From 4272d912b92ccba77b5a2d2dd9acb3b0bfc8d28e Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Tue, 27 Feb 2024 14:27:06 +0100 Subject: [PATCH] Fixed poseType check --- NetworkPerception.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp index 982e7c1..04f1b84 100644 --- a/NetworkPerception.cpp +++ b/NetworkPerception.cpp @@ -4,8 +4,8 @@ void NetworkPerception::ProcessPacket(Roboid *roboid, unsigned char *buffer, int packetsize) { - // printf("packet received, type = 0x%02x %d %d %d %d\n", buffer[0], - // buffer[2], buffer[3], buffer[4], buffer[5]); + // printf("packet received, type = 0x%02x %d %d %d %d %d\n", buffer[0], + // buffer[2], buffer[2], buffer[3], buffer[4], buffer[5]); if (buffer[0] == NetworkSync::PoseMsg) { ReceiveObject(buffer, roboid); @@ -79,8 +79,8 @@ void NetworkPerception::ReceiveObject(unsigned char *data, Roboid *roboid) { } } +// HACK!!! #include "../../../src/LighthouseTracker.h" -#include void NetworkPerception::ReceiveTypedObject(unsigned char *data, Roboid *roboid) { @@ -88,8 +88,10 @@ void NetworkPerception::ReceiveTypedObject(unsigned char *data, unsigned char objectId = data[2]; if (objectType == 0x02) { // lighthouse // We require position and orientation for lighthouses - if (data[3] != NetworkSync::Pose_Position | NetworkSync::Pose_Orientation) + if (data[3] != + (NetworkSync::Pose_Position | NetworkSync::Pose_Orientation)) { return; + } Vector3 worldPosition = ReceiveVector3(data, 4); Vector3 worldAngles = ReceiveVector3(data, 16); @@ -102,6 +104,4 @@ void NetworkPerception::ReceiveTypedObject(unsigned char *data, LighthouseTracker *lhSensor = (LighthouseTracker *)sensor; lhSensor->UpdateGeometry(objectId, worldPosition, worldOrientation); } - - Serial.printf("Typed Object received\n"); }