RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Added broadcast state

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This commit is contained in:
Pascal Serrarens 2024-09-07 15:50:01 +02:00
parent 10c6ab3794
commit 2134d64c80
2 changed files with 19 additions and 0 deletions
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16
NetworkSync.cpp
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@ -43,6 +43,15 @@ void NetworkSync::ReceiveNetworkId() {
} }
} }
void NetworkSync::BroadcastState(Roboid *roboid)
{
// if (roboid->updated == false)
// return;
SendPose(roboid);
BroadcastPerception(roboid);
}
void NetworkSync::NewObject(InterestingThing* thing) { void NetworkSync::NewObject(InterestingThing* thing) {
if (thing == nullptr || thing->networkId != 0x00) if (thing == nullptr || thing->networkId != 0x00)
return; return;
@ -201,6 +210,13 @@ void NetworkSync::PublishClient() {
#endif #endif
} }
void NetworkSync::BroadcastPerception(Roboid *roboid) {
if (roboid->perception == nullptr)
return;
PublishTrackedObjects(roboid, roboid->perception->GetTrackedObjects());
}
void NetworkSync::PublishTrackedObjects(Roboid* roboid, void NetworkSync::PublishTrackedObjects(Roboid* roboid,
InterestingThing** objects) { InterestingThing** objects) {
if (networkId == 0) // We're not connected to a site yet if (networkId == 0) // We're not connected to a site yet

3
NetworkSync.h
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@ -58,6 +58,8 @@ class NetworkSync {
void ReceiveNetworkId(); void ReceiveNetworkId();
void BroadcastState(Roboid* roboid);
void SendInvestigate(InterestingThing* thing); void SendInvestigate(InterestingThing* thing);
void SendPoseMsg(Buffer sendBuffer, Roboid* roboid); void SendPoseMsg(Buffer sendBuffer, Roboid* roboid);
@ -65,6 +67,7 @@ class NetworkSync {
// void PublishNewObject(); // void PublishNewObject();
void PublishRelativeThing(Thing* thing, bool recurse = false); void PublishRelativeThing(Thing* thing, bool recurse = false);
void BroadcastPerception(Roboid *roboid);
void PublishTrackedObjects(Roboid* roboid, InterestingThing** objects); void PublishTrackedObjects(Roboid* roboid, InterestingThing** objects);
virtual void SendPosition(Vector3 worldPosition) {}; virtual void SendPosition(Vector3 worldPosition) {};