RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Merge commit 'b6fbfd92d26c91b680fb6c43da2db19adec82376'

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This commit is contained in:
Pascal Serrarens 2025-06-26 13:58:01 +02:00
commit 0ad9d3e9ec
84 changed files with 2393 additions and 1136 deletions
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71
Arduino/ArduinoParticipant.cpp
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@ -1,5 +1,9 @@
#include "ArduinoParticipant.h"
#if !defined(NO_STD)
#include <iostream>
#endif
#if defined(ARDUINO)
#if defined(ARDUINO_ARCH_ESP8266)
#include <ESP8266WiFi.h>
@ -19,17 +23,19 @@
namespace RoboidControl {
namespace Arduino {
void ParticipantUDP::Setup(int localPort,
const char* remoteIpAddress,
int remotePort) {
#if defined(ARDUINO) && defined(HAS_WIFI)
this->remoteIpAddress = remoteIpAddress;
this->remotePort = remotePort;
WiFiUDP* udp;
#endif
void ParticipantUDP::Setup() {
#if defined(ARDUINO) && defined(HAS_WIFI)
GetBroadcastAddress();
#if defined(UNO_R4)
if (WiFi.status() == WL_NO_MODULE) {
#if !defined(NO_STD)
std::cout << "No network available!\n";
#endif
return;
}
#else
@ -38,9 +44,16 @@ void ParticipantUDP::Setup(int localPort,
return;
}
#endif
udp.begin(localPort);
std::cout << "Wifi sync started to port " << this->remotePort << "\n";
udp = new WiFiUDP();
udp->begin(this->port);
#if !defined(NO_STD)
std::cout << "Wifi sync started local " << this->port;
if (this->remoteSite != nullptr)
std::cout << ", remote " << this->remoteSite->ipAddress << ":"
<< this->remoteSite->port << "\n";
#endif
#endif
}
@ -52,36 +65,25 @@ void ParticipantUDP::GetBroadcastAddress() {
this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
broadcastIpString.toCharArray(this->broadcastIpAddress,
broadcastIpString.length() + 1);
#if !defined(NO_STD)
std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
#endif
#endif
}
void ParticipantUDP::Receive() {
#if defined(ARDUINO) && defined(HAS_WIFI)
int packetSize = udp.parsePacket();
int packetSize = udp->parsePacket();
while (packetSize > 0) {
udp.read(buffer, packetSize);
udp->read(buffer, packetSize);
String senderAddress = udp.remoteIP().toString();
String senderAddress = udp->remoteIP().toString();
char sender_ipAddress[16];
senderAddress.toCharArray(sender_ipAddress, 16);
unsigned int sender_port = udp.remotePort();
unsigned int sender_port = udp->remotePort();
// Participant* remoteParticipant = this->GetParticipant(sender_ipAddress,
// sender_port); if (remoteParticipant == nullptr) {
// remoteParticipant = this->AddParticipant(sender_ipAddress,
// sender_port);
// // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
// // << "\n";
// // std::cout << "New remote participant " <<
// remoteParticipant->ipAddress
// // << ":" << remoteParticipant->port << " "
// // << (int)remoteParticipant->networkId << "\n";
// }
// ReceiveData(packetSize, remoteParticipant);
ReceiveData(packetSize, sender_ipAddress, sender_port);
packetSize = udp.parsePacket();
packetSize = udp->parsePacket();
}
#endif
}
@ -92,15 +94,22 @@ bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
// << remoteParticipant->port << "\n";
int n = 0;
int r = 0;
do {
if (n > 0) {
#if !defined(NO_STD)
std::cout << "Retry sending\n";
#endif
delay(10);
}
n++;
udp.beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
udp.write((unsigned char*)buffer, bufferSize);
} while (udp.endPacket() == 0 && n < 10);
udp->beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
udp->write((unsigned char*)buffer, bufferSize);
r = udp->endPacket();
// On an Uno R4 WiFi, endPacket blocks for 10 seconds the first time
// It is not cleary yet why
} while (r == 0 && n < 10);
#endif
return true;
@ -112,9 +121,9 @@ bool ParticipantUDP::Publish(IMessage* msg) {
if (bufferSize <= 0)
return true;
udp.beginPacket(this->broadcastIpAddress, this->remotePort);
udp.write((unsigned char*)buffer, bufferSize);
udp.endPacket();
udp->beginPacket(this->broadcastIpAddress, this->port);
udp->write((unsigned char*)buffer, bufferSize);
udp->endPacket();
// std::cout << "Publish to " << this->broadcastIpAddress << ":"
// << this->remotePort << "\n";

12
Arduino/ArduinoParticipant.h
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@ -2,29 +2,19 @@
#include "Participants/ParticipantUDP.h"
#if defined(HAS_WIFI)
#include <WiFiUdp.h>
#endif
namespace RoboidControl {
namespace Arduino {
class ParticipantUDP : public RoboidControl::ParticipantUDP {
public:
void Setup(int localPort, const char* remoteIpAddress, int remotePort);
void Setup();
void Receive();
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
#if defined(HAS_WIFI)
const char* remoteIpAddress = nullptr;
unsigned short remotePort = 0;
char* broadcastIpAddress = nullptr;
WiFiUDP udp;
#endif
void GetBroadcastAddress();
};

95
Arduino/Examples/BB2A/BB2A.cpp Normal file
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@ -0,0 +1,95 @@
#include "Arduino.h"
#include "Things/ControlledMotor.h"
#include "Things/DifferentialDrive.h"
#include "Things/RelativeEncoder.h"
#include "Things/TouchSensor.h"
#include "Arduino/Things/DRV8833.h"
#include "Arduino/Things/DigitalInput.h"
#include "Arduino/Things/UltrasonicSensor.h"
#include "Arduino/ArduinoUtils.h"
#include "Participants/ParticipantUDP.h"
#include "configuration.h"
#include <iostream>
using namespace RoboidControl;
using namespace RoboidControl::Arduino;
ParticipantUDP* localParticipant;
DifferentialDrive* bb2b;
TouchSensor* touchLeft;
TouchSensor* touchRight;
// RelativeEncoder* encoderLeft;
// RelativeEncoder* encoderRight;
void setup() {
Serial.begin(115200);
delay(3000);
Serial.println("started");
StartWifi("serrarens", "192.168.76.44");
localParticipant = new ParticipantUDP("192.168.77.76");
bb2b = new DifferentialDrive();
touchLeft = new TouchSensor(bb2b);
touchRight = new TouchSensor(bb2b);
// bb2b = new DRV8833::DifferentialDrive(driveConfig);
// touchLeft = new UltrasonicSensor::TouchSensor(leftTouchConfig, bb2b);
// touchRight = new UltrasonicSensor::TouchSensor(rightTouchConfig, bb2b);
touchLeft->name = "Left Touch Sensor";
touchLeft->SetPosition(Spherical::Degrees(0.15, -30, 0));
touchRight->name = "Right Touch Sensor";
touchRight->SetPosition(Spherical::Degrees(0.15, 30, 0));
// encoderLeft = new DigitalInput::RelativeEncoder(leftEncoderConfig);
// encoderRight = new DigitalInput::RelativeEncoder(rightEncoderConfig);
// bb2b->leftWheel = new ControlledMotor(bb2b->leftWheel, encoderLeft, bb2b);
// bb2b->rightWheel = new ControlledMotor(bb2b->rightWheel, encoderRight, bb2b);
}
void loop() {
// std::cout << touchLeft->touchedSomething << " | "
// << touchRight->touchedSomething << std::endl;
// std::cout << encoderLeft->rotationSpeed << " : "
// << encoderRight->rotationSpeed << std::endl;
// std::cout << bb2b->leftWheel->encoder->rotationSpeed
// << " :: " << bb2b->rightWheel->encoder->rotationSpeed << std::endl;
// The left wheel turns forward when nothing is touched on the right side
// and turn backward when the roboid hits something on the right
float leftMotorVelocity = (touchRight->IsTouching()) ? -1.0f : 1.0f;
// The right wheel does the same, but instead is controlled by
// touches on the left side
float rightMotorVelocity = (touchLeft->IsTouching()) ? -1.0f : 1.0f;
// When both sides are touching something, both wheels will turn backward
// and the roboid will move backwards
bb2b->leftWheel->SetTargetVelocity(leftMotorVelocity);
bb2b->rightWheel->SetTargetVelocity(rightMotorVelocity);
// std::cout << " " << bb2b->leftWheel->GetTargetVelocity() << " : " << bb2b->rightWheel->GetTargetVelocity() << std::endl;
// float leftWheelVelocity = (touchRight->touchedSomething) ? -1.0f : 1.0f;
// float rightWheelVelocity = (touchLeft->touchedSomething) ? -1.0f : 1.0f;
// bb2b->SetWheelVelocity(leftWheelVelocity, rightWheelVelocity);
// std::cout << " " << leftWheelVelocity << " # " << rightWheelVelocity << std::endl;
// std::cout << leftMotor->actualVelocity << std::endl;
//Serial.println(".");
// Update the roboid state
localParticipant->Update();
// and sleep for 100ms
delay(10);
}

52
Arduino/Examples/BB2A/configuration.h Normal file
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@ -0,0 +1,52 @@
#pragma once
#include "Arduino/Things/UltrasonicSensor.h"
#include "Arduino/Things/DRV8833.h"
#include "Arduino/Things/DigitalInput.h"
using namespace RoboidControl::Arduino;
#if defined(ESP32)
static constexpr DRV8833::Configuration driveConfig = {
17, // AIn1
16, // AIn2
14, // BIn1
27 // BIn2
};
static constexpr UltrasonicSensor::Configuration leftTouchConfig = {
25, // Trigger
33 // Echo
};
static constexpr UltrasonicSensor::Configuration rightTouchConfig = {
15, // Trigger
5 // Echo
};
#elif defined(UNO) || defined(UNO_R4)
static constexpr DRV8833::Configuration driveConfig = {
5, // AIn1
6, // AIn2
7, // BIn1
10 // BIn2
};
static constexpr UltrasonicSensor::Configuration leftTouchConfig = {
A0, // Trigger
12 // Echo
};
static constexpr UltrasonicSensor::Configuration rightTouchConfig = {
A1, // Trigger
11 // Echo
};
static constexpr DigitalInput::RelativeEncoder::Configuration
leftEncoderConfig = {
2, // Input pin
80 // Pulses per revolution
};
static constexpr DigitalInput::RelativeEncoder::Configuration
rightEncoderConfig = {
3, // Input pin
80 // Pulses per revolution
};
#endif

103
Arduino/Things/DRV8833.cpp
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@ -5,49 +5,83 @@
namespace RoboidControl {
namespace Arduino {
DRV8833Motor::DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse)
: Thing(participant) {
#pragma region DRV8833
DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
this->type = Type::Undetermined;
this->name = "DRV8833";
this->pinStandby = config.standby;
if (pinStandby != 255)
pinMode(pinStandby, OUTPUT);
this->motorA = new DRV8833Motor(this, config.AIn1, config.AIn2);
this->motorA->SetName("Motor A");
this->motorB = new DRV8833Motor(this, config.BIn1, config.BIn2);
this->motorB->SetName("Motor B");
}
#pragma endregion DRV8833
#pragma region Differential drive
DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
Thing* parent)
: RoboidControl::DifferentialDrive(nullptr, nullptr, parent) {
this->drv8833 = new DRV8833(config, this);
this->leftWheel = this->drv8833->motorA;
this->rightWheel = this->drv8833->motorB;
}
void DRV8833::DifferentialDrive::Update(bool recurse) {
RoboidControl::DifferentialDrive::Update(recurse);
this->drv8833->Update(false);
}
#pragma endregion Differential drive
#pragma region Motor
#if (ESP32)
uint8_t DRV8833Motor::nextAvailablePwmChannel = 0;
#endif
DRV8833Motor::DRV8833Motor(DRV8833* driver,
unsigned char pinIn1,
unsigned char pinIn2,
bool reverse)
: Motor(driver) {
this->pinIn1 = pinIn1;
this->pinIn2 = pinIn2;
#if (ESP32)
in1Ch = nextAvailablePwmChannel++;
in1Ch = DRV8833Motor::nextAvailablePwmChannel++;
ledcSetup(in1Ch, 500, 8);
ledcAttachPin(pinIn1, in1Ch);
in2Ch = nextAvailablePwmChannel++;
in2Ch = DRV8833Motor::nextAvailablePwmChannel++;
ledcSetup(in2Ch, 500, 8);
ledcAttachPin(pinIn2, in2Ch);
#else
pinMode(pinIn1, OUTPUT); // configure the in1 pin to output mode
pinMode(pinIn2, OUTPUT); // configure the in1 pin to output mode
#endif
this->reverse = reverse;
// this->reverse = reverse;
}
void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
this->maxRpm = rpm;
}
// void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
// this->maxRpm = rpm;
// }
void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
Thing::SetAngularVelocity(velocity);
// ignoring rotation axis for now.
// Spherical angularVelocity = this->GetAngularVelocity();
float angularSpeed = velocity.distance; // in degrees/sec
void DRV8833Motor::SetTargetVelocity(float motorSpeed) {
Motor::SetTargetVelocity(motorSpeed);
float rpm = angularSpeed / 360 * 60;
float motorSpeed = rpm / this->maxRpm;
uint8_t motorSignal =
(uint8_t)(motorSpeed > 0 ? motorSpeed * 255 : -motorSpeed * 255);
uint8_t motorSignal = (uint8_t)(motorSpeed * 255);
// if (direction == RotationDirection::CounterClockwise)
// speed = -speed;
// Determine the rotation direction
if (velocity.direction.horizontal.InDegrees() < 0)
motorSpeed = -motorSpeed;
if (this->reverse)
motorSpeed = -motorSpeed;
// std::cout << "ang speed " << this->name << " = " << angularSpeed << " rpm " << rpm
// std::cout << "moto speed " << this->name << " = " << motorSpeed
// << ", motor signal = " << (int)motorSignal << "\n";
#if (ESP32)
@ -97,24 +131,7 @@ void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
#endif
}
DRV8833::DRV8833(Participant* participant,
unsigned char pinAIn1,
unsigned char pinAIn2,
unsigned char pinBIn1,
unsigned char pinBIn2,
unsigned char pinStandby,
bool reverseA,
bool reverseB)
: Thing(participant) {
this->pinStandby = pinStandby;
if (pinStandby != 255)
pinMode(pinStandby, OUTPUT);
this->motorA = new DRV8833Motor(participant, pinAIn1, pinAIn2, reverseA);
this->motorA->name = "Motor A";
this->motorB = new DRV8833Motor(participant, pinBIn1, pinBIn2, reverseB);
this->motorB->name = "Motor B";
}
#pragma endregion Motor
} // namespace Arduino
} // namespace RoboidControl

103
Arduino/Things/DRV8833.h
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@ -1,60 +1,87 @@
#pragma once
#include <Arduino.h>
#include "Participants/IsolatedParticipant.h"
#include "Thing.h"
#include "Things/DifferentialDrive.h"
#include "Things/Motor.h"
namespace RoboidControl {
namespace Arduino {
/// @brief Support for a DRV8833 motor controller
class DRV8833Motor : public Thing {
public:
/// @brief Motor turning direction
enum class RotationDirection { Clockwise = 1, CounterClockwise = -1 };
/// @brief Setup the DC motor
/// @param pinIn1 the pin number for the in1 signal
/// @param pinIn2 the pin number for the in2 signal
/// @param direction the forward turning direction of the motor
DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse = false);
void SetMaxRPM(unsigned int rpm);
virtual void SetAngularVelocity(Spherical velocity) override;
bool reverse = false;
protected:
unsigned char pinIn1 = 255;
unsigned char pinIn2 = 255;
unsigned int maxRpm = 200;
};
class DRV8833Motor;
class DRV8833 : public Thing {
public:
struct Configuration {
int AIn1;
int AIn2;
int BIn1;
int BIn2;
int standby = 255;
constexpr Configuration(int a1, int a2, int b1, int b2, int standby = 255) : AIn1(a1), AIn2(a2), BIn1(b1), BIn2(b2), standby(standby) {}
};
/// @brief Setup a DRV8833 motor controller
/// @param pinAIn1 The pin number connected to the AIn1 port
/// @param pinAIn2 The pin number connected to the AIn2 port
/// @param pinBIn1 The pin number connected to the BIn1 port
/// @param pinBIn2 The pin number connceted to the BIn2 port
/// @param pinStandby The pin number connected to the standby port, 255
/// indicated that the port is not connected
/// @param reverseA The forward turning direction of motor A
/// @param reverseB The forward turning direction of motor B
DRV8833(Participant* participant,
unsigned char pinAIn1,
unsigned char pinAIn2,
unsigned char pinBIn1,
unsigned char pinBIn2,
unsigned char pinStandby = 255,
bool reverseA = false,
bool reverseB = false);
DRV8833(Configuration config, Thing* parent = Thing::LocalRoot());
DRV8833Motor* motorA = nullptr;
DRV8833Motor* motorB = nullptr;
protected:
unsigned char pinStandby = 255;
public:
class DifferentialDrive;
};
#pragma region Differential drive
class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
public:
DifferentialDrive(DRV8833::Configuration config, Thing* parent = Thing::LocalRoot());
virtual void Update(bool recurse = false) override;
protected:
DRV8833* drv8833 = nullptr;
};
#pragma endregion Differential drive
#pragma region Motor
/// @brief Support for a DRV8833 motor controller
class DRV8833Motor : public Motor {
public:
/// @brief Setup the DC motor
/// @param pinIn1 the pin number for the in1 signal
/// @param pinIn2 the pin number for the in2 signal
/// @param direction the forward turning direction of the motor
DRV8833Motor(DRV8833* driver,
unsigned char pinIn1,
unsigned char pinIn2,
bool reverse = false);
// void SetMaxRPM(unsigned int rpm);
// virtual void SetAngularVelocity(Spherical velocity) override;
virtual void SetTargetVelocity(float targetSpeed) override;
// bool reverse = false;
protected:
unsigned char pinIn1 = 255;
unsigned char pinIn2 = 255;
// unsigned int maxRpm = 200;
#if (ESP32)
uint8_t in1Ch;
uint8_t in2Ch;
static uint8_t nextAvailablePwmChannel;
#endif
};
#pragma endregion Motor
} // namespace Arduino
} // namespace RoboidControl

