void SpecificWorker::compute()
{
try
{
differentialrobot_proxy->getBaseState(bState);
inner->updateTransformValues("robot", bState.x, 0, bState.z, 0, bState.alpha, 0); //actualiza los valores del robot en el arbol de memoria
ldata = laser_proxy->getLaserData(); //read laser data
switch( estado )
{
case State::INIT:
break;
case State::SEARCH:
break;
case State::PICK_NEW_POINT:
estado = pickNewPoint();
break;
case State::PLAN:
estado = plan();
break;
case State::GOTO_POINTS:
estado = gotoPoints();
break;
case State::VERIFY_POINT:
estado = verifyPoint();
break;
case State::TRAVELLING:
estado = travelling();
break;
case State::FINISH:
std::cout << "FINISH" << std::endl;
sleep(1);
estado = State::IDLE;
break;
case State::IDLE:
break;
case State::ERROR:
qDebug() << "Error";
break;
}
}
catch(const Ice::Exception e)
{
std::cout << e << std::endl;
}
innerViewer->update();
osgView->autoResize();
osgView->frame();
}
void
read_engr_at(int x, int y)
{
struct engr *ep = engr_at(level, x, y);
int sensed = 0;
/* Sensing an engraving does not require sight, nor does it necessarily
imply comprehension (literacy). */
if (ep && ep->engr_txt[0] &&
/* Don't stop if travelling or autoexploring. */
!(travelling() && level->locations[x][y].mem_stepped)) {
switch (ep->engr_type) {
case DUST:
if (!Blind) {
sensed = 1;
pline("Something is written here in the %s.",
is_ice(level, x, y) ? "frost" : "dust");
}
break;
case ENGRAVE:
case HEADSTONE:
if (!Blind || can_reach_floor()) {
sensed = 1;
pline("Something is engraved here on the %s.", surface(x, y));
}
break;
case BURN:
if (!Blind || can_reach_floor()) {
sensed = 1;
pline("Some text has been %s into the %s here.",
is_ice(level, x, y) ? "melted" : "burned", surface(x, y));
}
break;
case MARK:
if (!Blind) {
sensed = 1;
pline("There's some graffiti on the %s here.", surface(x, y));
}
break;
case ENGR_BLOOD:
/* "It's a message! Scrawled in blood!" "What's it say?" "It
says... `See you next Wednesday.'" -- Thriller */
if (!Blind) {
sensed = 1;
pline("You see a message scrawled in blood here.");
}
break;
default:
impossible("Something is written in a very strange way.");
sensed = 1;
}
if (sensed) {
/* AIS: Bounds check removed, because pline can now handle
arbitrary-length strings */
char *et = ep->engr_txt;
pline("You %s: \"%s\".", (Blind) ? "feel the words" : "read", et);
/* TODO: For now, engravings stop farmove, autoexplore, and
travel. This can get quite spammy, though. */
if (flags.occupation == occ_move ||
flags.occupation == occ_travel ||
flags.occupation == occ_autoexplore)
action_interrupted();
}
}
}