RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Improve broadcast support

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This commit is contained in:
Pascal Serrarens 2024-09-23 10:05:02 +02:00
parent 9de2fa6492
commit 60516dec0d
2 changed files with 16 additions and 16 deletions
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26
NetworkSync.cpp
View File

@ -20,6 +20,7 @@
NetworkSync::NetworkSync(Roboid* roboid) { NetworkSync::NetworkSync(Roboid* roboid) {
this->roboid = roboid; this->roboid = roboid;
this->networkId = 0;
} }
void NetworkSync::ReceiveMessage(Roboid* roboid, unsigned char bytecount) { void NetworkSync::ReceiveMessage(Roboid* roboid, unsigned char bytecount) {
@ -27,7 +28,6 @@ void NetworkSync::ReceiveMessage(Roboid* roboid, unsigned char bytecount) {
switch (buffer[0]) { switch (buffer[0]) {
case NetworkIdMsg: case NetworkIdMsg:
// this->networkId = NetworkIdMsg;
ReceiveNetworkId(); ReceiveNetworkId();
break; break;
} }
@ -39,7 +39,7 @@ void NetworkSync::ReceiveMessage(Roboid* roboid, unsigned char bytecount) {
void NetworkSync::ReceiveNetworkId() { void NetworkSync::ReceiveNetworkId() {
this->networkId = buffer[1]; this->networkId = buffer[1];
#ifdef RC_DEBUG #ifdef RC_DEBUG
SERIALPORT.printf("_Received network Id %d\n", this->networkId); SERIALPORT.printf("Received network Id %d\n", this->networkId);
#endif #endif
SendName(roboid); SendName(roboid);
SendModel(roboid); SendModel(roboid);
@ -50,6 +50,17 @@ void NetworkSync::ReceiveNetworkId() {
} }
} }
void NetworkSync::PublishDevice() {
unsigned char ix = 0;
buffer[ix++] = DeviceMsg;
buffer[ix++] = 0; // No network ID
PublishBuffer(ix);
#ifdef RC_DEBUG
SERIALPORT.printf("Publish Device\n");
#endif
}
void NetworkSync::PublishState(Roboid* roboid) { void NetworkSync::PublishState(Roboid* roboid) {
SendPose(roboid); SendPose(roboid);
PublishPerception(roboid); PublishPerception(roboid);
@ -208,17 +219,6 @@ void NetworkSync::SendPose(Thing* thing, bool recurse) {
} }
} }
void NetworkSync::PublishClient() {
unsigned char ix = 0;
buffer[ix++] = ClientMsg;
buffer[ix++] = 0; // No network ID
SendBuffer(ix);
#ifdef RC_DEBUG
SERIALPORT.println("Sent new Client");
#endif
}
void NetworkSync::PublishState(Sensor* sensor) { void NetworkSync::PublishState(Sensor* sensor) {
float* value = (float*)sensor->GetValue(); float* value = (float*)sensor->GetValue();
if (value == nullptr) if (value == nullptr)

6
NetworkSync.h
View File

@ -14,7 +14,7 @@ class NetworkSync {
NetworkSync() {}; NetworkSync() {};
NetworkSync(Roboid* roboid); NetworkSync(Roboid* roboid);
unsigned char networkId; unsigned char networkId = 0;
/// @brief Retreive and send the roboid state /// @brief Retreive and send the roboid state
/// @param roboid The roboid for which the state is updated /// @param roboid The roboid for which the state is updated
@ -54,7 +54,7 @@ class NetworkSync {
static const unsigned char InvestigateMsg = 0x81; static const unsigned char InvestigateMsg = 0x81;
static const unsigned char ModelMsg = 0x90; static const unsigned char ModelMsg = 0x90;
static const unsigned char NameMsg = 0x91; static const unsigned char NameMsg = 0x91;
static const unsigned char ClientMsg = 0xA0; static const unsigned char DeviceMsg = 0xA0;
static const unsigned char NetworkIdMsg = 0xA1; static const unsigned char NetworkIdMsg = 0xA1;
typedef void (*Buffer)(UInt8* buffer, UInt16 bufferSize); typedef void (*Buffer)(UInt8* buffer, UInt16 bufferSize);
@ -128,7 +128,7 @@ class NetworkSync {
virtual void SendBuffer(unsigned char bufferSize); virtual void SendBuffer(unsigned char bufferSize);
virtual void PublishBuffer(unsigned char bufferSize); virtual void PublishBuffer(unsigned char bufferSize);
void PublishClient(); void PublishDevice();
}; };
} // namespace RoboidControl } // namespace RoboidControl