125
Arduino/Things/DigitalInput.cpp
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@ -5,19 +5,126 @@
namespace RoboidControl {
namespace Arduino {
DigitalInput::DigitalInput(Participant* participant, unsigned char pin)
: TouchSensor(participant) {
#pragma region Digital input
DigitalInput::DigitalInput(unsigned char pin, Thing* parent) : Thing(parent) {
this->type = Type::Switch;
this->name = "Digital Input";
this->pin = pin;
pinMode(pin, INPUT);
pinMode(this->pin, INPUT);
std::cout << "digital input start\n";
}
void DigitalInput::Update(unsigned long currentTimeMs, bool recursive) {
this->touchedSomething = digitalRead(pin) == LOW;
// std::cout << "DigitalINput pin " << (int)this->pin << ": " <<
// this->touchedSomething << "\n";
Thing::Update(currentTimeMs, recursive);
void DigitalInput::Update(bool recursive) {
this->isHigh = digitalRead(this->pin);
this->isLow = !this->isHigh;
Thing::Update(recursive);
}
#pragma endregion Digital input
#pragma region Touch sensor
DigitalInput::TouchSensor::TouchSensor(unsigned char pin, Thing* parent)
: RoboidControl::TouchSensor(parent), digitalInput(pin, parent) {}
void DigitalInput::TouchSensor::Update(bool recursive) {
this->internalTouch = digitalInput.isLow;
}
#pragma endregion Touch sensor
#pragma region Relative encoder
int DigitalInput::RelativeEncoder::interruptCount = 0;
volatile int DigitalInput::RelativeEncoder::pulseCount0 = 0;
volatile int DigitalInput::RelativeEncoder::pulseCount1 = 0;
DigitalInput::RelativeEncoder::RelativeEncoder(Configuration config,
Thing* parent)
: RoboidControl::RelativeEncoder(parent),
digitalInput(config.pin, parent),
pulsesPerRevolution(config.pulsesPerRevolution) {}
void DigitalInput::RelativeEncoder::Start() {
// We support up to 2 pulse counters
if (interruptCount == 0) {
std::cout << "pin interrupt 1 activated" << std::endl;
attachInterrupt(digitalPinToInterrupt(digitalInput.pin), PulseInterrupt0,
RISING);
} else if (interruptCount == 1) {
std::cout << "pin interrupt 2 activated" << std::endl;
attachInterrupt(digitalPinToInterrupt(digitalInput.pin), PulseInterrupt1,
RISING);
} else {
// maximum interrupt count reached
std::cout << "DigitalInput::RelativeEncoder: max. # counters of 2 reached"
<< std::endl;
return;
}
interruptIx = interruptCount;
interruptCount++;
std::cout << "pin ints. " << interruptCount << std::endl;
}
int DigitalInput::RelativeEncoder::GetPulseCount() {
if (interruptIx == 0) {
int pulseCount = pulseCount0;
pulseCount0 = 0;
return pulseCount;
} else if (interruptIx == 1) {
int pulseCount = pulseCount1;
pulseCount1 = 0;
return pulseCount;
}
return 0;
}
void DigitalInput::RelativeEncoder::Update(bool recursive) {
unsigned long currentTimeMs = GetTimeMs();
if (this->lastUpdateTime == 0) {
this->Start();
this->lastUpdateTime = currentTimeMs;
return;
}
float timeStep = (float)(currentTimeMs - this->lastUpdateTime) / 1000.0f;
if (timeStep <= 0)
return;
int pulseCount = GetPulseCount();
netPulseCount += pulseCount;
this->pulseFrequency = pulseCount / timeStep;
this->rotationSpeed = pulseFrequency / pulsesPerRevolution;
// std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
// << " timestep " << timeStep << std::endl;
this->lastUpdateTime = currentTimeMs;
}
#if defined(ESP8266) || defined(ESP32)
void ICACHE_RAM_ATTR DigitalInput::RelativeEncoder::PulseInterrupt0() {
pulseCount0++;
}
#else
void DigitalInput::RelativeEncoder::PulseInterrupt0() {
pulseCount0++;
}
#endif
#if defined(ESP8266) || defined(ESP32)
void IRAM_ATTR DigitalInput::RelativeEncoder::PulseInterrupt1() {
pulseCount1++;
}
#else
void DigitalInput::RelativeEncoder::PulseInterrupt1() {
pulseCount1++;
}
#endif
#pragma endregion Relative encoder
} // namespace Arduino
} // namespace RoboidControl

74
Arduino/Things/DigitalInput.h
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@ -1,26 +1,92 @@
#pragma once
#include "Things/RelativeEncoder.h"
#include "Things/TouchSensor.h"
namespace RoboidControl {
namespace Arduino {
/// @brief A digital input represents the stat of a digital GPIO pin
class DigitalInput : public TouchSensor {
class DigitalInput : public Thing {
public:
/// @brief Create a new digital input
/// @param participant The participant to use
/// @param pin The digital pin
DigitalInput(Participant* participant, unsigned char pin);
//DigitalInput(Participant* participant, unsigned char pin);
// DigitalInput(Thing* parent, unsigned char pin);
DigitalInput(unsigned char pin, Thing* parent);
bool isHigh = false;
bool isLow = false;
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
virtual void Update(unsigned long currentTimeMs,
bool recursive = false) override;
virtual void Update(bool recursive = false) override;
protected:
/// @brief The pin used for digital input
unsigned char pin = 0;
public:
class TouchSensor;
class RelativeEncoder;
};
#pragma region Touch sensor
class DigitalInput::TouchSensor : public RoboidControl::TouchSensor {
public:
TouchSensor(unsigned char pin, Thing* parent);
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
virtual void Update(bool recurse = false) override;
protected:
DigitalInput digitalInput;
};
#pragma endregion Touch sensor
#pragma region Incremental encoder
class DigitalInput::RelativeEncoder : public RoboidControl::RelativeEncoder {
public:
struct Configuration {
unsigned char pin;
unsigned char pulsesPerRevolution;
};
RelativeEncoder(Configuration config, Thing* parent = Thing::LocalRoot());
unsigned char pulsesPerRevolution;
/// @brief The current pulse frequency in Hz
float pulseFrequency = 0;
/// @copydoc RoboidControl::Thing::Update()
virtual void Update(bool recurse = false) override;
protected:
DigitalInput digitalInput;
int interruptIx = 0;
static int interruptCount;
volatile static int pulseCount0;
static void PulseInterrupt0();
volatile static int pulseCount1;
static void PulseInterrupt1();
int GetPulseCount();
long netPulseCount = 0;
unsigned long lastUpdateTime = 0;
private:
void Start();
};
#pragma endregion Incremental encoder
} // namespace Arduino
} // namespace RoboidControl

77
Arduino/Things/UltrasonicSensor.cpp
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@ -1,16 +1,17 @@
#include "UltrasonicSensor.h"
#include <Arduino.h>
#include <iostream>
namespace RoboidControl {
namespace Arduino {
UltrasonicSensor::UltrasonicSensor(Participant* participant,
unsigned char pinTrigger,
unsigned char pinEcho)
: TouchSensor(participant) {
this->pinTrigger = pinTrigger;
this->pinEcho = pinEcho;
UltrasonicSensor::UltrasonicSensor(Configuration config, Thing* parent)
: Thing(parent) {
this->type = Type::DistanceSensor;
this->name = "Ultrasonic sensor";
this->pinTrigger = config.trigger;
this->pinEcho = config.echo;
pinMode(pinTrigger, OUTPUT); // configure the trigger pin to output mode
pinMode(pinEcho, INPUT); // configure the echo pin to input mode
@ -19,14 +20,14 @@ UltrasonicSensor::UltrasonicSensor(Participant* participant,
float UltrasonicSensor::GetDistance() {
// Start the ultrasonic 'ping'
digitalWrite(pinTrigger, LOW);
delayMicroseconds(5);
delayMicroseconds(2);
digitalWrite(pinTrigger, HIGH);
delayMicroseconds(10);
digitalWrite(pinTrigger, LOW);
// Measure the duration of the pulse on the echo pin
float duration_us =
pulseIn(pinEcho, HIGH, 100000); // the result is in microseconds
unsigned long duration_us =
pulseIn(pinEcho, HIGH, 10000); // the result is in microseconds
// Calculate the distance:
// * Duration should be divided by 2, because the ping goes to the object
@ -37,32 +38,60 @@ float UltrasonicSensor::GetDistance() {
// * Now we calculate the distance based on the speed of sound (340 m/s):
// distance = duration_sec * 340;
// * The result calculation is therefore:
this->distance = duration_us / 2 / 1000000 * 340;
this->distance = (float)duration_us / 2 / 1000000 * 340;
// Serial.println(this->distance);
// std::cout << "US distance " << this->distance << std::endl;
// Filter faulty measurements. The sensor can often give values > 30 m which
// are not correct
// if (distance > 30)
// distance = 0;
this->touchedSomething |= (this->distance <= this->touchDistance);
// std::cout << "Ultrasonic " << this->distance << " " <<
// this->touchedSomething << "\n";
return distance;
return this->distance;
}
void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
this->touchedSomething = false;
void UltrasonicSensor::Update(bool recursive) {
GetDistance();
Thing::Update(currentTimeMs, recursive);
Thing::Update(recursive);
}
// void UltrasonicSensor::ProcessBinary(char* bytes) {
// this->touchedSomething = (bytes[0] == 1);
// if (this->touchedSomething)
// std::cout << "Touching something!\n";
// }
#pragma region Distance sensor
UltrasonicSensor::DistanceSensor::DistanceSensor(
UltrasonicSensor::Configuration config,
Thing* parent)
: RoboidControl::DistanceSensor(parent), ultrasonic(config, this) {}
void UltrasonicSensor::DistanceSensor::Update(bool recursive) {
RoboidControl::DistanceSensor::Update(recursive);
this->ultrasonic.Update(false);
if (this->ultrasonic.distance > 0)
this->internalDistance = this->ultrasonic.distance;
else
#if ARDUNIO
this->internalDistance = INFINITY;
#else
this->internalDistance = std::numeric_limits<float>::infinity();
#endif
}
#pragma endregion Distance sensor
#pragma region Touch sensor
UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
: RoboidControl::TouchSensor(parent), ultrasonic(config, this) {}
void UltrasonicSensor::TouchSensor::Update(bool recursive) {
RoboidControl::TouchSensor::Update(recursive);
this->ultrasonic.Update(false);
this->internalTouch = (this->ultrasonic.distance > 0 &&
this->ultrasonic.distance <= this->touchDistance);
}
#pragma endregion Touch sensor
} // namespace Arduino
} // namespace RoboidControl

59
Arduino/Things/UltrasonicSensor.h
View File

@ -1,25 +1,25 @@
#pragma once
#include "Things/DistanceSensor.h"
#include "Things/TouchSensor.h"
namespace RoboidControl {
namespace Arduino {
/// @brief An HC-SR04 ultrasonic distance sensor
class UltrasonicSensor : public TouchSensor {
class UltrasonicSensor : Thing {
public:
/// @brief Setup an ultrasonic sensor
/// @param participant The participant to use
/// @param pinTrigger The pin number of the trigger signal
/// @param pinEcho The pin number of the echo signal
UltrasonicSensor(Participant* participant,
unsigned char pinTrigger,
unsigned char pinEcho);
struct Configuration {
int trigger;
int echo;
};
UltrasonicSensor(Configuration config, Thing* parent = Thing::LocalRoot());
// parameters
/// @brief The distance at which the object is considered to be touched
float touchDistance = 0.2f;
// float touchDistance = 0.2f;
// state
@ -31,15 +31,52 @@ class UltrasonicSensor : public TouchSensor {
float GetDistance();
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
virtual void Update(unsigned long currentTimeMs,
bool recursive = false) override;
virtual void Update(bool recursive = false) override;
protected:
/// @brief The pin number of the trigger signal
unsigned char pinTrigger = 0;
/// @brief The pin number of the echo signal
unsigned char pinEcho = 0;
public:
class DistanceSensor;
class TouchSensor;
};
#pragma region Distance sensor
class UltrasonicSensor::DistanceSensor : public RoboidControl::DistanceSensor {
public:
DistanceSensor(UltrasonicSensor::Configuration config,
Thing* parent = Thing::LocalRoot());
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
virtual void Update(bool recursive = false) override;
protected:
UltrasonicSensor ultrasonic;
};
#pragma endregion Distance sensor
#pragma region Touch sensor
class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
public:
TouchSensor(UltrasonicSensor::Configuration config,
Thing* parent = Thing::LocalRoot());
float touchDistance = 0.2f;
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
virtual void Update(bool recursive = false) override;
protected:
UltrasonicSensor ultrasonic;
};
#pragma endregion Touch sensor
} // namespace Arduino
} // namespace RoboidControl

41
CMakeLists.txt
View File

@ -19,46 +19,27 @@ if(ESP_PLATFORM)
REQUIRES esp_netif esp_wifi
)
else()
project(RoboidControl)
add_subdirectory(LinearAlgebra)
add_subdirectory(Examples)
set(CMAKE_CXX_STANDARD 17) # Enable c++11 standard
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
add_compile_definitions(GTEST)
include(FetchContent)
FetchContent_Declare(
googletest
DOWNLOAD_EXTRACT_TIMESTAMP ON
URL https://github.com/google/googletest/archive/refs/heads/main.zip
)
# For Windows: Prevent overriding the parent project's compiler/linker settings
set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(googletest)
include_directories(
.
LinearAlgebra
)
add_library(RoboidControl STATIC ${srcs})
target_include_directories(RoboidControl PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
project(RoboidControl)
add_subdirectory(LinearAlgebra)
# Examples
option(BUILD_EXAMPLE_BB2A "Build BB2A Example" OFF)
add_subdirectory(examples)
enable_testing()
add_subdirectory(test)
file(GLOB_RECURSE test_srcs test/*_test.cc)
add_executable(
RoboidControlTest
${test_srcs}
)
target_link_libraries(
RoboidControlTest
gtest_main
RoboidControl
LinearAlgebra
)
include(GoogleTest)
gtest_discover_tests(RoboidControlTest)
endif()

2
DoxyGen/Doxyfile
View File

@ -48,7 +48,7 @@ PROJECT_NAME = "Roboid Control for C++"
# could be handy for archiving the generated documentation or if some version
# control system is used.
PROJECT_NUMBER =
PROJECT_NUMBER = 0.4
# Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer a

25
Examples/CMakeLists.txt
View File

@ -1,25 +0,0 @@
# examples/CMakeLists.txt
# Specify the minimum CMake version
cmake_minimum_required(VERSION 3.10)
# Specify the path to the main project directory
set(MAIN_PROJECT_DIR "${CMAKE_SOURCE_DIR}/..")
# Set the project name
project(Examples)
include_directories(..)
# Add the executable for the main project
#add_executable(MainExecutable ${SOURCES})
# Find the main project library (assuming it's defined in the root CMakeLists.txt)
#find_package(RoboidControl REQUIRED) # Replace MyLibrary with your actual library name
# Add example executables
add_executable(BB2B BB2B.cpp)
target_link_libraries(
BB2B
RoboidControl
LinearAlgebra
)

6
LinearAlgebra/Direction.cpp
View File

@ -9,6 +9,7 @@
#include <math.h>
namespace LinearAlgebra {
template <typename T>
DirectionOf<T>::DirectionOf() {
this->horizontal = AngleOf<T>();
@ -98,5 +99,6 @@ void DirectionOf<T>::Normalize() {
}
}
template class DirectionOf<float>;
template class DirectionOf<signed short>;
template class LinearAlgebra::DirectionOf<float>;
template class LinearAlgebra::DirectionOf<signed short>;
}

2
LinearAlgebra/Direction.h
View File

@ -99,6 +99,4 @@ using Direction = DirectionSingle;
} // namespace LinearAlgebra
using namespace LinearAlgebra;
#endif

26
LinearAlgebra/Matrix.cpp
View File

@ -1,5 +1,7 @@
#include "Matrix.h"
#if !defined(NO_STD)
#include <iostream>
#endif
namespace LinearAlgebra {
@ -61,7 +63,9 @@ Matrix2::Matrix2(const Matrix2& m)
this->data = nullptr;
else {
this->data = new float[this->nValues];
std::copy(m.data, m.data + nValues, this->data);
for (int ix = 0; ix < this->nValues; ++ix)
this->data[ix] = m.data[ix];
}
}
@ -76,7 +80,8 @@ Matrix2& Matrix2::operator=(const Matrix2& m) {
this->data = nullptr;
else {
this->data = new float[this->nValues];
std::copy(m.data, m.data + this->nValues, this->data);
for (int ix = 0; ix < this->nValues; ++ix)
this->data[ix] = m.data[ix];
}
}
return *this;
@ -89,7 +94,8 @@ Matrix2::~Matrix2() {
Matrix2 Matrix2::Clone() const {
Matrix2 r = Matrix2(this->nRows, this->nCols);
std::copy(this->data, this->data + this->nValues, r.data);
for (int ix = 0; ix < this->nValues; ++ix)
r.data[ix] = this->data[ix];
return r;
}
@ -133,7 +139,7 @@ Matrix2 Matrix2::Identity(int size) {
}
Matrix2 Matrix2::Diagonal(float f, int size) {
Matrix2 r = Matrix2(size, size);
Matrix2 r = Matrix2::Zero(size, size);
float* data = r.data;
int valueIx = 0;
for (int ix = 0; ix < size; ix++) {
@ -158,8 +164,8 @@ Matrix2 Matrix2::SkewMatrix(const Vector3& v) {
Matrix2 Matrix2::Transpose() const {
Matrix2 r = Matrix2(this->nCols, this->nRows);
for (uint rowIx = 0; rowIx < this->nRows; rowIx++) {
for (uint colIx = 0; colIx < this->nCols; colIx++)
for (int rowIx = 0; rowIx < this->nRows; rowIx++) {
for (int colIx = 0; colIx < this->nCols; colIx++)
r.data[colIx * this->nCols + rowIx] =
this->data[rowIx * this->nCols + colIx];
}
@ -200,16 +206,16 @@ Matrix2 LinearAlgebra::Matrix2::operator*(const Matrix2& B) const {
int BColOffset = i * BCols; // BColOffset is constant for each row of B
for (int j = 0; j < BCols; ++j) {
float sum = 0;
// std::cout << " 0";
std::cout << " 0";
int BIndex = j;
for (int k = 0; k < ACols; ++k) {
// std::cout << " + " << this->data[ARowOffset + k] << " * "
// << B.data[BIndex];
std::cout << " + " << this->data[ARowOffset + k] << " * "
<< B.data[BIndex];
sum += this->data[ARowOffset + k] * B.data[BIndex];
BIndex += BCols;
}
r.data[BColOffset + j] = sum;
// std::cout << " = " << sum << " ix: " << BColOffset + j << "\n";
std::cout << " = " << sum << " ix: " << BColOffset + j << "\n";
}
}
return r;

4
LinearAlgebra/Polar.cpp
View File

@ -175,5 +175,5 @@ PolarOf<T> PolarOf<T>::Rotate(const PolarOf& v, AngleOf<T> angle) {
return r;
}
template class PolarOf<float>;
template class PolarOf<signed short>;
template class LinearAlgebra::PolarOf<float>;
template class LinearAlgebra::PolarOf<signed short>;

