Create game_engine_node.cpp

src/game_engine_node.cpp

@@ -0,0 +1,77 @@
+#include <ros/ros.h>
+#include <turtlesim/Pose.h>
+#include <geometry_msgs/Twist.h>
+#include <std_msgs/String.h>
+
+class GameEngine {
+public:
+  GameEngine();
+  void run();
+
+private:
+  void poseCallback(const turtlesim::Pose::ConstPtr& msg, int turtle_id);
+  void attackCallback(const std_msgs::String::ConstPtr& msg);
+
+  ros::NodeHandle nh_;
+  ros::Subscriber pose_subs_[2];
+  ros::Subscriber attack_subs_[2];
+  ros::Publisher game_state_pub_;
+
+  float turtle_health_[2];
+  int turtle_attacks_left_[2];
+  turtlesim::Pose turtle_poses_[2];
+};
+
+GameEngine::GameEngine() {
+  // Initialize health and attack counts
+  turtle_health_[0] = 100.0;
+  turtle_health_[1] = 100.0;
+  turtle_attacks_left_[0] = 10;
+  turtle_attacks_left_[1] = 10;
+
+  // Subscribe to turtle positions and attack commands
+  pose_subs_[0] = nh_.subscribe<turtlesim::Pose>("/turtle1/pose", 10, boost::bind(&GameEngine::poseCallback, this, _1, 0));
+  pose_subs_[1] = nh_.subscribe<turtlesim::Pose>("/turtle2/pose", 10, boost::bind(&GameEngine::poseCallback, this, _1, 1));
+  attack_subs_[0] = nh_.subscribe<std_msgs::String>("/turtle1/attack", 10, &GameEngine::attackCallback, this);
+  attack_subs_[1] = nh_.subscribe<std_msgs::String>("/turtle2/attack", 10, &GameEngine::attackCallback, this);
+
+  game_state_pub_ = nh_.advertise<std_msgs::String>("/game_state", 10);
+}
+
+void GameEngine::poseCallback(const turtlesim::Pose::ConstPtr& msg, int turtle_id) {
+  turtle_poses_[turtle_id] = *msg;
+}
+
+void GameEngine::attackCallback(const std_msgs::String::ConstPtr& msg) {
+  int attacker_id = (msg->data == "turtle1") ? 0 : 1;
+  int target_id = 1 - attacker_id;
+
+  if (turtle_attacks_left_[attacker_id] > 0) {
+    float distance = sqrt(pow(turtle_poses_[attacker_id].x - turtle_poses_[target_id].x, 2) +
+                          pow(turtle_poses_[attacker_id].y - turtle_poses_[target_id].y, 2));
+
+    if (distance < 2.0) {
+      turtle_health_[target_id] -= 10.0;
+    }
+
+    turtle_attacks_left_[attacker_id]--;
+
+    if (turtle_attacks_left_[0] == 0 && turtle_attacks_left_[1] == 0) {
+      std_msgs::String result;
+      result.data = (turtle_health_[0] > turtle_health_[1]) ? "Turtle 1 wins!" : "Turtle 2 wins!";
+      game_state_pub_.publish(result);
+      ros::shutdown();
+    }
+  }
+}
+
+void GameEngine::run() {
+  ros::spin();
+}
+
+int main(int argc, char **argv) {
+  ros::init(argc, argv, "game_engine_node");
+  GameEngine game_engine;
+  game_engine.run();
+  return 0;
+}