Add broadcast state (for temperature sensor)

NetworkSync.cpp

@@ -210,10 +210,27 @@ void NetworkSync::PublishClient() {
 #endif
 }
 
+void NetworkSync::BroadcastState(Sensor* sensor) {
+    unsigned char ix = 0;
+    buffer[ix++] = StateMsg;
+    buffer[ix++] = sensor->type;
+    float* value = (float*)sensor->GetValue();
+    SendFloat16(buffer, &ix, *value);
+    SendBuffer(ix);
+}
+
 void NetworkSync::BroadcastPerception(Roboid *roboid) {
-  if (roboid->perception == nullptr)
+  Perception* perception = roboid->perception;
+  if (perception == nullptr)
     return;
   
+  for (int sensorIx = 0; sensorIx < perception->sensorCount; sensorIx++) {
+    Sensor* sensor = perception->sensors[sensorIx];
+    if (sensor == nullptr)
+      continue;
+    // sensor->BroadcastState();
+    BroadcastState(sensor);
+  }
   PublishTrackedObjects(roboid, roboid->perception->GetTrackedObjects());
 }
 

NetworkSync.h

@@ -11,6 +11,7 @@ namespace RoboidControl {
 /// @brief Interface for synchronizaing state between clients across a network
 class NetworkSync {
  public:
+  NetworkSync() {};
   NetworkSync(Roboid* roboid);
 
   unsigned char networkId;
@@ -29,6 +30,7 @@ class NetworkSync {
   static const unsigned char PoseMsg = 0x10;
   static const unsigned char PoseTypeMsg = 0x11;
   static const unsigned char RelativePoseMsg = 0x12;
+  static const unsigned char StateMsg = 0x18;
   /// @brief A bit pattern for the pose, stating that this message contains a
   /// position in world coordinates
   static const unsigned char Pose_Position = 0x01;
@@ -82,6 +84,8 @@ class NetworkSync {
   Roboid* roboid;
   NetworkPerception* networkPerception;
 
+  void BroadcastState(Sensor* sensor);
+
   void PublishTrackedObject(Roboid* roboid, InterestingThing* object);
   void PublishRelativeObject(Buffer sendBuffer,
                              UInt8 parentId,

Sensor.h

@@ -14,6 +14,14 @@ public:
   /// @brief Sets the parent Thing
   /// @param parent The Thing which should become the parent
   virtual void SetParent(Thing *parent) override;
+
+  virtual void BroadcastState() {};
+
+  enum SensorType {
+    Unknown = 0,
+    Temperature = 1,
+  };
+  virtual void* GetValue() { return nullptr; };
 };
 
 } // namespace RoboidControl

TemperatureSensor.cpp

@@ -0,0 +1,15 @@
+#include "TemperatureSensor.h"
+
+TemperatureSensor::TemperatureSensor()
+{
+    this->type = (unsigned int) SensorType::Temperature;
+}
+
+float TemperatureSensor::InCelsius()
+{
+    return this->temperature;
+}
+
+void* TemperatureSensor::GetValue() {
+    return &this->temperature;
+}

TemperatureSensor.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "Sensor.h"
+#include "NetworkSync.h"
+
+namespace Passer::RoboidControl 
+{
+class TemperatureSensor : public Sensor {
+public:
+    TemperatureSensor();
+
+    float InCelsius();
+    virtual void* GetValue() override;
+    // virtual void BroadcastState() override;
+protected:
+    float temperature = 0; // in Celsius
+};    
+} // namespace Passer::RoboidControl 
+using namespace Passer::RoboidControl;