4
LinearAlgebra/Spherical.cpp
View File

@ -5,6 +5,8 @@
#include <math.h>
namespace LinearAlgebra {
template <typename T>
SphericalOf<T>::SphericalOf() {
this->distance = 0.0f;
@ -301,3 +303,5 @@ SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T>& v,
template class SphericalOf<float>;
template class SphericalOf<signed short>;
} // namespace LinearAlgebra

1
LinearAlgebra/Spherical.h
View File

@ -186,7 +186,6 @@ using Spherical = SphericalSingle;
#endif
} // namespace LinearAlgebra
using namespace LinearAlgebra;
#include "Polar.h"
#include "Vector3.h"

4
LinearAlgebra/SwingTwist.cpp
View File

@ -4,6 +4,8 @@
#include "SwingTwist.h"
namespace LinearAlgebra {
template <typename T>
SwingTwistOf<T>::SwingTwistOf() {
this->swing = DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
@ -166,3 +168,5 @@ void SwingTwistOf<T>::Normalize() {
template class SwingTwistOf<float>;
template class SwingTwistOf<signed short>;
}

2
LinearAlgebra/test/Direction_test.cc
View File

@ -6,6 +6,8 @@
#include "Direction.h"
using namespace LinearAlgebra;
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Direction16, Compare) {

1
LinearAlgebra/test/Polar_test.cc
View File

@ -2,6 +2,7 @@
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <chrono>
#include "Polar.h"
#include "Spherical.h"

1
LinearAlgebra/test/Spherical16_test.cc
View File

@ -2,6 +2,7 @@
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <chrono>
#include "Spherical.h"
#include "Vector3.h"

1
LinearAlgebra/test/SphericalSingle_test.cc
View File

@ -2,6 +2,7 @@
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <chrono>
#include "Spherical.h"

5
Messages/BinaryMsg.cpp
View File

@ -6,7 +6,8 @@ BinaryMsg::BinaryMsg(unsigned char networkId, Thing* thing) {
this->networkId = networkId;
this->thingId = thing->id;
this->thing = thing;
unsigned char ix = BinaryMsg::length;
unsigned char ix = 0; //BinaryMsg::length;
this->data = new char[255];
this->dataLength = this->thing->GenerateBinary(this->data, &ix);
}
@ -40,6 +41,8 @@ unsigned char BinaryMsg::Serialize(char* buffer) {
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
buffer[ix++] = this->dataLength;
for (int dataIx = 0; dataIx < this->dataLength; dataIx++)
buffer[ix++] = this->data[dataIx];
return this->length + this->dataLength;
}

10
Messages/BinaryMsg.h
View File

@ -1,15 +1,17 @@
#pragma once
#include "Messages.h"
#include "IMessage.h"
#include "Thing.h"
namespace RoboidControl {
/// @brief Message to send thing-specific data
/// @brief A message containing binary data for custom communication
class BinaryMsg : public IMessage {
public:
/// @brief The message ID
static const unsigned char id = 0xB1;
/// @brief The length of the message without the binary data itslef
/// @brief The length of the message in bytes, excluding the binary data
/// For the total size of the message this.bytes.Length should be added to this value.
static const unsigned length = 4;
/// @brief The network ID of the thing
@ -23,7 +25,7 @@ class BinaryMsg : public IMessage {
/// @brief The binary data which is communicated
char* data = nullptr;
/// @brief Create a new message for sending
/// @brief Create a BinaryMsg
/// @param networkId The network ID of the thing
/// @param thing The thing for which binary data is sent
BinaryMsg(unsigned char networkId, Thing* thing);

17
Messages/DestroyMsg.cpp
View File

@ -2,19 +2,22 @@
namespace RoboidControl {
DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
DestroyMsg::DestroyMsg(unsigned char networkId, Thing* thing) {
this->networkId = networkId;
this->thingId = thing->id;
}
DestroyMsg::DestroyMsg(char* buffer) {}
DestroyMsg::DestroyMsg(char* buffer) {
this->networkId = buffer[1];
this->thingId = buffer[2];
}
DestroyMsg::~DestroyMsg() {}
unsigned char DestroyMsg::Serialize(char *buffer) {
#if defined(DEBUG)
std::cout << "Send DestroyMsg [" << (int)this->networkId << "/" << (int)this->thingId
<< "] " << std::endl;
unsigned char DestroyMsg::Serialize(char* buffer) {
#if defined(DEBUG)
std::cout << "Send DestroyMsg [" << (int)this->networkId << "/"
<< (int)this->thingId << "] " << std::endl;
#endif
unsigned char ix = 0;
buffer[ix++] = this->id;
@ -23,4 +26,4 @@ unsigned char DestroyMsg::Serialize(char *buffer) {
return ix;
}
} // namespace RoboidControl
} // namespace RoboidControl

9
Messages/DestroyMsg.h
View File

@ -1,13 +1,16 @@
#include "Messages.h"
#pragma once
#include "IMessage.h"
#include "Thing.h"
namespace RoboidControl {
/// @brief Message notifiying that a Thing no longer exists
/// @brief A Message notifiying that a Thing no longer exists
class DestroyMsg : public IMessage {
public:
/// @brief The message ID
static const unsigned char id = 0x20;
/// @brief The length of the message
/// @brief The length of the message in bytes
static const unsigned length = 3;
/// @brief The network ID of the thing
unsigned char networkId;

5
Messages/Messages.cpp → Messages/IMessage.cpp
View File

@ -1,7 +1,4 @@
#include "Messages.h"
#include "LowLevelMessages.h"
#include "string.h"
#include "IMessage.h"
namespace RoboidControl {

16
Messages/IMessage.h Normal file
View File

@ -0,0 +1,16 @@
#pragma once
namespace RoboidControl {
/// @brief Root structure for all communcation messages
class IMessage {
public:
IMessage();
/// @brief Serialize the message into a byte array for sending
/// @param buffer The buffer to serilize into
/// @return The length of the message in the buffer
virtual unsigned char Serialize(char* buffer);
};
} // namespace RoboidControl

4
Messages/InvestigateMsg.cpp
View File

@ -7,9 +7,9 @@ InvestigateMsg::InvestigateMsg(char* buffer) {
this->networkId = buffer[ix++];
this->thingId = buffer[ix++];
}
InvestigateMsg::InvestigateMsg(unsigned char networkId, unsigned char thingId) {
InvestigateMsg::InvestigateMsg(unsigned char networkId, Thing* thing) {
this->networkId = networkId;
this->thingId = thingId;
this->thingId = thing->id;
}
InvestigateMsg::~InvestigateMsg() {}

11
Messages/InvestigateMsg.h
View File

@ -1,4 +1,7 @@
#include "Messages.h"
#pragma once
#include "IMessage.h"
#include "Thing.h"
namespace RoboidControl {
@ -14,10 +17,10 @@ class InvestigateMsg : public IMessage {
/// @brief the ID of the thing
unsigned char thingId;
/// @brief Create a new message for sending
/// @brief Create an investigate message
/// @param networkId The network ID for the thing
/// @param thingId The ID of the thing
InvestigateMsg(unsigned char networkId, unsigned char thingId);
/// @param thing The thing for which the details are requested
InvestigateMsg(unsigned char networkId, Thing* thing);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
InvestigateMsg(char* buffer);
/// @brief Destructor for the message

130
Messages/LowLevelMessages.cpp
View File

@ -5,6 +5,83 @@
namespace RoboidControl {
void LowLevelMessages::SendSpherical(char* buffer,
unsigned char* ix,
Spherical s) {
SendFloat16(buffer, ix, s.distance);
SendAngle8(buffer, ix, s.direction.horizontal.InDegrees());
SendAngle8(buffer, ix, s.direction.vertical.InDegrees());
}
Spherical LowLevelMessages::ReceiveSpherical(const char* buffer,
unsigned char* startIndex) {
float distance = ReceiveFloat16(buffer, startIndex);
Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
Angle horizontal = Angle::Radians(horizontal8.InRadians());
Angle8 vertical8 = ReceiveAngle8(buffer, startIndex);
Angle vertical = Angle::Radians(vertical8.InRadians());
Spherical s = Spherical(distance, horizontal, vertical);
return s;
}
void LowLevelMessages::SendSwingTwist(char* buffer,
unsigned char* ix,
SwingTwist s) {
SendAngle8(buffer, ix, s.swing.horizontal.InDegrees());
SendAngle8(buffer, ix, s.swing.vertical.InDegrees());
SendAngle8(buffer, ix, s.twist.InDegrees());
}
SwingTwist LowLevelMessages::ReceiveSwingTwist(const char* buffer,
unsigned char* startIndex) {
Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
Angle horizontal = Angle::Radians(horizontal8.InRadians());
Angle8 vertical8 = ReceiveAngle8(buffer, startIndex);
Angle vertical = Angle::Radians(vertical8.InRadians());
Angle8 twist8 = ReceiveAngle8(buffer, startIndex);
Angle twist = Angle::Radians(twist8.InRadians());
SwingTwist s = SwingTwist(horizontal, vertical, twist);
return s;
}
void LowLevelMessages::SendQuat32(char* buffer,
unsigned char* ix,
SwingTwist rotation) {
Quaternion q = rotation.ToQuaternion();
unsigned char qx = (char)(q.x * 127 + 128);
unsigned char qy = (char)(q.y * 127 + 128);
unsigned char qz = (char)(q.z * 127 + 128);
unsigned char qw = (char)(q.w * 255);
if (q.w < 0) {
qx = -qx;
qy = -qy;
qz = -qz;
qw = -qw;
}
// std::cout << (int)qx << "," << (int)qy << "," << (int)qz << "," << (int)qw
// << "\n";
buffer[(*ix)++] = qx;
buffer[(*ix)++] = qy;
buffer[(*ix)++] = qz;
buffer[(*ix)++] = qw;
}
SwingTwist LowLevelMessages::ReceiveQuat32(const char* buffer,
unsigned char* ix) {
float qx = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qy = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qz = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qw = buffer[(*ix)++] / 255.0F;
Quaternion q = Quaternion(qx, qy, qz, qw);
SwingTwist s = SwingTwist::FromQuaternion(q);
return s;
}
void LowLevelMessages::SendAngle8(char* buffer,
unsigned char* ix,
const float angle) {
@ -42,58 +119,5 @@ float LowLevelMessages::ReceiveFloat16(const char* buffer,
return (float)f.toFloat();
}
void LowLevelMessages::SendSpherical(char* buffer,
unsigned char* ix,
Spherical s) {
SendFloat16(buffer, ix, s.distance);
SendAngle8(buffer, ix, s.direction.horizontal.InDegrees());
SendAngle8(buffer, ix, s.direction.vertical.InDegrees());
}
Spherical LowLevelMessages::ReceiveSpherical(const char* buffer,
unsigned char* startIndex) {
float distance = ReceiveFloat16(buffer, startIndex);
Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
Angle horizontal = Angle::Radians(horizontal8.InRadians());
Angle8 vertical8 = ReceiveAngle8(buffer, startIndex);
Angle vertical = Angle::Radians(vertical8.InRadians());
Spherical s = Spherical(distance, horizontal, vertical);
return s;
}
void LowLevelMessages::SendQuat32(char* buffer,
unsigned char* ix,
SwingTwist rotation) {
Quaternion q = rotation.ToQuaternion();
unsigned char qx = (char)(q.x * 127 + 128);
unsigned char qy = (char)(q.y * 127 + 128);
unsigned char qz = (char)(q.z * 127 + 128);
unsigned char qw = (char)(q.w * 255);
if (q.w < 0) {
qx = -qx;
qy = -qy;
qz = -qz;
qw = -qw;
}
// std::cout << (int)qx << "," << (int)qy << "," << (int)qz << "," << (int)qw
// << "\n";
buffer[(*ix)++] = qx;
buffer[(*ix)++] = qy;
buffer[(*ix)++] = qz;
buffer[(*ix)++] = qw;
}
SwingTwist LowLevelMessages::ReceiveQuat32(const char* buffer,
unsigned char* ix) {
float qx = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qy = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qz = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qw = buffer[(*ix)++] / 255.0F;
Quaternion q = Quaternion(qx, qy, qz, qw);
SwingTwist s = SwingTwist::FromQuaternion(q);
return s;
}
} // namespace RoboidControl

20
Messages/LowLevelMessages.h
View File

@ -1,3 +1,5 @@
#pragma once
#include "LinearAlgebra/Spherical.h"
#include "LinearAlgebra/SwingTwist.h"
@ -5,18 +7,22 @@ namespace RoboidControl {
class LowLevelMessages {
public:
static void SendSpherical(char* buffer, unsigned char* ix, Spherical s);
static Spherical ReceiveSpherical(const char* buffer,
unsigned char* startIndex);
static void SendSwingTwist(char* buffer, unsigned char* ix, SwingTwist s);
static SwingTwist ReceiveSwingTwist(const char* buffer,
unsigned char* startIndex);
static void SendQuat32(char* buffer, unsigned char* ix, SwingTwist q);
static SwingTwist ReceiveQuat32(const char* buffer, unsigned char* ix);
static void SendAngle8(char* buffer, unsigned char* ix, const float angle);
static Angle8 ReceiveAngle8(const char* buffer, unsigned char* startIndex);
static void SendFloat16(char* buffer, unsigned char* ix, float value);
static float ReceiveFloat16(const char* buffer, unsigned char* startIndex);
static void SendSpherical(char* buffer, unsigned char* ix, Spherical s);
static Spherical ReceiveSpherical(const char* buffer,
unsigned char* startIndex);
static void SendQuat32(char* buffer, unsigned char* ix, SwingTwist q);
static SwingTwist ReceiveQuat32(const char* buffer, unsigned char* ix);
};
} // namespace RoboidControl

22
Messages/Messages.h
View File

@ -1,22 +0,0 @@
#pragma once
#include "LinearAlgebra/Spherical.h"
#include "LinearAlgebra/SwingTwist.h"
#include "Thing.h"
namespace RoboidControl {
class ParticipantUDP;
class IMessage {
public:
IMessage();
virtual unsigned char Serialize(char* buffer);
static unsigned char* ReceiveMsg(unsigned char packetSize);
// bool Publish(ParticipantUDP *participant);
// bool SendTo(ParticipantUDP *participant);
};
} // namespace RoboidControl

7
Messages/ModelUrlMsg.h
View File

@ -1,4 +1,7 @@
#include "Messages.h"
#pragma once
#include "IMessage.h"
#include "Thing.h"
namespace RoboidControl {
@ -26,8 +29,6 @@ class ModelUrlMsg : public IMessage {
ModelUrlMsg(unsigned char networkId, Thing* thing);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
ModelUrlMsg(const char* buffer);
// ModelUrlMsg(unsigned char networkId, unsigned char thingId,
// unsigned char urlLegth, const char *url, float scale = 1);
/// @brief Destructor for the message
virtual ~ModelUrlMsg();

7
Messages/NameMsg.cpp
View File

@ -7,15 +7,16 @@ namespace RoboidControl {
NameMsg::NameMsg(unsigned char networkId, Thing* thing) {
this->networkId = networkId;
this->thingId = thing->id;
if (thing->name == nullptr)
const char* thingName = thing->GetName();
if (thingName == nullptr)
this->nameLength = 0;
else
this->nameLength = (unsigned char)strlen(thing->name);
this->nameLength = (unsigned char)strlen(thingName);
// the name string in the buffer is not \0 terminated!
char* name = new char[this->nameLength + 1];
for (int i = 0; i < this->nameLength; i++)
name[i] = thing->name[i];
name[i] = thingName[i];
name[this->nameLength] = '\0';
this->name = name;
}

8
Messages/NameMsg.h
View File

@ -1,4 +1,7 @@
#include "Messages.h"
#pragma once
#include "IMessage.h"
#include "Thing.h"
namespace RoboidControl {
@ -22,9 +25,6 @@ class NameMsg : public IMessage {
/// @param networkId The network ID of the thing
/// @param thing The ID of the thing
NameMsg(unsigned char networkId, Thing* thing);
// NameMsg(unsigned char networkId, unsigned char thingId, const char *name,
// unsigned char nameLength);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
NameMsg(const char* buffer);
/// @brief Destructor for the message

27
Messages/NetworkIdMsg.cpp Normal file
View File

@ -0,0 +1,27 @@
#include "NetworkIdMsg.h"
#include <iostream>
namespace RoboidControl {
NetworkIdMsg::NetworkIdMsg(const char* buffer) {
this->networkId = buffer[1];
}
NetworkIdMsg::NetworkIdMsg(unsigned char networkId) {
this->networkId = networkId;
}
NetworkIdMsg::~NetworkIdMsg() {}
unsigned char NetworkIdMsg::Serialize(char* buffer) {
#if defined(DEBUG)
std::cout << "Send NetworkIdMsg [" << (int)this->networkId << "] " << std::endl;
#endif
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = this->networkId;
return NetworkIdMsg::length;
}
} // namespace RoboidControl

12
Messages/SiteMsg.h → Messages/NetworkIdMsg.h
View File

@ -1,9 +1,11 @@
#include "Messages.h"
#pragma once
#include "IMessage.h"
namespace RoboidControl {
/// @brief A message communicating the network ID for that participant
class SiteMsg : public IMessage {
class NetworkIdMsg : public IMessage {
public:
/// @brief The message ID
static const unsigned char id = 0xA1;
@ -14,11 +16,11 @@ public:
/// @brief Create a new message for sending
/// @param networkId The network ID for the participant
SiteMsg(unsigned char networkId);
NetworkIdMsg(unsigned char networkId);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
SiteMsg(const char *buffer);
NetworkIdMsg(const char *buffer);
/// @brief Destructor for the message
virtual ~SiteMsg();
virtual ~NetworkIdMsg();
/// @copydoc RoboidControl::IMessage::Serialize
virtual unsigned char Serialize(char *buffer) override;

6
Messages/ParticipantMsg.cpp
View File

@ -1,5 +1,9 @@
#include "ParticipantMsg.h"
#if !defined(NO_STD)
#include <iostream>
#endif
namespace RoboidControl {
ParticipantMsg::ParticipantMsg(char networkId) {
@ -13,7 +17,7 @@ ParticipantMsg::ParticipantMsg(const char* buffer) {
ParticipantMsg::~ParticipantMsg() {}
unsigned char ParticipantMsg::Serialize(char* buffer) {
#if defined(DEBUG)
#if defined(DEBUG) && !defined(NO_STD)
std::cout << "Send ParticipantMsg [" << (int)this->networkId << "] "
<< std::endl;
#endif

2
Messages/ParticipantMsg.h
View File

@ -1,6 +1,6 @@
#pragma once
#include "Messages.h"
#include "IMessage.h"
namespace RoboidControl {

