Performance improvements

NetworkSync.cpp

@@ -32,11 +32,11 @@ void NetworkSync::ReceiveNetworkId() {
 #ifdef RC_DEBUG
   printf("_Received network Id %d\n", this->networkId);
 #endif
-  delay(100);
+  // delay(100);
   PublishModel(roboid);
-  delay(100);
-  if (roboid->actuationRoot != nullptr)
-    PublishRelativeThing(roboid->actuationRoot, true);
+  // delay(100);
+  if (roboid->actuation != nullptr)
+    PublishRelativeThing(roboid->actuation, true);
 }
 
 void NetworkSync::NewObject(InterestingThing *thing) {
@@ -69,10 +69,10 @@ void NetworkSync::PublishRelativeThing(Thing *thing, bool recurse) {
   SendSpherical(buffer, &ix, thing->position);
   SendBuffer(ix);
 
-  delay(100);
+  // delay(100);
   PublishModel(thing);
 
-  delay(1000);
+  // delay(1000);
   if (recurse) {
     Thing *child = thing->GetChild(0);
     if (child != nullptr)
@@ -167,8 +167,8 @@ void NetworkSync::SendPose(Roboid *roboid, bool recurse) {
   SendBuffer(ix);
 
   if (recurse) {
-    delay(10);
-    Thing *child = roboid->actuationRoot;
+    // delay(10);
+    Thing *child = roboid->actuation;
     if (child != nullptr)
       SendPose(child, true);
   }
@@ -184,7 +184,7 @@ void NetworkSync::SendPose(Thing *thing, bool recurse) {
   SendBuffer(ix);
 
   if (recurse) {
-    delay(10);
+    // delay(10);
     Thing *child = thing->GetChild(0);
     if (child != nullptr)
       SendPose(child, true);
@@ -202,7 +202,7 @@ void NetworkSync::PublishClient() {
 #endif
 
   // PublishModel(roboid);
-  // if (roboid->actuationRoot != nullptr)
+  // if (roboid->actuation != nullptr)
   //   PublishRelativeThing(roboid->actuationRoot, false);
 }
 

Perception.cpp

@@ -446,6 +446,9 @@ InterestingThing *Perception::ThingOfType(unsigned char thingType) {
 }
 
 InterestingThing *Perception::GetMostInterestingThing() {
+  if (this->trackedObjects == nullptr)
+    return nullptr;
+
   InterestingThing *closestObject = nullptr;
   float closestDistance = INFINITY;
   for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {

Roboid.cpp

@@ -19,7 +19,7 @@ Roboid::Roboid() {
   this->perception->roboid = this;
   this->propulsion = nullptr;
   this->networkSync = nullptr;
-  this->actuationRoot = nullptr;
+  this->actuation = nullptr;
   this->worldPosition = Vector3::zero;
   // this->worldOrientation = Quaternion::identity;
   this->worldAngleAxis = AngleAxis();
@@ -37,15 +37,15 @@ Roboid::Roboid(Perception *perception, Propulsion *propulsion) : Roboid() {
     propulsion->roboid = this;
 }
 
-Roboid::Roboid(Perception *perception, ServoMotor *actuationRoot) : Roboid() {
+Roboid::Roboid(Perception *perception, ServoMotor *actuation) : Roboid() {
   this->perception = perception;
   perception->roboid = this;
   this->propulsion = nullptr;
 
-  this->actuationRoot = actuationRoot;
+  this->actuation = actuation;
 }
 
-Roboid::Roboid(ServoMotor *actuationRoot) : actuationRoot(actuationRoot) {}
+Roboid::Roboid(ServoMotor *actuation) : actuation(actuation) {}
 
 void Roboid::Update(float currentTimeMs) {
   if (perception != nullptr)
@@ -64,8 +64,8 @@ void Roboid::Update(float currentTimeMs) {
                                          Vector3::up));
   }
 
-  if (actuationRoot != nullptr)
-    actuationRoot->Update(currentTimeMs);
+  if (actuation != nullptr)
+    actuation->Update(currentTimeMs);
 
   if (networkSync != nullptr)
     networkSync->NetworkUpdate(this);

Roboid.h

@@ -20,7 +20,7 @@ public:
   /// @param propulsion The Propulsion implementation to use for this Roboid
   Roboid(Perception *perception, Propulsion *propulsion = nullptr);
 
-  Roboid(Perception *perception, ServoMotor *actuationRoot);
+  Roboid(Perception *perception, ServoMotor *actuation);
 
   Roboid(ServoMotor *actuationRoot);
 
@@ -33,7 +33,7 @@ public:
   Perception *perception = nullptr;
   /// @brief The Propulsion module of this Roboid
   Propulsion *propulsion = nullptr;
-  ServoMotor *actuationRoot = nullptr;
+  ServoMotor *actuation = nullptr;
 
   /// @brief The reference to the module to synchronize states across a network
   NetworkSync *networkSync = nullptr;