bin, theTeammateRoles);
// Robot status
TEAM_OUTPUT(idTeammateIsPenalized, bin, (theRobotInfo.penalty != PENALTY_NONE));
TEAM_OUTPUT(idTeammateHasGroundContact, bin, (theGroundContactState.contact && theMotionInfo.motion != MotionInfo::getUp && theMotionRequest.motion != MotionRequest::getUp));
TEAM_OUTPUT(idTeammateIsUpright, bin, (theFallDownState.state == theFallDownState.upright));
if(theGroundContactState.contact)
{
TEAM_OUTPUT(idTeammateTimeOfLastGroundContact, bin, theFrameInfo.time);
}
TEAM_OUTPUT(idWhistle, bin, theWhistle);
TEAM_OUTPUT(idTeammateFieldCoverage, bin, FieldCoverageLineCompressed(theFieldCoverage[lineToSendNext++ % FieldCoverage::numOfCellsY]));
if(sendFrames % 20 == 0)
{
TEAM_OUTPUT(idRobotHealth, bin, theRobotHealth);
}
//TEAM_OUTPUT(idNetworkThumbnail, bin, theNetworkThumbnail);
}
}
TeammateDataCompressed::TeammateDataCompressed(const TeammateData& teammateData)
{
currentTimestamp = teammateData.currentTimestamp;
firstTeammate = teammateData.firstTeammate;
for(int i = TeammateData::firstPlayer; i < TeammateData::numOfPlayers; ++i)
{
timeStamps[i] = teammateData.timeStamps[i];
isActive[i] = teammateData.isActive[i];
isFullyActive[i] = teammateData.isFullyActive[i];
ballModels[i] = BallModelCompressed(teammateData.ballModels[i]);
robotPoses[i] = RobotPoseCompressed(teammateData.robotPoses[i]);
robotsSideConfidence[i] = teammateData.robotsSideConfidence[i];
roles[i] = teammateData.behaviorStatus[i].role;
walkingTo[i] = teammateData.walkingTo[i];
intention[i] = teammateData.intention[i];
}
dropInData = teammateData.dropInData;
}