10
Messages/PoseMsg.cpp
View File

@ -8,11 +8,11 @@ PoseMsg::PoseMsg(unsigned char networkId, Thing* thing, bool force) {
this->thingId = thing->id;
this->poseType = 0;
if (thing->positionUpdated || force) {
if (thing->positionUpdated || (force || thing->IsRoot())) {
this->position = thing->GetPosition();
this->poseType |= Pose_Position;
}
if (thing->orientationUpdated || force) {
if (thing->orientationUpdated || (force || thing->IsRoot())) {
this->orientation = thing->GetOrientation();
this->poseType |= Pose_Orientation;
}
@ -34,7 +34,7 @@ PoseMsg::PoseMsg(const char* buffer) {
this->thingId = buffer[ix++];
this->poseType = buffer[ix++];
this->position = LowLevelMessages::ReceiveSpherical(buffer, &ix);
this->orientation = LowLevelMessages::ReceiveQuat32(buffer, &ix);
this->orientation = LowLevelMessages::ReceiveSwingTwist(buffer, &ix);
// linearVelocity
// angularVelocity
}
@ -45,7 +45,7 @@ unsigned char PoseMsg::Serialize(char* buffer) {
if (this->poseType == 0)
return 0;
#if defined(DEBUG)
#if defined(DEBUG) && DEBUG > 1
std::cout << "Send PoseMsg [" << (int)this->networkId << "/"
<< (int)this->thingId << "] " << (int)this->poseType << std::endl;
#endif
@ -57,7 +57,7 @@ unsigned char PoseMsg::Serialize(char* buffer) {
if ((this->poseType & Pose_Position) != 0)
LowLevelMessages::SendSpherical(buffer, &ix, this->position);
if ((this->poseType & Pose_Orientation) != 0)
LowLevelMessages::SendQuat32(buffer, &ix, this->orientation);
LowLevelMessages::SendSwingTwist(buffer, &ix, this->orientation);
if ((this->poseType & Pose_LinearVelocity) != 0)
LowLevelMessages::SendSpherical(buffer, &ix, this->linearVelocity);
if ((this->poseType & Pose_AngularVelocity) != 0)

9
Messages/PoseMsg.h
View File

@ -1,4 +1,6 @@
#include "Messages.h"
#pragma once
#include "IMessage.h"
#include "Thing.h"
namespace RoboidControl {
@ -9,7 +11,7 @@ class PoseMsg : public IMessage {
public:
/// @brief The message ID
static const unsigned char id = 0x10;
/// @brief The length of the message
/// @brief The length of the message in bytes
unsigned char length = 4 + 4 + 4;
/// @brief The network ID of the thing
@ -40,7 +42,8 @@ class PoseMsg : public IMessage {
/// @brief Create a new message for sending
/// @param networkId he network ID of the thing
/// @param thing The thing for which the pose shouldbe sent
/// @param thing The thing for which the pose should be sent
/// @param force If true, position and orientation are always included, even when they are not updated
PoseMsg(unsigned char networkId, Thing* thing, bool force = false);
/// @copydoc RoboidControl::IMessage::IMessage(char*)

25
Messages/SiteMsg.cpp
View File

@ -1,25 +0,0 @@
#include "SiteMsg.h"
namespace RoboidControl {
SiteMsg::SiteMsg(const char* buffer) {
this->networkId = buffer[1];
}
SiteMsg::SiteMsg(unsigned char networkId) {
this->networkId = networkId;
}
SiteMsg::~SiteMsg() {}
unsigned char SiteMsg::Serialize(char* buffer) {
#if defined(DEBUG)
std::cout << "Send SiteMsg [" << (int)this->networkId << "] " << std::endl;
#endif
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = this->networkId;
return SiteMsg::length;
}
} // namespace RoboidControl

6
Messages/TextMsg.cpp
View File

@ -1,5 +1,9 @@
#include "TextMsg.h"
#if !defined(NO_STD)
#include <iostream>
#endif
namespace RoboidControl {
TextMsg::TextMsg(const char* text, unsigned char textLength) {
@ -24,7 +28,7 @@ unsigned char TextMsg::Serialize(char* buffer) {
if (this->textLength == 0 || this->text == nullptr)
return 0;
#if defined(DEBUG)
#if defined(DEBUG) && !defined(NO_STD)
std::cout << "Send TextMsg " << (int)this->textLength << " " << this->text << std::endl;
#endif
unsigned char ix = 0;

6
Messages/TextMsg.h
View File

@ -1,4 +1,4 @@
#include "Messages.h"
#include "IMessage.h"
namespace RoboidControl {
@ -9,10 +9,6 @@ class TextMsg : public IMessage {
static const unsigned char id = 0xB0;
/// @brief The length of the message without the text itself
static const unsigned char length = 2;
/// @brief The network ID of the thing
unsigned char networkId;
/// @brief the ID of the thing
unsigned char thingId;
/// @brief The text without the null terminator
const char* text;
/// @brief The length of the text

22
Messages/ThingMsg.cpp
View File

@ -14,27 +14,21 @@ ThingMsg::ThingMsg(unsigned char networkId, Thing* thing) {
this->networkId = networkId;
this->thingId = thing->id;
this->thingType = thing->type;
Thing* parent = thing->GetParent();
if (parent != nullptr)
this->parentId = parent->id;
else
if (thing->IsRoot())
this->parentId = 0;
else {
Thing* parent = thing->GetParent();
this->parentId = parent->id;
}
}
// ThingMsg::ThingMsg(unsigned char networkId, unsigned char thingId,
// unsigned char thingType, unsigned char parentId) {
// this->networkId = networkId;
// this->thingId = thingId;
// this->thingType = thingType;
// this->parentId = parentId;
// }
ThingMsg::~ThingMsg() {}
unsigned char ThingMsg::Serialize(char* buffer) {
#if defined(DEBUG)
std::cout << "Send ThingMsg [" << (int)this->networkId << "/" << (int)this->thingId
<< "] " << (int)this->thingType << " " << (int)this->parentId << std::endl;
std::cout << "Send ThingMsg [" << (int)this->networkId << "/"
<< (int)this->thingId << "] " << (int)this->thingType << " "
<< (int)this->parentId << std::endl;
#endif
unsigned char ix = 0;
buffer[ix++] = this->id;

11
Messages/ThingMsg.h
View File

@ -1,8 +1,9 @@
#include "Messages.h"
#include "IMessage.h"
#include "Thing.h"
namespace RoboidControl {
/// @brief Message providing generic information about a Thing
/// @brief Message providing generic details about a Thing
class ThingMsg : public IMessage {
public:
/// @brief The message ID
@ -13,17 +14,15 @@ class ThingMsg : public IMessage {
unsigned char networkId;
/// @brief The ID of the thing
unsigned char thingId;
/// @brief The Thing.Type of the thing
/// @brief The type of thing
unsigned char thingType;
/// @brief The parent of the thing in the hierarachy. This is null for root Things
/// @brief The ID of the parent thing in the hierarchy. This is zero for root things
unsigned char parentId;
/// @brief Create a message for sending
/// @param networkId The network ID of the thing</param>
/// @param thing The thing
ThingMsg(unsigned char networkId, Thing* thing);
// ThingMsg(unsigned char networkId, unsigned char thingId,
// unsigned char thingType, unsigned char parentId);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
ThingMsg(const char* buffer);

170
Participant.cpp
View File

@ -1,12 +1,33 @@
#include "Participant.h"
#include <string.h>
#include "Arduino/ArduinoParticipant.h"
#include "EspIdf/EspIdfParticipant.h"
#include "Posix/PosixParticipant.h"
#include "Windows/WindowsParticipant.h"
namespace RoboidControl {
Participant::Participant() {}
#pragma region Participant
ParticipantRegistry Participant::registry;
Participant* Participant::LocalParticipant = new Participant();
void Participant::ReplaceLocalParticipant(Participant& newParticipant) {
LocalParticipant = &newParticipant;
std::cout << "Replaced local participant" << std::endl;
}
Participant::Participant() {
Thing::CreateRoot(this);
//this->Add(this->root);
}
Participant::Participant(const char* ipAddress, int port) {
Thing::CreateRoot(this);
//this->Add(this->root);
// make a copy of the ip address string
int addressLength = (int)strlen(ipAddress);
int stringLength = addressLength + 1;
@ -24,23 +45,52 @@ Participant::Participant(const char* ipAddress, int port) {
}
Participant::~Participant() {
// registry.Remove(this);
delete[] this->ipAddress;
}
void Participant::Update(unsigned long currentTimeMs) {
void Participant::Update() {
for (Thing* thing : this->things) {
if (thing != nullptr)
thing->Update(currentTimeMs, true);
thing->Update(true);
}
}
bool Participant::Send(IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
// std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
// << " to " << this->ipAddress << std::endl;
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
return thisWindows->Send(this, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
return thisPosix->Send(this, bufferSize);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
return thisArduino->Send(this, bufferSize);
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
return thisEspIdf->Send(remoteParticipant, bufferSize);
#else
return false;
#endif
}
Thing* Participant::Get(unsigned char thingId) {
for (Thing* thing : this->things) {
if (thing->id == thingId)
return thing;
}
// std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
// << "[" << (int)thingId << "]\n";
std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
<< "[" << (int)thingId << "]\n";
return nullptr;
}
@ -51,7 +101,15 @@ void Participant::Add(Thing* thing, bool checkId) {
thing->id = this->thingCount + 1;
this->things[this->thingCount++] = thing;
#else
thing->id = (unsigned char)this->things.size() + 1;
// find highest id
int highestIx = 0;
for (Thing* thing : this->things) {
if (thing == nullptr)
continue;
if (thing->id > highestIx)
highestIx = thing->id;
}
thing->id = highestIx + 1;
this->things.push_back(thing);
#endif
// std::cout << "Add thing with generated ID " << this->ipAddress << ":"
@ -64,7 +122,8 @@ void Participant::Add(Thing* thing, bool checkId) {
#else
this->things.push_back(thing);
#endif
// std::cout << "Add thing " << this->ipAddress << ":" << this->port << "["
// std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
// "["
// << (int)thing->id << "]\n";
} else {
// std::cout << "Did not add, existing thing " << this->ipAddress << ":"
@ -89,22 +148,93 @@ void Participant::Remove(Thing* thing) {
this->thingCount = lastThingIx;
#else
this->things.remove_if([thing](Thing* obj) { return obj == thing; });
std::cout << "Removing " << thing->networkId << "/" << thing->id
<< " list size = " << this->things.size() << "\n";
// std::cout << "Removing [" << (int)thing->networkId << "/" << (int)thing->id
// << "] list size = " << this->things.size() << "\n";
#endif
}
// void Participant::UpdateAll(unsigned long currentTimeMs) {
// // Not very efficient, but it works for now.
#pragma endregion
// for (Thing* thing : this->things) {
// if (thing != nullptr && thing->GetParent() == nullptr) { // update all
// root things
// // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
// // << "\n";
// thing->Update(currentTimeMs);
// }
// }
// }
#pragma region ParticipantRegistry
Participant* ParticipantRegistry::Get(const char* ipAddress,
unsigned int port) {
#if !defined(NO_STD)
for (Participant* participant : ParticipantRegistry::participants) {
if (participant == nullptr)
continue;
if (strcmp(participant->ipAddress, ipAddress) == 0 &&
participant->port == port) {
// std::cout << "found participant " << participant->ipAddress << ":"
// << (int)participant->port << std::endl;
return participant;
}
}
std::cout << "Could not find participant " << ipAddress << ":" << (int)port
<< std::endl;
#endif
return nullptr;
}
Participant* ParticipantRegistry::Get(unsigned char participantId) {
#if !defined(NO_STD)
for (Participant* participant : ParticipantRegistry::participants) {
if (participant == nullptr)
continue;
if (participant->networkId == participantId)
return participant;
}
std::cout << "Could not find participant " << (int)participantId << std::endl;
#endif
return nullptr;
}
Participant* ParticipantRegistry::Add(const char* ipAddress,
unsigned int port) {
Participant* participant = new Participant(ipAddress, port);
Add(participant);
return participant;
}
void ParticipantRegistry::Add(Participant* participant) {
Participant* foundParticipant =
Get(participant->ipAddress, participant->port);
if (foundParticipant == nullptr) {
#if defined(NO_STD)
// this->things[this->thingCount++] = thing;
#else
ParticipantRegistry::participants.push_back(participant);
#endif
// std::cout << "Add participant " << participant->ipAddress << ":"
// << participant->port << "[" << (int)participant->networkId
// << "]\n";
// std::cout << "participants " <<
// ParticipantRegistry::participants.size()
// << "\n";
// } else {
// std::cout << "Did not add, existing participant " <<
// participant->ipAddress
// << ":" << participant->port << "[" <<
// (int)participant->networkId
// << "]\n";
}
}
void ParticipantRegistry::Remove(Participant* participant) {
// participants.remove(participant);
}
#if defined(NO_STD)
Participant** ParticipantRegistry::GetAll() const {
return ParticipantRegistry::participants;
}
#else
const std::list<Participant*>& ParticipantRegistry::GetAll() const {
return ParticipantRegistry::participants;
}
#endif
#pragma endregion ParticipantRegistry
} // namespace RoboidControl

135
Participant.h
View File

@ -1,10 +1,58 @@
#pragma once
#include "Messages/IMessage.h"
#include "Thing.h"
namespace RoboidControl {
constexpr int MAX_THING_COUNT = 256;
/// @brief class which manages all known participants
class ParticipantRegistry {
public:
/// @brief Retrieve a participant by its address
/// @param ipAddress The IP address of the participant
/// @param port The port number of the participant
/// @return The participant or a nullptr when it could not be found
Participant* Get(const char* ipAddress, unsigned int port);
/// @brief Retrieve a participant by its network ID
/// @param networkID The network ID of the participant
/// @return The participant or a nullptr when it could not be found
Participant* Get(unsigned char networkID);
/// @brief Add a participant with the given details
/// @param ipAddress The IP address of the participant
/// @param port The port number of the participant
/// @return The added participant
Participant* Add(const char* ipAddress, unsigned int port);
/// @brief Add a participant
/// @param participant The participant to add
void Add(Participant* participant);
/// @brief Remove a participant
/// @param participant The participant to remove
void Remove(Participant* participant);
private:
#if defined(NO_STD)
public:
Participant** GetAll() const;
int count = 0;
private:
Participant** participants;
#else
public:
/// @brief Get all participants
/// @return All participants
const std::list<Participant*>& GetAll() const;
private:
/// @brief The list of known participants
std::list<Participant*> participants;
#endif
};
/// @brief A participant is a device which manages things.
/// It can communicate with other participant to synchronise the state of
/// things. This class is used to register the things the participant is
@ -12,53 +60,94 @@ constexpr int MAX_THING_COUNT = 256;
/// participant. It is used as a basis for the local participant, but also as a
/// reference to remote participants.
class Participant {
#pragma region Init
public:
/// @brief The Ip Address of a participant. When the participant is local,
/// this contains 0.0.0.0
const char* ipAddress = "0.0.0.0";
/// @brief The port number for UDP communication with the participant. This is
/// 0 for isolated participants.
int port = 0;
/// @brief The network Id to identify the participant.
/// @note This field is likely to disappear in future versions
unsigned char networkId = 0;
/// @brief Default constructor
/// @brief Create a generic participant
Participant();
/// @brief Create a new participant with the given communcation info
/// @param ipAddress The IP address of the participant
/// @param port The port of the participant
/// @param port The UDP port of the participant
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
Participant(const char* ipAddress, int port);
/// @brief Destructor for the participant
~Participant();
virtual void Update(unsigned long currentTimeMs = 0);
/// @brief The local participant for this application
static Participant* LocalParticipant;
/// @brief Replace the local participant
/// @param newParticipant The new local Participant
static void ReplaceLocalParticipant(Participant& newParticipant);
protected:
#pragma endregion Init
#pragma region Properties
public:
/// @brief The name of the participant
const char* name = "Participant";
/// @brief The Ip Address of a participant.
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
const char* ipAddress = "0.0.0.0";
/// @brief The port number for UDP communication with the participant.
/// @remarks This does not belong here, it should move to ParticipantUDP or
/// something like that in the future
unsigned int port = 0;
/// @brief The network Id to identify the participant
unsigned char networkId = 0;
/// @brief The root thing for this participant
Thing* root = nullptr;
public:
#if defined(NO_STD)
unsigned char thingCount = 0;
Thing* things[MAX_THING_COUNT];
#else
/// @brief The list of things managed by this participant
/// @brief The things managed by this participant
std::list<Thing*> things;
#endif
public:
/// @brief Find a thing managed by this participant
/// @param networkId The network ID for the thing
/// @param thingId The ID of the thing
/// @return The thing if found or nullptr when no thing has been found
/// @note The use of the network ID is likely to disappear in future versions.
/// @return The thing if found, nullptr when no thing has been found
Thing* Get(unsigned char thingId);
/// @brief Add a new thing for this participant.
/// @param thing The thing to add
/// @param checkId Checks the thing ID of the thing. If it is 0, a new thing
/// Id will be assigned.
/// @param checkId If true, the thing.id is regenerated if it is zero
void Add(Thing* thing, bool checkId = true);
/// @brief Remove a thing for this participant
/// @param thing The thing to remove
void Remove(Thing* thing);
#pragma endregion Properties
#pragma region Update
public:
/// @brief Update all things for this participant
virtual void Update();
#pragma endregion Update
#pragma region Send
public:
char buffer[1024];
virtual bool Send(IMessage* msg);
#pragma endregion Send
#pragma region Participant Registry
public:
static ParticipantRegistry registry;
#pragma endregion Participant Registry
};
} // namespace RoboidControl

