Revision 518
fixed mutex unlock bug. made it so that if there is just one robot seen, it is assumed to be the robot requesting
| PositionMonitor.cpp | ||
|---|---|---|
| 119 | 119 |
return positionMap; |
| 120 | 120 |
} |
| 121 | 121 |
|
| 122 |
int PositionMonitor::getNumVisibleRobots() {
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| 123 |
return positionMap.size(); |
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| 124 |
} |
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| 125 |
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| 126 |
VisionPosition PositionMonitor::getFirstPosition(void) {
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| 127 |
return positionMap.begin()->second; |
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| 128 |
} |
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| 129 |
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| 122 | 130 |
int PositionMonitor::getRobotPosition(int robot_id, int* xbuf, int* ybuf) {
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| 123 | 131 |
//TODO: figure out what a map returns if the element doesn't exist |
| 124 | 132 |
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| 125 | 133 |
pthread_mutex_lock(&position_map_lock); |
| 126 | 134 |
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| 127 | 135 |
if (positionMap.find(robot_id) == positionMap.end()){
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| 136 |
pthread_mutex_unlock(&position_map_lock); |
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| 128 | 137 |
return -1; |
| 129 |
} |
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| 138 |
} else {
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VisionPosition pos = positionMap[robot_id]; |
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| 130 | 140 |
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VisionPosition pos = positionMap[robot_id];
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pthread_mutex_unlock(&position_map_lock);
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| 132 | 142 |
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pthread_mutex_unlock(&position_map_lock); |
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*xbuf = pos.x; |
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*ybuf = pos.y; |
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| 134 | 145 |
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*xbuf = pos.x; |
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*ybuf = pos.y; |
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return 0; |
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| 146 |
return 0; |
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} |
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| 139 | 148 |
} |
| 140 | 149 |
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| 141 | 150 |
bool PositionMonitor::isProbablySameRobot(VisionPosition p1, VisionPosition p2) {
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