def rocket_callback(self, rocket_msg1):
if rocket_msg1.state == 1:
#print 'rocket callback in if'
rocketMsg = rocket_msg()
rocketMsg.state = 2
rocketMsg.timesFired = 4
self.rocketPub.publish(rocketMsg)
def launcherCallback(self, rocket_msg1): self.defenseState = rocket_msg1.state self.timesFired = rocket_msg1.timesFired rocketMsg = rocket_msg() rocketMsg.state = self.defenseState rocketMsg.timesFired = self.timesFired self.rocketPub.publish(rocketMsg)
def main_loop(self):
self.init_publishers()
#print "loop"
self.init_subcribers()
#self.init_params
rate = rospy.Rate(10);
self.rocket = armageddon.Armageddon()
while not rospy.is_shutdown():
#print 'defense state = ', self.defenseState
if self.defenseState == 0:
if self.timer > 0:
self.timer = self.timer - 1
#print self.timer
#print 'lost ', self.lost
#print 'yaw ', self.yawState
#print 'pitch ', self.pitchState
#print 'timesFired ', self.timesFired
if self.lost is 0:
self.lostCount = 0
if self.yawState is 0 and self.pitchState is 0:
self.rocket.STOP()
print "stop"
else:
#print "yaw: ", self.yawState, "pitch: ", self.pitchState
if self.yawState is 1:
self.rocket.RIGHT(10.0)
elif self.yawState is -1:
self.rocket.LEFT(10.0)
elif self.yawState is 2:
self.rocket.RIGHT(20.0)
elif self.yawState is -2:
self.rocket.LEFT(20.0)
elif self.yawState is 3:
self.rocket.RIGHT(40.0)
elif self.yawState is -3:
self.rocket.LEFT(40.0)
if self.pitchState is 1:
self.rocket.UP(20.0)
elif self.pitchState is -1:
self.rocket.DOWN(20.0)
if self.fire is 1:
self.rocket.FIRE()
self.timer = 100
self.fire = 0
#print "fire"
self.timesFired = self.timesFired +1
#print '\n\n', self.timesFired, '\n\n'
rocketmsg = rocket_msg()
rocketmsg.timesFired = self.timesFired
if self.timesFired >= 4:
self.defenseState = 1
rocketmsg.state = 1
else:
self.defenseState = 0
rocketmsg.state = 0
self.rocketPub.publish(rocketmsg)
else: #lost
self.rocket.DOWN(100.0)
self.lostCount = self.lostCount + 1
if self.lostCount >= 45:
self.spinDirection = -self.spinDirection
self.lostCount = 0
if self.spinDirection is 1:
self.rocket.RIGHT(100.0)
else:
self.rocket.LEFT(100.0)
#else:
#print 'defense'
rate.sleep()