312
Participants/ParticipantUDP.cpp
View File

@ -1,56 +1,53 @@
#include "ParticipantUDP.h"
#include "Participant.h"
#include "Thing.h"
#include "Arduino/ArduinoParticipant.h"
#include "EspIdf/EspIdfParticipant.h"
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#include <ws2tcpip.h>
#include "Windows/WindowsParticipant.h"
#pragma comment(lib, "ws2_32.lib")
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <fcntl.h> // For fcntl
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#include <chrono>
#include "Posix/PosixParticipant.h"
#endif
#include "Windows/WindowsParticipant.h"
#include <string.h>
namespace RoboidControl {
ParticipantUDP::ParticipantUDP(int port) {
this->ipAddress = "0.0.0.0";
this->port = port;
#pragma region Init
ParticipantUDP::ParticipantUDP(int port) : Participant("127.0.0.1", port) {
this->name = "ParticipantUDP";
this->remoteSite = nullptr;
if (this->port == 0)
this->isIsolated = true;
Participant::registry.Add(this);
this->root = Thing::LocalRoot(); //::LocalParticipant->root;
this->root->owner = this;
this->root->name = "UDP Root";
this->Add(this->root);
Participant::ReplaceLocalParticipant(*this);
}
ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
: Participant("127.0.0.1", localPort) {
this->name = "ParticipantUDP";
if (this->port == 0)
this->isIsolated = true;
else
this->remoteSite = new Participant(ipAddress, port);
}
Participant::registry.Add(this);
static ParticipantUDP* isolatedParticipant = nullptr;
this->root = Thing::LocalRoot(); // Participant::LocalParticipant->root;
this->root->owner = this;
this->root->name = "UDP Root";
this->Add(this->root);
ParticipantUDP* ParticipantUDP::Isolated() {
if (isolatedParticipant == nullptr)
isolatedParticipant = new ParticipantUDP(0);
return isolatedParticipant;
Participant::ReplaceLocalParticipant(*this);
}
void ParticipantUDP::begin() {
if (this->isIsolated)
if (this->isIsolated || this->remoteSite == nullptr)
return;
SetupUDP(this->port, this->remoteSite->ipAddress, this->remoteSite->port);
@ -69,7 +66,7 @@ void ParticipantUDP::SetupUDP(int localPort,
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Setup(localPort, remoteIpAddress, remotePort);
thisArduino->Setup();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
@ -78,9 +75,16 @@ void ParticipantUDP::SetupUDP(int localPort,
this->connected = true;
}
void ParticipantUDP::Update(unsigned long currentTimeMs) {
if (currentTimeMs == 0)
currentTimeMs = Thing::GetTimeMs();
#pragma endregion Init
#pragma region Update
// The update order
// 1. receive external messages
// 2. update the state
// 3. send out the updated messages
void ParticipantUDP::Update() {
unsigned long currentTimeMs = Thing::GetTimeMs();
if (this->isIsolated == false) {
if (this->connected == false)
@ -91,7 +95,8 @@ void ParticipantUDP::Update(unsigned long currentTimeMs) {
if (this->remoteSite == nullptr)
this->Publish(msg);
else
this->Send(this->remoteSite, msg);
this->Send(msg);
delete msg;
this->nextPublishMe = currentTimeMs + this->publishInterval;
@ -100,107 +105,85 @@ void ParticipantUDP::Update(unsigned long currentTimeMs) {
this->ReceiveUDP();
}
UpdateMyThings();
UpdateOtherThings();
}
void ParticipantUDP::UpdateMyThings() {
for (Thing* thing : this->things) {
if (thing == nullptr)
if (thing == nullptr) // || thing->GetParent() != nullptr)
continue;
std::cout << "Update thing " << (int)thing->id << std::endl;
if (this->isIsolated == false) {
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
this->Send(thing->owner, poseMsg);
BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
this->Send(thing->owner, binaryMsg);
delete poseMsg;
}
thing->Update(currentTimeMs, true);
// Why don't we do recursive?
// Because when a thing creates a thing in the update,
// that new thing is not sent out (because of hierarchyChanged)
// before it is updated itself: it is immediatedly updated!
thing->Update(false);
if (thing->terminate)
this->Remove(thing);
}
}
void ParticipantUDP::ReceiveUDP() {
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
thisWindows->Receive();
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
thisPosix->Receive();
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Receive();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
thisEspIdf->Receive();
#endif
}
Participant* ParticipantUDP::GetParticipant(const char* ipAddress, int port) {
for (Participant* sender : this->senders) {
if (strcmp(sender->ipAddress, ipAddress) == 0 && sender->port == port)
return sender;
}
return nullptr;
}
Participant* ParticipantUDP::AddParticipant(const char* ipAddress, int port) {
// std::cout << "New Participant " << ipAddress << ":" << port << "\n";
Participant* participant = new Participant(ipAddress, port);
void ParticipantUDP::UpdateOtherThings() {
#if defined(NO_STD)
participant->networkId = this->senderCount;
this->senders[this->senderCount++] = participant;
Participant** participants = Participant::registry.GetAll();
for (int ix = 0; ix < Participant::registry.count; ix++) {
Participant* participant = participants[ix];
#else
participant->networkId = (unsigned char)this->senders.size();
this->senders.push_back(participant);
for (Participant* participant : Participant::registry.GetAll()) {
#endif
return participant;
if (participant == nullptr || participant == this)
continue;
// Call only the Participant version of the Update.
// This is to deal with the function where one of the (remote)
// participants is actually a local participant
participant->Participant::Update();
if (this->isIsolated)
continue;
for (Thing* thing : participant->things) {
PoseMsg* poseMsg = new PoseMsg(participant->networkId, thing);
participant->Send(poseMsg);
delete poseMsg;
BinaryMsg* binaryMsg = new BinaryMsg(participant->networkId, thing);
participant->Send(binaryMsg);
delete binaryMsg;
}
}
}
// Update
#pragma endregion
#pragma region Send
void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
Thing* thing) {
// std::cout << "Send thing info [" << (int)thing->id << "] \n";
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Send(remoteParticipant, thingMsg);
remoteParticipant->Send(thingMsg);
delete thingMsg;
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Send(remoteParticipant, nameMsg);
remoteParticipant->Send(nameMsg);
delete nameMsg;
ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Send(remoteParticipant, modelMsg);
remoteParticipant->Send(modelMsg);
delete modelMsg;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
this->Send(remoteParticipant, poseMsg);
remoteParticipant->Send(poseMsg);
delete poseMsg;
BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
this->Send(remoteParticipant, customMsg);
delete customMsg;
BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
remoteParticipant->Send(binaryMsg);
delete binaryMsg;
}
bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
bool ParticipantUDP::Send(IMessage* msg) {
if (this->remoteSite != nullptr)
return this->remoteSite->Send(msg);
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
return thisWindows->Send(remoteParticipant, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
return thisPosix->Send(remoteParticipant, bufferSize);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
return thisArduino->Send(remoteParticipant, bufferSize);
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
return thisEspIdf->Send(remoteParticipant, bufferSize);
#else
return false;
#endif
return true;
}
void ParticipantUDP::PublishThingInfo(Thing* thing) {
@ -225,6 +208,7 @@ void ParticipantUDP::PublishThingInfo(Thing* thing) {
}
bool ParticipantUDP::Publish(IMessage* msg) {
// std::cout << "publish msg\n";
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
@ -250,14 +234,37 @@ bool ParticipantUDP::Publish(IMessage* msg) {
#pragma region Receive
void ParticipantUDP::ReceiveUDP() {
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
thisWindows->Receive();
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
thisPosix->Receive();
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Receive();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
thisEspIdf->Receive();
#endif
}
void ParticipantUDP::ReceiveData(unsigned char packetSize,
char* senderIpAddress,
unsigned int senderPort) {
Participant* sender = this->GetParticipant(senderIpAddress, senderPort);
// std::cout << "Receive data from " << senderIpAddress << ":" << senderPort
// << std::endl;
Participant* sender = this->registry.Get(senderIpAddress, senderPort);
if (sender == nullptr) {
sender = this->AddParticipant(senderIpAddress, senderPort);
sender = this->registry.Add(senderIpAddress, senderPort);
#if !defined(NO_STD)
std::cout << "New remote participant " << sender->ipAddress << ":"
<< sender->port << std::endl;
#endif
}
ReceiveData(packetSize, sender);
@ -275,8 +282,8 @@ void ParticipantUDP::ReceiveData(unsigned char bufferSize,
Process(sender, msg);
delete msg;
} break;
case SiteMsg::id: {
SiteMsg* msg = new SiteMsg(this->buffer);
case NetworkIdMsg::id: {
NetworkIdMsg* msg = new NetworkIdMsg(this->buffer);
bufferSize -= msg->length;
Process(sender, msg);
delete msg;
@ -316,11 +323,25 @@ void ParticipantUDP::ReceiveData(unsigned char bufferSize,
Process(sender, msg);
delete msg;
} break;
case TextMsg::id: {
TextMsg* msg = new TextMsg(this->buffer);
bufferSize -= msg->length + msg->textLength;
Process(sender, msg);
delete msg;
} break;
case DestroyMsg::id: {
DestroyMsg* msg = new DestroyMsg(this->buffer);
bufferSize -= msg->length;
Process(sender, msg);
delete msg;
} break;
};
// Check if the buffer has been read completely
// Check if the buffer has been read completely
#if !defined(NO_STD)
if (bufferSize > 0)
std::cout << "Buffer not fully read, remaining " << (int)bufferSize << "\n";
#endif
}
void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
@ -330,15 +351,16 @@ void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
#endif
}
void ParticipantUDP::Process(Participant* sender, SiteMsg* msg) {
void ParticipantUDP::Process(Participant* sender, NetworkIdMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process SiteMsg " << (int)this->networkId
std::cout << this->name << ": process NetworkIdMsg " << (int)this->networkId
<< " -> " << (int)msg->networkId << "\n";
#endif
if (this->networkId != msg->networkId) {
this->networkId = msg->networkId;
// std::cout << this->things.size() << " things\n";
std::cout << this->things.size() << " things\n";
for (Thing* thing : this->things)
this->SendThingInfo(sender, thing);
}
@ -380,11 +402,15 @@ void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
nameLength); // Leave space for null terminator
#endif
thingName[nameLength] = '\0';
thing->name = thingName;
thing->SetName(thingName);
std::cout << thing->name;
#if !defined(NO_STD)
std::cout << thing->GetName();
#endif
}
#if !defined(NO_STD)
std::cout << std::endl;
#endif
}
void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
@ -395,26 +421,66 @@ void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
}
void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
#if defined(DEBUG)
#if !defined(DEBUG) && !defined(NO_STD)
std::cout << this->name << ": process PoseMsg [" << (int)this->networkId
<< "/" << (int)msg->networkId << "]\n";
<< "/" << (int)msg->networkId << "] " << (int)msg->poseType << "\n";
#endif
Participant* owner = Participant::registry.Get(msg->networkId);
if (owner == nullptr)
return;
Thing* thing = owner->Get(msg->thingId);
if (thing == nullptr)
return;
if ((msg->poseType & PoseMsg::Pose_Position) != 0)
thing->SetPosition(msg->position);
if ((msg->poseType & PoseMsg::Pose_Orientation) != 0)
thing->SetOrientation(msg->orientation);
if ((msg->poseType & PoseMsg::Pose_LinearVelocity) != 0)
thing->SetLinearVelocity(msg->linearVelocity);
if ((msg->poseType & PoseMsg::Pose_AngularVelocity) != 0)
thing->SetAngularVelocity(msg->angularVelocity);
}
void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process BinaryMsg [" << (int)msg->networkId
<< "/" << (int)msg->thingId << "] ";
<< "/" << (int)msg->thingId << "]\n";
#endif
Participant* owner = Participant::registry.Get(msg->networkId);
if (owner != nullptr) {
Thing* thing = owner->Get(msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->data);
#if !defined(NO_STD)
else {
#if defined(DEBUG)
std::cout << " unknown thing [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "]";
#endif
}
#endif
}
}
void ParticipantUDP::Process(Participant* sender, TextMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process TextMsg " << (int)msg->textLength << " "
<< (int)msg->text << "\n";
#endif
}
void ParticipantUDP::Process(Participant* sender, DestroyMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process Destroy [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "]\n";
#endif
Thing* thing = sender->Get(msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->data);
else {
std::cout << " unknown thing [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "]";
}
std::cout << std::endl;
this->Remove(thing);
}
// Receive

121
Participants/ParticipantUDP.h
View File

@ -1,13 +1,15 @@
#pragma once
#include "Messages/BinaryMsg.h"
#include "Messages/DestroyMsg.h"
#include "Messages/InvestigateMsg.h"
#include "Messages/ModelUrlMsg.h"
#include "Messages/NameMsg.h"
#include "Messages/ParticipantMsg.h"
#include "Messages/PoseMsg.h"
#include "Messages/SiteMsg.h"
#include "Messages/NetworkIdMsg.h"
#include "Messages/ThingMsg.h"
#include "Messages/TextMsg.h"
#include "Participant.h"
#if !defined(NO_STD)
@ -29,7 +31,8 @@ namespace RoboidControl {
constexpr int MAX_SENDER_COUNT = 256;
/// @brief A local participant is the local device which can communicate with
/// @brief A participant using UDP communication
/// A local participant is the local device which can communicate with
/// other participants It manages all local things and communcation with other
/// participants. Each application has a local participant which is usually
/// explicit in the code. An participant can be isolated. In that case it is
@ -41,6 +44,9 @@ constexpr int MAX_SENDER_COUNT = 256;
/// RoboidControl::IsolatedParticipant::Isolated().
/// @sa RoboidControl::Thing::Thing()
class ParticipantUDP : public Participant {
#pragma region Init
public:
/// @brief Create a participant without connecting to a site
/// @param port The port on which the participant communicates
@ -51,41 +57,28 @@ class ParticipantUDP : public Participant {
/// @brief Create a participant which will try to connect to a site.
/// @param ipAddress The IP address of the site
/// @param port The port used by the site
ParticipantUDP(const char* ipAddress,
int port = 7681,
int localPort = 7681);
// Note to self: one cannot specify the port used by the local participant
// now!!
/// @param localPort The port used by the local participant
ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
/// @brief Isolated participant is used when the application is run without
/// networking
/// @return A participant without networking support
static ParticipantUDP* Isolated();
#pragma endregion Init
#pragma region Properties
public:
/// @brief True if the participant is running isolated.
/// Isolated participants do not communicate with other participants
bool isIsolated = false;
/// @brief The remote site when this participant is connected to a site
Participant* remoteSite = nullptr;
/// The interval in milliseconds for publishing (broadcasting) data on the
/// local network
long publishInterval = 3000; // 3 seconds
/// @brief The name of the participant
const char* name = "ParticipantUDP";
// int localPort = 0;
/// @brief The remote site when this participant is connected to a site
Participant* remoteSite = nullptr;
#if defined(ARDUINO)
// const char* remoteIpAddress = nullptr;
// unsigned short remotePort = 0;
// char* broadcastIpAddress = nullptr;
// WiFiUDP udp;
#else
protected:
#if !defined(ARDUINO)
#if defined(__unix__) || defined(__APPLE__)
int sock;
#elif defined(_WIN32) || defined(_WIN64)
@ -93,81 +86,63 @@ class ParticipantUDP : public Participant {
sockaddr_in server_addr;
sockaddr_in broadcast_addr;
#endif
#endif
public:
void begin();
bool connected = false;
virtual void Update(unsigned long currentTimeMs = 0) override;
#pragma endregion Properties
#pragma region Update
public:
virtual void Update() override;
protected:
unsigned long nextPublishMe = 0;
/// @brief Prepare the local things for the next update
//virtual void PrepMyThings();
virtual void UpdateMyThings();
virtual void UpdateOtherThings();
#pragma endregion Update
#pragma region Send
void SendThingInfo(Participant* remoteParticipant, Thing* thing);
void PublishThingInfo(Thing* thing);
bool Send(Participant* remoteParticipant, IMessage* msg);
virtual bool Send(IMessage* msg) override;
bool Publish(IMessage* msg);
#pragma endregion Send
#pragma region Receive
protected:
void ReceiveData(unsigned char bufferSize,
char* senderIpAddress,
unsigned int senderPort);
void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
#if defined(NO_STD)
unsigned char senderCount = 0;
Participant* senders[MAX_SENDER_COUNT];
#else
std::list<Participant*> senders;
#endif
protected:
unsigned long nextPublishMe = 0;
char buffer[1024];
void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
Participant* GetParticipant(const char* ipAddress, int port);
Participant* AddParticipant(const char* ipAddress, int port);
void ReceiveUDP();
virtual void Process(Participant* sender, ParticipantMsg* msg);
virtual void Process(Participant* sender, SiteMsg* msg);
virtual void Process(Participant* sender, NetworkIdMsg* msg);
virtual void Process(Participant* sender, InvestigateMsg* msg);
virtual void Process(Participant* sender, ThingMsg* msg);
virtual void Process(Participant* sender, NameMsg* msg);
virtual void Process(Participant* sender, ModelUrlMsg* msg);
virtual void Process(Participant* sender, PoseMsg* msg);
virtual void Process(Participant* sender, BinaryMsg* msg);
virtual void Process(Participant* sender, TextMsg* msg);
virtual void Process(Participant* sender, DestroyMsg* msg);
#if !defined(NO_STD)
// public:
// using ThingConstructor = std::function<Thing*(Participant* participant,
// unsigned char networkId,
// unsigned char thingId)>;
#pragma endregion Receive
// template <typename ThingClass>
// void Register(unsigned char thingType) {
// thingMsgProcessors[thingType] = [](Participant* participant,
// unsigned char networkId,
// unsigned char thingId) {
// return new ThingClass(participant, networkId, thingId);
// };
// };
// template <typename ThingClass>
// void Register2(unsigned char thingType, ThingConstructor f) {
// thingMsgProcessors[thingType] = [f](Participant* participant,
// unsigned char networkId,
// unsigned char thingId) {
// return f(participant, networkId, thingId);
// };
// };
// protected:
// std::unordered_map<unsigned char, ThingConstructor> thingMsgProcessors;
#endif
};
} // namespace RoboidControl

101
Participants/SiteServer.cpp
View File

@ -9,58 +9,89 @@
namespace RoboidControl {
SiteServer::SiteServer(int port) {
#pragma region Init
SiteServer::SiteServer(int port) : ParticipantUDP(port) {
this->name = "Site Server";
this->publishInterval = 0;
this->ipAddress = "0.0.0.0";
this->port = port;
#if defined(NO_STD)
this->senders[this->senderCount++] = this;
#else
this->senders.push_back(this);
#endif
SetupUDP(port, ipAddress, 0);
#if !defined(NO_STD)
// Register<TemperatureSensor>((unsigned char)Thing::Type::TemperatureSensor);
#endif
}
#pragma endregion Init
#pragma region Update
void SiteServer::UpdateMyThings() {
for (Thing* thing : this->things) {
if (thing == nullptr)
continue;
thing->Update(true);
if (this->isIsolated == false) {
// Send to all other participants
#if defined(NO_STD)
Participant** participants = Participant::registry.GetAll();
for (int ix = 0; ix < Participant::registry.count; ix++) {
Participant* participant = participants[ix];
#else
for (Participant* participant : Participant::registry.GetAll()) {
#endif
if (participant == nullptr || participant == this)
continue;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
participant->Send(poseMsg);
delete poseMsg;
BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
participant->Send(binaryMsg);
delete binaryMsg;
}
}
}
}
#pragma endregion Update
#pragma region Receive
void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
if (msg->networkId == 0) {
if (msg->networkId != sender->networkId) {
// std::cout << this->name << " received New Client -> " <<
// sender->ipAddress
// << ":" << (int)sender->port << "\n";
SiteMsg* msg = new SiteMsg(sender->networkId);
this->Send(sender, msg);
NetworkIdMsg* msg = new NetworkIdMsg(sender->networkId);
sender->Send(msg);
delete msg;
}
}
void SiteServer::Process(Participant* sender, SiteMsg* msg) {}
void SiteServer::Process(Participant* sender, NetworkIdMsg* msg) {}
void SiteServer::Process(Participant* sender, ThingMsg* msg) {
Thing* thing = sender->Get(msg->thingId);
if (thing == nullptr) {
// #if defined(NO_STD)
new Thing(sender, (Thing::Type)msg->thingType,
msg->thingId);
// #else
// auto thingMsgProcessor = thingMsgProcessors.find(msg->thingType);
// //Thing* newThing;
// if (thingMsgProcessor != thingMsgProcessors.end()) // found item
// //newThing =
// thingMsgProcessor->second(sender, msg->networkId,
// msg->thingId);
// else
// //newThing =
// new Thing(sender, msg->networkId, msg->thingId,
// (Thing::Type)msg->thingType);
// #endif
}
if (thing == nullptr)
// new Thing(sender, (Thing::Type)msg->thingType, msg->thingId);
// Thing::Reconstruct(sender, msg->thingType, msg->thingId);
//thing = new Thing(msg->thingType, sender->root);
;
thing->id = msg->thingId;
if (msg->parentId != 0) {
thing->SetParent(Get(msg->parentId));
if (thing->IsRoot())
// if (thing->GetParent() != nullptr)
#if defined(NO_STD)
;
#else
std::cout << "Could not find parent [" << (int)msg->networkId << "/"
<< (int)msg->parentId << "]\n";
#endif
} else
thing->SetParent(Thing::LocalRoot());
}
#pragma endregion Receive
} // namespace RoboidControl

