RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Performance improvements

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This commit is contained in:
Pascal Serrarens 2024-06-07 14:00:40 +02:00
parent bc136362f2
commit 643129fdae
4 changed files with 21 additions and 18 deletions
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20
NetworkSync.cpp
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@ -32,11 +32,11 @@ void NetworkSync::ReceiveNetworkId() {
#ifdef RC_DEBUG #ifdef RC_DEBUG
printf("_Received network Id %d\n", this->networkId); printf("_Received network Id %d\n", this->networkId);
#endif #endif
delay(100); // delay(100);
PublishModel(roboid); PublishModel(roboid);
delay(100); // delay(100);
if (roboid->actuationRoot != nullptr) if (roboid->actuation != nullptr)
PublishRelativeThing(roboid->actuationRoot, true); PublishRelativeThing(roboid->actuation, true);
} }
void NetworkSync::NewObject(InterestingThing *thing) { void NetworkSync::NewObject(InterestingThing *thing) {
@ -69,10 +69,10 @@ void NetworkSync::PublishRelativeThing(Thing *thing, bool recurse) {
SendSpherical(buffer, &ix, thing->position); SendSpherical(buffer, &ix, thing->position);
SendBuffer(ix); SendBuffer(ix);
delay(100); // delay(100);
PublishModel(thing); PublishModel(thing);
delay(1000); // delay(1000);
if (recurse) { if (recurse) {
Thing *child = thing->GetChild(0); Thing *child = thing->GetChild(0);
if (child != nullptr) if (child != nullptr)
@ -167,8 +167,8 @@ void NetworkSync::SendPose(Roboid *roboid, bool recurse) {
SendBuffer(ix); SendBuffer(ix);
if (recurse) { if (recurse) {
delay(10); // delay(10);
Thing *child = roboid->actuationRoot; Thing *child = roboid->actuation;
if (child != nullptr) if (child != nullptr)
SendPose(child, true); SendPose(child, true);
} }
@ -184,7 +184,7 @@ void NetworkSync::SendPose(Thing *thing, bool recurse) {
SendBuffer(ix); SendBuffer(ix);
if (recurse) { if (recurse) {
delay(10); // delay(10);
Thing *child = thing->GetChild(0); Thing *child = thing->GetChild(0);
if (child != nullptr) if (child != nullptr)
SendPose(child, true); SendPose(child, true);
@ -202,7 +202,7 @@ void NetworkSync::PublishClient() {
#endif #endif
// PublishModel(roboid); // PublishModel(roboid);
// if (roboid->actuationRoot != nullptr) // if (roboid->actuation != nullptr)
// PublishRelativeThing(roboid->actuationRoot, false); // PublishRelativeThing(roboid->actuationRoot, false);
} }

3
Perception.cpp
View File

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

12
Roboid.cpp
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@ -19,7 +19,7 @@ Roboid::Roboid() {
this->perception->roboid = this; this->perception->roboid = this;
this->propulsion = nullptr; this->propulsion = nullptr;
this->networkSync = nullptr; this->networkSync = nullptr;
this->actuationRoot = nullptr; this->actuation = nullptr;
this->worldPosition = Vector3::zero; this->worldPosition = Vector3::zero;
// this->worldOrientation = Quaternion::identity; // this->worldOrientation = Quaternion::identity;
this->worldAngleAxis = AngleAxis(); this->worldAngleAxis = AngleAxis();
@ -37,15 +37,15 @@ Roboid::Roboid(Perception *perception, Propulsion *propulsion) : Roboid() {
propulsion->roboid = this; propulsion->roboid = this;
} }
Roboid::Roboid(Perception *perception, ServoMotor *actuationRoot) : Roboid() { Roboid::Roboid(Perception *perception, ServoMotor *actuation) : Roboid() {
this->perception = perception; this->perception = perception;
perception->roboid = this; perception->roboid = this;
this->propulsion = nullptr; 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) { void Roboid::Update(float currentTimeMs) {
if (perception != nullptr) if (perception != nullptr)
@ -64,8 +64,8 @@ void Roboid::Update(float currentTimeMs) {
Vector3::up)); Vector3::up));
} }
if (actuationRoot != nullptr) if (actuation != nullptr)
actuationRoot->Update(currentTimeMs); actuation->Update(currentTimeMs);
if (networkSync != nullptr) if (networkSync != nullptr)
networkSync->NetworkUpdate(this); networkSync->NetworkUpdate(this);

4
Roboid.h
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@ -20,7 +20,7 @@ public:
/// @param propulsion The Propulsion implementation to use for this Roboid /// @param propulsion The Propulsion implementation to use for this Roboid
Roboid(Perception *perception, Propulsion *propulsion = nullptr); Roboid(Perception *perception, Propulsion *propulsion = nullptr);
Roboid(Perception *perception, ServoMotor *actuationRoot); Roboid(Perception *perception, ServoMotor *actuation);
Roboid(ServoMotor *actuationRoot); Roboid(ServoMotor *actuationRoot);
@ -33,7 +33,7 @@ public:
Perception *perception = nullptr; Perception *perception = nullptr;
/// @brief The Propulsion module of this Roboid /// @brief The Propulsion module of this Roboid
Propulsion *propulsion = nullptr; Propulsion *propulsion = nullptr;
ServoMotor *actuationRoot = nullptr; ServoMotor *actuation = nullptr;
/// @brief The reference to the module to synchronize states across a network /// @brief The reference to the module to synchronize states across a network
NetworkSync *networkSync = nullptr; NetworkSync *networkSync = nullptr;