44
Participants/SiteServer.h
View File

@ -2,45 +2,43 @@
#include "ParticipantUDP.h"
#if !defined(NO_STD)
#include <functional>
#include <memory>
#include <unordered_map>
#endif
// #if !defined(NO_STD)
// #include <functional>
// #include <memory>
// #include <unordered_map>
// #endif
namespace RoboidControl {
/// @brief A participant is device which can communicate with other participants
class SiteServer : public ParticipantUDP {
#pragma region Init
public:
/// @brief Create a new site server
/// @param port The port of which to receive the messages
SiteServer(int port = 7681);
// virtual void Update(unsigned long currentTimeMs = 0) override;
#pragma endregion Init
// #if !defined(NO_STD)
// template <typename ThingClass>
// void Register(unsigned char thingType) {
// thingMsgProcessors[thingType] = [](Participant* participant,
// unsigned char networkId,
// unsigned char thingId) {
// return new ThingClass(participant, networkId, thingId);
// };
// };
// #endif
#pragma region Update
virtual void UpdateMyThings() override;
#pragma endregion Update
#pragma region Receive
protected:
unsigned long nextPublishMe = 0;
virtual void Process(Participant* sender, ParticipantMsg* msg) override;
virtual void Process(Participant* sender, SiteMsg* msg) override;
virtual void Process(Participant* sender, NetworkIdMsg* msg) override;
virtual void Process(Participant* sender, ThingMsg* msg) override;
// #if !defined(NO_STD)
// using ThingConstructor = std::function<Thing*(Participant* participant,
// unsigned char networkId,
// unsigned char thingId)>;
// std::unordered_map<unsigned char, ThingConstructor> thingMsgProcessors;
// #endif
#pragma endregion Receive
};
} // namespace RoboidControl

12
Posix/PosixParticipant.cpp
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@ -11,7 +11,7 @@
namespace RoboidControl {
namespace Posix {
void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
#if defined(__unix__) || defined(__APPLE__)
// Create a UDP socket
@ -63,7 +63,7 @@ void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
#endif
}
void Receive() {
void ParticipantUDP::Receive() {
#if defined(__unix__) || defined(__APPLE__)
sockaddr_in client_addr;
socklen_t len = sizeof(client_addr);
@ -74,9 +74,9 @@ void Receive() {
unsigned int sender_port = ntohs(client_addr.sin_port);
ReceiveData(packetSize, sender_ipAddress, sender_port);
// RoboidControl::Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
// RoboidControl::Participant* remoteParticipant = this->Get(sender_ipAddress, sender_port);
// if (remoteParticipant == nullptr) {
// remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// remoteParticipant = this->Add(sender_ipAddress, sender_port);
// // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
// // << "\n";
// // std::cout << "New remote participant " << remoteParticipant->ipAddress
@ -90,7 +90,7 @@ void Receive() {
#endif
}
bool Send(Participant* remoteParticipant, int bufferSize) {
bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(__unix__) || defined(__APPLE__)
// std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
// << "\n";
@ -113,7 +113,7 @@ bool Send(Participant* remoteParticipant, int bufferSize) {
return true;
}
bool Publish(IMessage* msg) {
bool ParticipantUDP::Publish(IMessage* msg) {
#if defined(__unix__) || defined(__APPLE__)
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)

7
Posix/PosixParticipant.h
View File

@ -11,6 +11,13 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
void Receive();
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
#if defined(__unix__) || defined(__APPLE__)
sockaddr_in remote_addr;
sockaddr_in server_addr;
sockaddr_in broadcast_addr;
#endif
};
} // namespace Posix

59
README.md
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@ -14,5 +14,60 @@ Supporting:
# Basic components
- RoboidControl::Thing
- RoboidControl::LocalParticipant
- RoboidControl::SiteServer
- RoboidControl::Participant
# Installation
## Core code
The repository uses cmake for building. You can place it in a subfolder of your project and include it in you `CMakeLists.txt`.
For example if the library is placed in the subfolder `roboidcontrol`:
```
# Add the path to Roboid Control
add_subdirectory(roboidcontrol)
# Your source files/executable
add_executable(my_executable main.cpp)
# Link against RoboidControl
target_link_libraries(my_executable RoboidControl)
```
## Arduino (PlatformIO)
Arduino is only supported in combination with PlatformIO. The Arduino IDE is not (yet?) supported.
The best way to include support for Roboid Control in PlatformIO is
to clone the Roboid Control for C++ repository into a subfolder of the /lib folder.
Alternatively you can download the zip file and unpack it as a subfolder of the /lib folder.
## ESP-IDF
The best way to include support for Roboid Control in PlatformIO is
to clone the Roboid Control for C++ repository into a subfolder of the /components folder.
Alternatively you can download the zip file and unpack it as a subfolder of the /components folder.
Make sure you have included RoboidControl as a component in your top-level CMakeLists.txt, for example:
```
list(APPEND EXTRA_COMPONENT_DIRS
components/RoboidControl
)
```
# Get Started
## Core C++ Examples
This repository contains examples in the `examples` folder. You can build these using cmake.
For example, to build the BB2A example:
```
cmake -B build -D BUILD_EXAMPLE_BB2A=ON
cmake --build build
```
The resulting executable is then `build/examples/Debug/BB2A.exe`
## Arduino (PlatformIO) Examples
Specific examples for the Arduino platform are found in the `Arduino\examples` folder.
To use them you should create a new project in PlatformIO and then copy the example code to your project.

3
Testing/Temporary/LastTest.log Normal file
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@ -0,0 +1,3 @@
Start testing: Jun 17 17:17 W. Europe Summer Time
----------------------------------------------------------
End testing: Jun 17 17:17 W. Europe Summer Time

240
Thing.cpp
View File

@ -5,6 +5,7 @@
#include "Participants/IsolatedParticipant.h"
#include <string.h>
// #include <iostream>
#if defined(ARDUINO)
#include "Arduino.h"
@ -17,72 +18,78 @@
namespace RoboidControl {
// LocalParticipant* Thing::CheckHiddenParticipant() {
// if (isolatedParticipant == nullptr)
// isolatedParticipant = new LocalParticipant(0);
// return isolatedParticipant;
// }
#pragma region Init
Thing::Thing(int thingType)
: Thing(IsolatedParticipant::Isolated(), thingType) {}
Thing* Thing::LocalRoot() {
Participant* p = Participant::LocalParticipant;
Thing* localRoot = p->root;
return localRoot;
}
Thing::Thing(Participant* owner, Type thingType, unsigned char thingId)
: Thing(owner, (unsigned char)thingType, thingId) {}
Thing::Thing(Participant* owner, int thingType, unsigned char thingId) {
this->owner = owner;
this->id = thingId;
this->type = thingType;
this->networkId = 0;
// Only use this for root things
Thing::Thing(Participant* owner) {
this->type = Type::Root;
this->name = "Root";
this->position = Spherical::zero;
this->positionUpdated = true;
this->orientation = SwingTwist::identity;
this->orientationUpdated = true;
this->hierarchyChanged = true;
this->linearVelocity = Spherical::zero;
this->angularVelocity = Spherical::zero;
// std::cout << "add thing [" << (int)this->id << "] to owner "
// << this->owner->ipAddress << ":" << this->owner->port << std::endl;
this->owner = owner;
this->owner->Add(this);
// std::cout << this->owner->name << ": New root thing " << std::endl;
}
void Thing::CreateRoot(Participant* owner) {
owner->root = new Thing(owner);
}
Thing::Thing(Thing* parent) {
this->type = Type::Undetermined;
this->position = Spherical::zero;
this->positionUpdated = true;
this->orientation = SwingTwist::identity;
this->orientationUpdated = true;
this->hierarchyChanged = true;
this->linearVelocity = Spherical::zero;
this->angularVelocity = Spherical::zero;
this->owner = parent->owner;
this->owner->Add(this, true);
this->SetParent(parent);
std::cout << this->owner->name << ": New thing for " << parent->name
<< std::endl;
}
// Thing::Thing(Participant* owner,
// Type thingType,
// int thingId) {
// // no participant reference yet..
// this->owner = owner;
// this->networkId = networkId;
// this->id = thingId;
// this->type = (unsigned char)thingType;
// this->linearVelocity = Spherical::zero;
// this->angularVelocity = Spherical::zero;
// // std::cout << "Created thing " << (int)this->networkId << "/" <<
// // (int)this->id
// // << "\n";
// owner->Add(this, false);
// }
void Thing::Terminate() {
// Thing::Remove(this);
Thing::~Thing() {
std::cout << "Destroy thing " << this->name << std::endl;
}
Thing* Thing::FindThing(const char* name) {
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
Thing* child = this->children[childIx];
if (child == nullptr || child->name == nullptr)
continue;
#pragma endregion Init
if (strcmp(child->name, name) == 0)
return child;
Thing* foundChild = child->FindThing(name);
if (foundChild != nullptr)
return foundChild;
}
return nullptr;
void Thing::SetName(const char* name) {
this->name = name;
this->nameChanged = true;
}
const char* Thing::GetName() const {
return this->name;
}
void Thing::SetModel(const char* url) {
this->modelUrl = url;
}
#pragma region Hierarchy
void Thing::SetParent(Thing* parent) {
if (parent == nullptr) {
Thing* parentThing = this->parent;
@ -91,18 +98,21 @@ void Thing::SetParent(Thing* parent) {
this->parent = nullptr;
} else
parent->AddChild(this);
this->hierarchyChanged = true;
}
void Thing::SetParent(Thing* root, const char* name) {
Thing* thing = root->FindThing(name);
if (thing != nullptr)
this->SetParent(thing);
bool Thing::IsRoot() const {
return this == LocalRoot() || this->parent == nullptr;
}
Thing* Thing::GetParent() {
return this->parent;
}
Thing* Thing::GetChildByIndex(unsigned char ix) {
return this->children[ix];
}
void Thing::AddChild(Thing* child) {
unsigned char newChildCount = this->childCount + 1;
Thing** newChildren = new Thing*[newChildCount];
@ -142,7 +152,7 @@ Thing* Thing::RemoveChild(Thing* child) {
}
}
child->parent = nullptr;
child->parent = Thing::LocalRoot();
delete[] this->children;
this->children = newChildren;
@ -151,7 +161,7 @@ Thing* Thing::RemoveChild(Thing* child) {
return child;
}
Thing* Thing::GetChild(unsigned char id, bool recursive) {
Thing* Thing::GetChild(unsigned char id, bool recurse) {
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
Thing* child = this->children[childIx];
if (child == nullptr)
@ -159,8 +169,8 @@ Thing* Thing::GetChild(unsigned char id, bool recursive) {
if (child->id == id)
return child;
if (recursive) {
Thing* foundChild = child->GetChild(id, recursive);
if (recurse) {
Thing* foundChild = child->GetChild(id, recurse);
if (foundChild != nullptr)
return foundChild;
}
@ -168,57 +178,25 @@ Thing* Thing::GetChild(unsigned char id, bool recursive) {
return nullptr;
}
Thing* Thing::GetChildByIndex(unsigned char ix) {
return this->children[ix];
}
Thing* Thing::FindChild(const char* name, bool recurse) {
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
Thing* child = this->children[childIx];
if (child == nullptr || child->name == nullptr)
continue;
void Thing::SetModel(const char* url) {
this->modelUrl = url;
}
if (strcmp(child->name, name) == 0)
return child;
unsigned long Thing::GetTimeMs() {
#if defined(ARDUINO)
return millis();
#else
auto now = std::chrono::steady_clock::now();
auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
now.time_since_epoch());
return static_cast<unsigned long>(ms.count());
#endif
}
void Thing::Update(bool recursive) {
Update(GetTimeMs(), recursive);
}
void Thing::Update(unsigned long currentTimeMs, bool recursive) {
// if (this->positionUpdated || this->orientationUpdated)
// OnPoseChanged callback
this->positionUpdated = false;
this->orientationUpdated = false;
if (recursive) {
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
Thing* child = this->children[childIx];
if (child == nullptr)
continue;
child->Update(currentTimeMs, recursive);
}
Thing* foundChild = child->FindChild(name);
if (foundChild != nullptr)
return foundChild;
}
return nullptr;
}
void Thing::UpdateThings(unsigned long currentTimeMs) {
IsolatedParticipant::Isolated()->Update(currentTimeMs);
}
#pragma endregion Hierarchy
int Thing::GenerateBinary(char* buffer, unsigned char* ix) {
(void)buffer;
(void)ix;
return 0;
}
void Thing::ProcessBinary(char* bytes) {
(void)bytes;
};
#pragma region Pose
void Thing::SetPosition(Spherical position) {
this->position = position;
@ -238,8 +216,10 @@ SwingTwist Thing::GetOrientation() {
}
void Thing::SetLinearVelocity(Spherical linearVelocity) {
this->linearVelocity = linearVelocity;
this->linearVelocityUpdated = true;
if (this->linearVelocity.distance != linearVelocity.distance) {
this->linearVelocity = linearVelocity;
this->linearVelocityUpdated = true;
}
}
Spherical Thing::GetLinearVelocity() {
@ -247,12 +227,60 @@ Spherical Thing::GetLinearVelocity() {
}
void Thing::SetAngularVelocity(Spherical angularVelocity) {
this->angularVelocity = angularVelocity;
this->angularVelocityUpdated = true;
if (this->angularVelocity.distance != angularVelocity.distance) {
this->angularVelocity = angularVelocity;
this->angularVelocityUpdated = true;
}
}
Spherical Thing::GetAngularVelocity() {
return this->angularVelocity;
}
#pragma endregion Pose
#pragma region Update
unsigned long Thing::GetTimeMs() {
#if defined(ARDUINO)
unsigned long ms = millis();
return ms;
#else
auto now = std::chrono::steady_clock::now();
auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
now.time_since_epoch());
return static_cast<unsigned long>(ms.count());
#endif
}
void Thing::Update(bool recursive) {
this->positionUpdated = false;
this->orientationUpdated = false;
this->linearVelocityUpdated = false;
this->angularVelocityUpdated = false;
this->hierarchyChanged = false;
this->nameChanged = false;
if (recursive) {
// std::cout << "# children: " << (int)this->childCount << std::endl;
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
Thing* child = this->children[childIx];
if (child == nullptr)
continue;
child->Update(recursive);
}
}
}
#pragma endregion Update
int Thing::GenerateBinary(char* buffer, unsigned char* ix) {
(void)buffer;
(void)ix;
return 0;
}
void Thing::ProcessBinary(char* bytes) {
(void)bytes;
};
} // namespace RoboidControl

239
Thing.h
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@ -20,71 +20,117 @@ class ParticipantUDP;
class Thing {
public:
/// @brief Predefined thing types
enum Type {
Undetermined,
// Sensor,
Switch,
DistanceSensor,
DirectionalSensor,
TemperatureSensor,
TouchSensor,
// Motor,
ControlledMotor,
UncontrolledMotor,
Servo,
struct Type {
static const unsigned char Undetermined = 0x00;
// Sensor
static const unsigned char Switch = 0x01;
static const unsigned char DistanceSensor = 0x02;
static const unsigned char DirectionalSensor = 0x03;
static const unsigned char TemperatureSensor = 0x04;
static const unsigned char TouchSensor = 0x05;
// Motor
static const unsigned char ControlledMotor = 0x06;
static const unsigned char UncontrolledMotor = 0x07;
static const unsigned char Servo = 0x08;
static const unsigned char RelativeEncoder = 0x19;
// Other
Roboid,
Humanoid,
ExternalSensor,
static const unsigned char Root = 0x10;
static const unsigned char Roboid = 0x09;
static const unsigned char Humanoid = 0x0A;
static const unsigned char ExternalSensor = 0x08;
static const unsigned char Animator = 0x0C;
static const unsigned char DifferentialDrive = 0x0D;
};
/// @brief Create a new thing using an implicit local participant
/// @param thingType The type of thing
Thing(int thingType = Type::Undetermined);
/// @brief Create a new thing of the given type
/// @param thingType The predefined type of thing
Thing(Participant* participant,
Type thingType = Type::Undetermined,
unsigned char thingId = 0);
/// @brief Create a new thing of the give type
/// @param thingType The custom type of the thing
Thing(Participant* participant, int thingType, unsigned char thingId = 0);
/// @brief Create a new thing for the given participant
/// @param participant The participant for which this thing is created
/// @param networkId The network ID of the thing
/// @param thingId The ID of the thing
/// @param thingType The type of thing
// Thing(Participant* participant,
// unsigned char networkId,
// unsigned char thingId,
// Type thingType = Type::Undetermined);
#pragma region Init
/// @brief The participant managing this thing
Participant* owner;
/// @brief The network ID of this thing
/// @note This field will likely disappear in future versions
unsigned char networkId = 0;
private:
public:
/// @brief Create a new Thing
/// @param parent (optional) The parent thing
/// The owner will be the same as the owner of the parent thing, it will
/// be Participant::LocalParticipant if the parent is not specified. A thing
/// without a parent will be connected to the root thing.
Thing(Thing* parent = LocalRoot());
private:
/// @brief Constructor to create a root thing
/// @param owner The participant who will own this root thing
/// @remarks This function is private because CreateRoot() should be used
/// instead
Thing(Participant* owener);
public:
/// @brief Destructor for a Thing
~Thing();
/// @brief Create a root thing for a participant
/// @param owner The participant who will own this root thing
static void CreateRoot(Participant* owner);
/// @brief The root thing for the local participant
/// @return The root thing for the local participant
static Thing* LocalRoot();
#pragma endregion Init
public:
/// @brief Terminated things are no longer updated
bool terminate = false;
#pragma region Properties
public:
/// @brief The ID of the thing
unsigned char id = 0;
/// @brief The type of Thing
/// This can be either a Thing::Type of a byte value for custom types
unsigned char type = 0;
unsigned char type = Type::Undetermined;
/// @brief Find a thing by name
/// @param name Rhe name of the thing
/// @return The found thing or nullptr when nothing is found
Thing* FindThing(const char* name);
/// @brief The participant owning this thing
Participant* owner = nullptr;
/// @brief Sets the parent Thing
/// @param parent The Thing which should become the parnet
/// @remark This is equivalent to calling parent->AddChild(this);
virtual void SetParent(Thing* parent);
void SetParent(Thing* root, const char* name);
/// @brief Gets the parent Thing
/// @brief The name of the thing
const char* name = nullptr;
void SetName(const char* name);
const char* GetName() const;
bool nameChanged = false;
/// @brief Sets the location from where the 3D model of this Thing can be
/// loaded from
/// @param url The url of the model
/// @remark Although the roboid implementation is not dependent on the model,
/// the only official supported model formats are .png (sprite), .gltf and .glb
void SetModel(const char* url);
/// @brief An URL pointing to the location where a model of the thing can be
/// found
const char* modelUrl = nullptr;
#pragma endregion Properties
#pragma region Hierarchy
/// @brief Sets the parent of this Thing
/// @param parent The Thing which should become the parent
void SetParent(Thing* parent);
/// @brief Gets the parent of this Thing
/// @return The parent Thing
Thing* GetParent();
/// @brief Check if this is a root thing
/// @return True is this thing is a root
bool IsRoot() const;
/// @brief The number of children
unsigned char childCount = 0;
/// @brief Get a child by index
/// @param ix The child index
/// @return The found thing of nullptr when nothing is found
Thing* GetChildByIndex(unsigned char ix);
/// @brief Add a child Thing to this Thing
/// @param child The Thing which should become a child
/// @remark When the Thing is already a child, it will not be added again
@ -94,49 +140,46 @@ class Thing {
/// @return The removed child or nullptr if the child could not be found
Thing* RemoveChild(Thing* child);
/// @brief The number of children
unsigned char childCount = 0;
/// @brief Get a child by thing Id
/// @param id The thing ID to find
/// @param recursive Look recursively through all descendants
/// @param recurse Look recursively through all descendants
/// @return The found thing of nullptr when nothing is found
Thing* GetChild(unsigned char id, bool recursive = false);
/// @brief Get a child by index
/// @param ix The child index
/// @return The found thing of nullptr when nothing is found
Thing* GetChildByIndex(unsigned char ix);
Thing* GetChild(unsigned char id, bool recurse = false);
protected:
/// @brief Find a thing by name
/// @param name The name of the thing
/// @param recurse Look recursively through all descendants
/// @return The found thing or nullptr when nothing is found
Thing* FindChild(const char* name, bool recurse = true);
/// @brief Indicator that the hierarchy of the thing has changed
bool hierarchyChanged = true;
private:
Thing* parent = nullptr;
Thing** children = nullptr;
public:
/// @brief The name of the thing
const char* name = nullptr;
/// @brief An URL pointing to the location where a model of the thing can be
/// found
const char* modelUrl = nullptr;
/// @brief The scale of the model (deprecated I think)
float modelScale = 1;
#pragma endregion Hierarchy
#pragma region Pose
public:
/// @brief Set the position of the thing
/// @param position The new position in local space, in meters
void SetPosition(Spherical position);
/// @brief Get the position of the thing
/// @return The position in local space, in meters
Spherical GetPosition();
/// @brief Boolean indicating that the thing has an updated position
bool positionUpdated = false;
/// @brief Set the orientation of the thing
/// @param orientation The new orientation in local space
void SetOrientation(SwingTwist orientation);
/// @brief Get the orientation of the thing
/// @return The orienation in local space
SwingTwist GetOrientation();
/// @brief The scale of the thing (deprecated I think)
// float scale = 1; // assuming uniform scale
/// @brief boolean indicating if the position was updated
bool positionUpdated = false;
/// @brief boolean indicating if the orientation was updated
/// @brief Boolean indicating the thing has an updated orientation
bool orientationUpdated = false;
/// @brief Set the linear velocity of the thing
@ -146,57 +189,59 @@ class Thing {
/// @brief Get the linear velocity of the thing
/// @return The linear velocity in local space, in meters per second
virtual Spherical GetLinearVelocity();
/// @brief Boolean indicating the thing has an updated linear velocity
bool linearVelocityUpdated = false;
/// @brief Set the angular velocity of the thing
/// @param angularVelocity the new angular velocity in local space
virtual void SetAngularVelocity(Spherical angularVelocity);
/// @brief Get the angular velocity of the thing
/// @return The angular velocity in local space
virtual Spherical GetAngularVelocity();
bool linearVelocityUpdated = false;
/// @brief Boolean indicating the thing has an updated angular velocity
bool angularVelocityUpdated = false;
private:
/// @brief The position in local space
/// @brief The position of the thing in local space, in meters
/// @remark When this Thing has a parent, the position is relative to the
/// parent's position and orientation
Spherical position;
/// @brief The orientation in local space
/// @brief The orientation of the thing in local space
/// @remark When this Thing has a parent, the orientation is relative to the
/// parent's orientation
SwingTwist orientation;
/// @brief The linear velocity in local space
/// @brief The linear velocity of the thing in local space, in meters per
/// second
Spherical linearVelocity;
/// @brief The angular velocity in local spze
/// @brief The angular velocity of the thing in local space, in degrees per
/// second
Spherical angularVelocity;
#pragma endregion Pose
#pragma region Update
public:
/// @brief Terminated things are no longer updated
void Terminate();
/// @brief Sets the location from where the 3D model of this Thing can be
/// loaded from
/// @param url The url of the model
/// @remark Although the roboid implementation is not dependent on the model,
/// the only official supported model format is .obj
void SetModel(const char* url);
static unsigned long GetTimeMs();
void Update(bool recursive = false);
//virtual void PrepareForUpdate();
/// @brief Updates the state of the thing
/// @param currentTimeMs The current clock time in milliseconds
virtual void Update(unsigned long currentTimeMs, bool recursive = false);
/// @param recurse When true, this will Update the descendants recursively
virtual void Update(bool recurse = false);
static void UpdateThings(unsigned long currentTimeMs);
/// @brief Get the current time in milliseconds
/// @return The current time in milliseconds
static unsigned long GetTimeMs();
#pragma endregion Update
public:
/// @brief Function used to generate binary data for this thing
/// @param buffer The byte array for thw binary data
/// @param ix The starting position for writing the binary data
/// @returns The size of the binary data
/// @return The size of the binary data
virtual int GenerateBinary(char* buffer, unsigned char* ix);
// /// @brief FUnction used to process binary data received for this thing
/// @brief Function used to process binary data received for this thing
/// @param bytes The binary data
virtual void ProcessBinary(char* bytes);
};

68
Things/ControlledMotor.cpp Normal file
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@ -0,0 +1,68 @@
#include "ControlledMotor.h"
#include "LinearAlgebra/FloatSingle.h"
namespace RoboidControl {
ControlledMotor::ControlledMotor(Motor* motor,
RelativeEncoder* encoder,
Thing* parent)
: Motor(parent), motor(motor), encoder(encoder) {
this->type = Type::ControlledMotor;
//encoder->SetParent(null);
// Thing parent = motor.GetParent();
// this->SetParent(parent);
this->integral = 0;
}
void ControlledMotor::SetTargetVelocity(float velocity) {
this->targetVelocity = velocity;
this->rotationDirection =
(targetVelocity < 0) ? Direction::Reverse : Direction::Forward;
}
void ControlledMotor::Update(bool recurse) {
unsigned long currentTimeMs = GetTimeMs();
float timeStep = (currentTimeMs - this->lastUpdateTime) / 1000.0f;
this->lastUpdateTime = currentTimeMs;
if (timeStep <= 0)
return;
// encoder->Update(false);
this->actualVelocity = (int)rotationDirection * encoder->rotationSpeed;
float error = this->targetVelocity - this->actualVelocity;
float p_term = error * pidP;
this->integral += error * timeStep;
float i_term = pidI * this->integral;
float d_term = pidD * (error - this->lastError) / timeStep;
this->lastError = error;
float output = p_term + i_term + d_term;
// std::cout << "target " << this->targetVelocity << " actual "
// << this->actualVelocity << " output = " << output << std::endl;
// float acceleration =
// error * timeStep * pidP; // Just P is used at this moment
// std::cout << "motor acc. " << acceleration << std::endl;
// float newTargetVelocity = motor->targetVelocity + acceleration;
output = LinearAlgebra::Float::Clamp(output, -1, 1);
motor->SetTargetVelocity(output); // or something like that
//motor->Update(false);
}
// float ControlledMotor::GetActualVelocity() {
// return (int)rotationDirection * encoder->rotationSpeed;
// }
// bool ControlledMotor::Drive(float distance) {
// if (!driving) {
// targetDistance = distance;
// startDistance = encoder->GetDistance();
// driving = true;
// }
// float totalDistance = encoder->GetDistance() - startDistance;
// bool completed = totalDistance > targetDistance;
// return completed;
// }
} // namespace RoboidControl

40
Things/ControlledMotor.h Normal file
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@ -0,0 +1,40 @@
#pragma once
#include "Motor.h"
#include "RelativeEncoder.h"
namespace RoboidControl {
/// @brief A motor with speed control
/// It uses a feedback loop from an encoder to regulate the speed
/// The speed is measured in revolutions per second.
class ControlledMotor : public Motor {
public:
ControlledMotor(Motor* motor, RelativeEncoder* encoder, Thing* parent = Thing::LocalRoot());
float pidP = 0.5;
float pidD = 0;
float pidI = 0.2;
/// @brief The actual velocity in revolutions per second
float actualVelocity;
enum Direction { Forward = 1, Reverse = -1 };
Direction rotationDirection;
virtual void Update(bool recurse = false) override;
/// @brief Set the target verlocity for the motor controller
/// @param speed the target velocity in revolutions per second
virtual void SetTargetVelocity(float velocity) override;
Motor* motor;
RelativeEncoder* encoder;
protected:
float integral = 0;
float lastError = 0;
float lastUpdateTime;
};
} // namespace RoboidControl

110
Things/DifferentialDrive.cpp
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@ -1,10 +1,29 @@
#include "DifferentialDrive.h"
namespace RoboidControl {
DifferentialDrive::DifferentialDrive() : Thing() {}
#include "Messages/LowLevelMessages.h"
RoboidControl::DifferentialDrive::DifferentialDrive(Participant* participant)
: Thing(participant) {}
namespace RoboidControl {
DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent) {
this->type = Type::DifferentialDrive;
this->name = "Differential drive";
this->leftWheel = new Motor(this);
this->leftWheel->name = "Left motor";
this->rightWheel = new Motor(this);
this->rightWheel->name = "Right motor";
}
DifferentialDrive::DifferentialDrive(Motor* leftMotor,
Motor* rightMotor,
Thing* parent)
: Thing(parent) {
this->type = Type::DifferentialDrive;
this->name = "Differential drive";
this->leftWheel = leftMotor;
this->rightWheel = rightMotor;
}
void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
float wheelSeparation) {
@ -21,51 +40,66 @@ void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
this->rightWheel->SetPosition(Spherical(distance, Direction::right));
}
void DifferentialDrive::SetMotors(Thing* leftWheel, Thing* rightWheel) {
// Motor& DifferentialDrive::GetMotorLeft() {
// return *this->leftWheel;
// }
// Motor& DifferentialDrive::GetMotorRight() {
// return *this->rightWheel;
// }
void DifferentialDrive::SetMotors(Motor& leftMotor, Motor& rightMotor) {
float distance = this->wheelSeparation / 2;
this->leftWheel = leftWheel;
;
if (leftWheel != nullptr)
this->leftWheel->SetPosition(Spherical(distance, Direction::left));
this->leftWheel = &leftMotor;
this->leftWheel->SetPosition(Spherical(distance, Direction::left));
this->rightWheel = rightWheel;
if (rightWheel != nullptr)
this->rightWheel->SetPosition(Spherical(distance, Direction::right));
this->rightWheel = &rightMotor;
this->rightWheel->SetPosition(Spherical(distance, Direction::right));
}
void DifferentialDrive::SetWheelVelocity(float speedLeft, float speedRight) {
void DifferentialDrive::SetWheelVelocity(float velocityLeft,
float velocityRight) {
// if (this->leftWheel != nullptr)
// this->leftWheel->SetAngularVelocity(Spherical(velocityLeft,
// Direction::left));
// if (this->rightWheel != nullptr)
// this->rightWheel->SetAngularVelocity(
// Spherical(velocityRight, Direction::right));
if (this->leftWheel != nullptr)
this->leftWheel->SetAngularVelocity(Spherical(speedLeft, Direction::left));
this->leftWheel->SetTargetVelocity(velocityLeft);
if (this->rightWheel != nullptr)
this->rightWheel->SetAngularVelocity(
Spherical(speedRight, Direction::right));
this->rightWheel->SetTargetVelocity(velocityRight);
}
void DifferentialDrive::Update(unsigned long currentMs, bool recursive) {
if (this->linearVelocityUpdated == false)
return;
// this assumes forward velocity only....
float linearVelocity = this->GetLinearVelocity().distance;
void DifferentialDrive::Update(bool recursive) {
if (this->linearVelocityUpdated) {
// this assumes forward velocity only....
float linearVelocity = this->GetLinearVelocity().distance;
Spherical angularVelocity = this->GetAngularVelocity();
float angularSpeed = angularVelocity.distance * Deg2Rad; // in degrees/sec
// Determine the rotation direction
if (angularVelocity.direction.horizontal.InDegrees() < 0)
angularSpeed = -angularSpeed;
Spherical angularVelocity = this->GetAngularVelocity();
float angularSpeed = angularVelocity.distance * Deg2Rad; // in degrees/sec
// Determine the rotation direction
if (angularVelocity.direction.horizontal.InDegrees() < 0)
angularSpeed = -angularSpeed;
// wheel separation can be replaced by this->leftwheel->position->distance
float speedLeft =
(linearVelocity + angularSpeed * this->wheelSeparation / 2) /
this->wheelRadius * Rad2Deg;
float speedRight =
(linearVelocity - angularSpeed * this->wheelSeparation / 2) /
this->wheelRadius * Rad2Deg;
// wheel separation can be replaced by this->leftwheel->position->distance
float speedLeft =
(linearVelocity + angularSpeed * this->wheelSeparation / 2) /
this->wheelRadius * Rad2Deg;
float speedRight =
(linearVelocity - angularSpeed * this->wheelSeparation / 2) /
this->wheelRadius * Rad2Deg;
this->SetWheelVelocity(speedLeft, speedRight);
Thing::Update(currentMs, recursive);
// std::cout << "lin. speed " << linearVelocity << " ang. speed " <<
// angularVelocity.distance << " left wheel "
// << speedLeft << " right wheel " << speedRight << "\n";
this->SetWheelVelocity(speedLeft, speedRight);
}
Thing::Update(recursive);
}
int DifferentialDrive::GenerateBinary(char* data, unsigned char* ix) {
data[(*ix)++] = this->leftWheel->id;
data[(*ix)++] = this->rightWheel->id;
LowLevelMessages::SendFloat16(data, ix, this->wheelRadius);
return 4;
}
} // namespace RoboidControl

37
Things/DifferentialDrive.h
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@ -1,6 +1,7 @@
#pragma once
#include "Thing.h"
#include "Motor.h"
namespace RoboidControl {
@ -9,11 +10,13 @@ namespace RoboidControl {
/// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
class DifferentialDrive : public Thing {
public:
/// @brief Create a differential drive without networking support
DifferentialDrive();
/// @brief Create a differential drive with networking support
/// @param participant The local participant
DifferentialDrive(Participant* participant);
/// @brief Create a new child differential drive
/// @param parent The parent thing
/// @param thingId The ID of the thing, leave out or set to zero to generate
/// an ID
DifferentialDrive(Thing* parent = Thing::LocalRoot());
DifferentialDrive(Motor* leftMotor, Motor* rightMotor, Thing* parent = Thing::LocalRoot());
/// @brief Configures the dimensions of the drive
/// @param wheelDiameter The diameter of the wheels in meters
@ -23,35 +26,41 @@ class DifferentialDrive : public Thing {
/// linear and angular velocity.
/// @sa SetLinearVelocity SetAngularVelocity
void SetDriveDimensions(float wheelDiameter, float wheelSeparation);
// Motor& GetMotorLeft();
// Motor& GetMotorRight();
/// @brief Congures the motors for the wheels
/// @param leftWheel The motor for the left wheel
/// @param rightWheel The motor for the right wheel
void SetMotors(Thing* leftWheel, Thing* rightWheel);
void SetMotors(Motor& leftMotor, Motor& rightMotor);
/// @brief Directly specify the speeds of the motors
/// @param speedLeft The speed of the left wheel in degrees per second.
/// Positive moves the robot in the forward direction.
/// @param speedRight The speed of the right wheel in degrees per second.
/// Positive moves the robot in the forward direction.
void SetWheelVelocity(float speedLeft, float speedRight);
/// @copydoc RoboidControl::Thing::Update(unsigned long)
virtual void Update(unsigned long currentMs, bool recursive = true) override;
virtual void Update(bool recursive = true) override;
int GenerateBinary(char* bytes, unsigned char* ix) override;
// virtual void ProcessBinary(char* bytes) override;
/// @brief The left wheel
Motor* leftWheel = nullptr;
/// @brief The right wheel
Motor* rightWheel = nullptr;
protected:
/// @brief The radius of a wheel in meters
float wheelRadius = 1.0f;
float wheelRadius = 0.0f;
/// @brief The distance between the wheels in meters
float wheelSeparation = 1.0f;
float wheelSeparation = 0.0f;
/// @brief Convert revolutions per second to meters per second
float rpsToMs = 1.0f;
/// @brief The left wheel
Thing* leftWheel = nullptr;
/// @brief The right wheel
Thing* rightWheel = nullptr;
};
} // namespace RoboidControl

13
Things/DigitalSensor.cpp
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@ -2,8 +2,17 @@
namespace RoboidControl {
//DigitalSensor::DigitalSensor() {}
DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent) {
this->type = Type::Switch;
}
DigitalSensor::DigitalSensor(Participant* participant, unsigned char networkId, unsigned char thingId) : Thing(participant) {}
int DigitalSensor::GenerateBinary(char* bytes, unsigned char* ix) {
bytes[(*ix)++] = state ? 1 : 0;
return 1;
}
void DigitalSensor::ProcessBinary(char* bytes) {
this->state |= (bytes[0] == 1);
}
} // namespace RoboidControl

28
Things/DigitalSensor.h
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@ -7,15 +7,31 @@ namespace RoboidControl {
/// @brief A digital (on/off, 1/0, true/false) sensor
class DigitalSensor : public Thing {
public:
/// @brief Create a digital sensor without communication abilities
//DigitalSensor();
/// @brief Create a digital sensor for a participant
/// @param owner The owning participant
/// @param thingId The ID of the thing, leave out or set to zero to generate
/// an ID
DigitalSensor(Participant* owner = nullptr); //, unsigned char thingId = 0);
/// @brief Create a new child digital sensor
/// @param parent The parent thing
/// @param thingId The ID of the thing, leave out or set to zero to generate
/// an ID
// DigitalSensor(Thing* parent); //, unsigned char thingId = 0);
DigitalSensor(Thing* parent = Thing::LocalRoot());
/// @brief The sigital state
bool state = 0;
/// @brief The default constructor
//DigitalSensor();
/// @brief Create a temperature sensor with the given ID
/// @param networkId The network ID of the sensor
/// @param thingId The ID of the thing
DigitalSensor(Participant* participant, unsigned char networkId, unsigned char thingId);
/// @brief Function used to generate binary data for this digital sensor
/// @param buffer The byte array for thw binary data
/// @param ix The starting position for writing the binary data
int GenerateBinary(char* bytes, unsigned char* ix) override;
/// @brief Function used to process binary data received for this digital
/// sensor
/// @param bytes The binary data to process
virtual void ProcessBinary(char* bytes) override;
};
} // namespace RoboidControl

29
Things/DistanceSensor.cpp Normal file
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@ -0,0 +1,29 @@
#include "DistanceSensor.h"
#include "Messages/LowLevelMessages.h"
namespace RoboidControl {
DistanceSensor::DistanceSensor(Thing* parent) : Thing(parent) {
this->type = Type::DistanceSensor;
this->name = "Distance sensor";
}
float DistanceSensor::GetDistance() {
if (this->externalDistance < this->internalDistance)
return this->externalDistance;
else
return this->internalDistance;
}
int DistanceSensor::GenerateBinary(char* bytes, unsigned char* ix) {
LowLevelMessages::SendFloat16(bytes, ix, this->internalDistance);
return *ix;
}
void DistanceSensor::ProcessBinary(char* bytes) {
unsigned char ix = 0;
this->externalDistance = LowLevelMessages::ReceiveFloat16(bytes, &ix);
}
} // namespace RoboidControl

41
Things/DistanceSensor.h Normal file
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@ -0,0 +1,41 @@
#pragma once
#if !NO_STD
#include <limits>
#endif
#include "Thing.h"
namespace RoboidControl {
/// @brief A sensor measuring distance
class DistanceSensor : public Thing {
public:
/// @brief Create a new child touch sensor
/// @param parent The parent thing
/// @param thingId The ID of the thing, leave out or set to zero to generate
/// an ID
DistanceSensor(Thing* parent = Thing::LocalRoot());
/// @brief Get the current distance
float GetDistance();
/// @brief Function used to generate binary data for this sensor
/// @param buffer The byte array for thw binary data
/// @param ix The starting position for writing the binary data
int GenerateBinary(char* bytes, unsigned char* ix) override;
/// @brief Function used to process binary data received for this sensor
/// @param bytes The binary data to process
virtual void ProcessBinary(char* bytes) override;
protected:
#if ARDUNIO
float internalDistance = INFINITY;
float externalDistance = INFINITY;
#else
float internalDistance = std::numeric_limits<double>::infinity();
float externalDistance = std::numeric_limits<double>::infinity();
#endif
};
} // namespace RoboidControl

34
Things/Motor.cpp Normal file
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@ -0,0 +1,34 @@
#include "Motor.h"
#include "Messages/BinaryMsg.h"
#include "Participant.h"
namespace RoboidControl {
Motor::Motor(Thing* parent) : Thing(parent) {
this->type = Type::UncontrolledMotor;
}
void Motor::SetTargetVelocity(float targetSpeed) {
if (targetSpeed != this->targetVelocity) {
this->targetVelocity = targetSpeed;
if (this->owner->networkId != 0) {
// in other word: if we are connected...
BinaryMsg* binaryMsg = new BinaryMsg(this->owner->networkId, this);
this->owner->Send(binaryMsg);
delete binaryMsg;
}
}
}
float Motor::GetTargetVelocity() {
return this->targetVelocity;
}
int Motor::GenerateBinary(char* data, unsigned char* ix) {
data[(*ix)++] = this->targetVelocity * 127.0f;
return 1;
}
} // namespace RoboidControl

25
Things/Motor.h Normal file
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@ -0,0 +1,25 @@
#pragma once
#include "Thing.h"
namespace RoboidControl {
class Motor : public Thing {
public:
Motor(Thing* parent = Thing::LocalRoot());
/// @brief Motor turning direction
enum class Direction { Clockwise = 1, CounterClockwise = -1 };
/// @brief The forward turning direction of the motor
Direction direction;
virtual void SetTargetVelocity(float velocity); // -1..0..1
virtual float GetTargetVelocity();
int GenerateBinary(char* bytes, unsigned char* ix) override;
protected:
float targetVelocity = 0;
};
} // namespace RoboidControl

22
Things/RelativeEncoder.cpp Normal file
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@ -0,0 +1,22 @@
#include "RelativeEncoder.h"
namespace RoboidControl {
RelativeEncoder::RelativeEncoder(Thing* parent) : Thing(parent) {
this->type = Type::RelativeEncoder;
}
float RelativeEncoder::GetRotationSpeed() {
return rotationSpeed;
}
int RelativeEncoder::GenerateBinary(char* data, unsigned char* ix) {
data[(*ix)++] = (unsigned char)(this->rotationSpeed * 127);
return 1;
}
void RelativeEncoder::ProcessBinary(char* data) {
this->rotationSpeed = (float)data[0] / 127;
}
} // namespace RoboidControl

39
Things/RelativeEncoder.h Normal file
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@ -0,0 +1,39 @@
#pragma once
#include "Thing.h"
namespace RoboidControl {
/// @brief An Incremental Encoder measures the rotations of an axle using a
/// rotary sensor. Some encoders are able to detect direction, while others can
/// not.
class RelativeEncoder : public Thing {
public:
/// @brief Creates a sensor which measures distance from pulses
/// @param pulsesPerRevolution The number of pulse edges which make a
/// full rotation
/// @param distancePerRevolution The distance a wheel travels per full
/// rotation
//RelativeEncoder(Participant* owner);
// RelativeEncoder(Thing* parent);
RelativeEncoder(Thing* parent = Thing::LocalRoot());
/// @brief Get the rotation speed
/// @return The speed in revolutions per second
virtual float GetRotationSpeed();
float rotationSpeed = 0;
/// @brief Function used to generate binary data for this touch sensor
/// @param buffer The byte array for thw binary data
/// @param ix The starting position for writing the binary data
int GenerateBinary(char* bytes, unsigned char* ix) override;
/// @brief Function used to process binary data received for this touch sensor
/// @param bytes The binary data to process
virtual void ProcessBinary(char* bytes) override;
protected:
/// @brief rotation speed in revolutions per second
//float _rotationSpeed;
};
} // namespace RoboidControl

6
Things/TemperatureSensor.cpp
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@ -4,9 +4,9 @@
namespace RoboidControl {
TemperatureSensor::TemperatureSensor(Participant* participant,
unsigned char thingId)
: Thing(participant, Type::TemperatureSensor, thingId) {}
TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent) {
this->type = Type::TemperatureSensor;
}
void TemperatureSensor::SetTemperature(float temp) {
this->temperature = temp;

10
Things/TemperatureSensor.h
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@ -7,15 +7,17 @@ namespace RoboidControl {
/// @brief A temperature sensor
class TemperatureSensor : public Thing {
public:
/// @brief The measured temperature
float temperature = 0;
/// @brief The default constructor
//TemperatureSensor();
/// @brief Create a temperature sensor with the given ID
/// @param networkId The network ID of the sensor
/// @param thingId The ID of the thing
TemperatureSensor(Participant* participant, unsigned char thingId);
TemperatureSensor(Participant* participant); //, unsigned char thingId);
// TemperatureSensor(Thing* parent);
TemperatureSensor(Thing* parent = Thing::LocalRoot());
/// @brief The measured temperature
float temperature = 0;
/// @brief Manually override the measured temperature
/// @param temperature The new temperature

31
Things/TouchSensor.cpp
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@ -1,23 +1,36 @@
#include "TouchSensor.h"
namespace RoboidControl {
TouchSensor::TouchSensor() : Thing(Thing::Type::TouchSensor) {}
TouchSensor::TouchSensor(Participant* participant)
: Thing(participant, Thing::Type::TouchSensor) {}
TouchSensor::TouchSensor(Thing* parent) : Thing(parent) {
this->type = Type::TouchSensor;
this->name = "Touch sensor";
}
TouchSensor::TouchSensor(Thing* parent) : Thing(parent->owner) {
this->SetParent(parent);
bool TouchSensor::IsTouching() {
return this->internalTouch || this->externalTouch;
}
// void TouchSensor::PrepareForUpdate() {
// //this->internalTouch = this->externalTouch;
// }
void TouchSensor::Update(bool recursive) {
Thing::Update(recursive);
}
int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
return 0;
std::cout << "BinaryMsg Touch " << this->internalTouch << std::endl;
bytes[(*ix)++] = this->internalTouch ? 1 : 0;
return 1;
}
void TouchSensor::ProcessBinary(char* bytes) {
// if (bytes[0] == 1)
// std::cout << this->name << " is Touching something!\n";
this->touchedSomething |= (bytes[0] == 1);
this->externalTouch = (bytes[0] == 1);
if (this->externalTouch)
std::cout << "touching!\n";
else
std::cout << "not touching\n";
}
} // namespace RoboidControl

30
Things/TouchSensor.h
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@ -6,29 +6,31 @@ namespace RoboidControl {
/// @brief A sensor which can detect touches
class TouchSensor : public Thing {
// When finishing this release (0.3), I notice that this is equivalent to a digital sensor
public:
/// @brief Create a touch sensor with isolated participant
TouchSensor();
/// @brief Create a touch sensor
TouchSensor(Participant* participant);
/// @brief Create a temperature sensor with the given ID
/// @param networkId The network ID of the sensor
/// @param thingId The ID of the thing
TouchSensor(Thing* parent);
// TouchSensor(RemoteParticipant* participant, unsigned char networkId,
// unsigned char thingId);
/// @brief Create a new child touch sensor
/// @param parent The parent thing
/// @param thingId The ID of the thing, leave out or set to zero to generate
/// an ID
TouchSensor(Thing* parent = Thing::LocalRoot());
/// @brief Value which is true when the sensor is touching something, false
/// otherwise
bool touchedSomething = false;
bool IsTouching();
/// @brief Function to create a binary message with the temperature
//virtual void PrepareForUpdate() override;
virtual void Update(bool recursive) override;
/// @brief Function used to generate binary data for this touch sensor
/// @param buffer The byte array for thw binary data
/// @param ix The starting position for writing the binary data
int GenerateBinary(char* bytes, unsigned char* ix) override;
/// @brief Function to extract the temperature received in the binary message
/// @param bytes The binary data
/// @brief Function used to process binary data received for this touch sensor
/// @param bytes The binary data to process
virtual void ProcessBinary(char* bytes) override;
protected:
bool externalTouch = false;
bool internalTouch = false;
};
} // namespace RoboidControl

4
Windows/WindowsParticipant.cpp
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@ -85,9 +85,9 @@ void ParticipantUDP::Receive() {
unsigned int sender_port = ntohs(client_addr.sin_port);
ReceiveData(packetSize, sender_ipAddress, sender_port);
// RoboidControl::ParticipantUDP* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
// RoboidControl::ParticipantUDP* remoteParticipant = this->Get(sender_ipAddress, sender_port);
// if (remoteParticipant == nullptr) {
// remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
// remoteParticipant = this->Add(sender_ipAddress, sender_port);
// // std::cout << "New sender " << sender_ipAddress << ":"
// // << sender_port << "\n";
// // std::cout << "New remote participant " <<

18
Examples/BB2B.cpp → examples/BB2A/main.cpp
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@ -17,32 +17,32 @@ using namespace RoboidControl;
int main() {
// The robot's propulsion is a differential drive
DifferentialDrive* bb2b = new DifferentialDrive();
DifferentialDrive bb2b = DifferentialDrive();
// Is has a touch sensor at the front left of the roboid
TouchSensor* touchLeft = new TouchSensor(bb2b);
TouchSensor touchLeft = TouchSensor(&bb2b);
// and other one on the right
TouchSensor* touchRight = new TouchSensor(bb2b);
TouchSensor touchRight = TouchSensor(&bb2b);
// Do forever:
while (true) {
// The left wheel turns forward when nothing is touched on the right side
// and turn backward when the roboid hits something on the right
float leftWheelSpeed = (touchRight->touchedSomething) ? -600.0f : 600.0f;
float leftWheelSpeed = (touchRight.IsTouching()) ? -600.0f : 600.0f;
// The right wheel does the same, but instead is controlled by
// touches on the left side
float rightWheelSpeed = (touchLeft->touchedSomething) ? -600.0f : 600.0f;
float rightWheelSpeed = (touchLeft.IsTouching()) ? -600.0f : 600.0f;
// When both sides are touching something, both wheels will turn backward
// and the roboid will move backwards
bb2b->SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
// Update the roboid state
bb2b->Update(true);
bb2b.Update(true);
// and sleep for 100ms
#if defined(ARDUINO)
delay(100);
delay(10);
#else
sleep_for(milliseconds(100));
sleep_for(milliseconds(10));
#endif
}

8
examples/CMakeLists.txt Normal file
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@ -0,0 +1,8 @@
# examples/CMakeLists.txt
# Check if the options are enabled and add the corresponding examples
if(BUILD_EXAMPLE_BB2A)
add_executable(BB2A BB2A/main.cpp) # Adjust the path as necessary
target_link_libraries(BB2A RoboidControl)
endif()

1
examples/README.md Normal file
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@ -0,0 +1 @@
Important: this folder has to be named 'examples' exactly to maintain compatibility with Arduino

30
test/CMakeLists.txt Normal file
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@ -0,0 +1,30 @@
# Unit test configuration
add_compile_definitions(GTEST)
include(FetchContent)
FetchContent_Declare(
googletest
DOWNLOAD_EXTRACT_TIMESTAMP ON
URL https://github.com/google/googletest/archive/refs/heads/main.zip
)
# For Windows: Prevent overriding the parent project's compiler/linker settings
set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(googletest)
file(GLOB_RECURSE test_srcs *.cc)
message(STATUS "Test sources: ${test_srcs}")
add_executable(
RoboidControlTest
${test_srcs}
)
message(STATUS "RoboidControlTest target created")
target_link_libraries(
RoboidControlTest
gtest_main
RoboidControl
LinearAlgebra
)
include(GoogleTest)
gtest_discover_tests(RoboidControlTest)

146
test/participant_test.cc
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@ -4,111 +4,75 @@
// not supported using Visual Studio 2022 compiler...
#include <gtest/gtest.h>
#include <chrono>
#include <thread>
// #include <ws2tcpip.h>
#include "Participant.h"
#include "Participants/SiteServer.h"
#include "Thing.h"
#include <chrono>
#include <thread>
using namespace RoboidControl;
// Function to get the current time in milliseconds as unsigned long
unsigned long get_time_ms() {
auto now = std::chrono::steady_clock::now();
auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
now.time_since_epoch());
return static_cast<unsigned long>(ms.count());
TEST(Participant, Participant) {
ParticipantUDP* participant = new ParticipantUDP("127.0.0.1", 7682);
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 7000) {
participant->Update();
std::this_thread::sleep_for(std::chrono::milliseconds(100));
milliseconds = Thing::GetTimeMs();
}
SUCCEED();
}
// class RoboidControlSuite : public ::testing::test {
// TEST_F(RoboidControlSuite, HiddenParticipant) {
// Thing thing = Thing();
TEST(Participant, SiteServer) {
SiteServer* siteServer = new SiteServer();
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// Thing.Update(milliseconds);
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 7000) {
siteServer->Update();
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// }
class ParticipantSuite : public ::testing::Test {
protected:
// SetUp and TearDown can be used to set up and clean up before/after each
// test
void SetUp() override {
// Initialize test data here
std::this_thread::sleep_for(std::chrono::milliseconds(100));
milliseconds = Thing::GetTimeMs();
}
SUCCEED();
}
void TearDown() override {
// Clean up test data here
TEST(Participant, SiteParticipant) {
SiteServer* siteServer = new SiteServer(7681);
ParticipantUDP* participant = new ParticipantUDP("127.0.0.1", 7681, 7682);
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 7000) {
siteServer->Update();
participant->Update();
std::this_thread::sleep_for(std::chrono::milliseconds(100));
milliseconds = Thing::GetTimeMs();
}
};
SUCCEED();
}
TEST(Participant, ThingMsg) {
SiteServer* siteServer = new SiteServer(7681);
ParticipantUDP* participant = new ParticipantUDP("127.0.0.1", 7681, 7682);
Thing* thing = new Thing();
thing->SetName("First Thing");
thing->SetModel("https://passer.life/extras/ant.jpg");
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 7000) {
siteServer->Update();
participant->Update();
// TEST_F(ParticipantSuite, ParticipantUDP) {
// ParticipantUDP* participant = new ParticipantUDP("127.0.0.1", 7681);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// participant->Update(milliseconds);
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// TEST_F(ParticipantSuite, SiteServer) {
// SiteServer site = SiteServer(7681);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// site.Update(milliseconds);
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// TEST_F(ParticipantSuite, SiteParticipant) {
// SiteServer site = SiteServer(7681);
// ParticipantUDP participant = ParticipantUDP("127.0.0.1", 7681);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// site.Update(milliseconds);
// participant.Update(milliseconds);
// std::this_thread::sleep_for(std::chrono::milliseconds(100));
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// TEST_F(ParticipantSuite, Thing) {
// SiteServer site = SiteServer(7681);
// ParticipantUDP participant = ParticipantUDP("127.0.0.1", 7681);
// Thing thing = Thing(&participant);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// site.Update(milliseconds);
// participant.Update(milliseconds);
// std::this_thread::sleep_for(std::chrono::milliseconds(100));
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
std::this_thread::sleep_for(std::chrono::milliseconds(100));
milliseconds = Thing::GetTimeMs();
}
SUCCEED();
}
#endif

8
test/thing_test.cc
View File

@ -15,7 +15,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 1000) {
Thing::UpdateThings(milliseconds);
thing->Update();
milliseconds = Thing::GetTimeMs();
}
@ -23,13 +23,13 @@ TEST(RoboidControlSuite, HiddenParticipant) {
}
TEST(RoboidControlSuite, IsolatedParticipant) {
ParticipantUDP* participant = ParticipantUDP::Isolated();
Thing* thing = new Thing(participant);
ParticipantUDP* participant = new ParticipantUDP(0);
Thing* thing = new Thing();
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 1000) {
participant->Update(milliseconds);
participant->Update();
milliseconds = Thing::GetTimeMs();
}