Aligned Thing implementation
This commit is contained in:
parent
478d6d9431
commit
75a0cf350d
@ -14,5 +14,4 @@ Supporting:
|
||||
# Basic components
|
||||
|
||||
- RoboidControl::Thing
|
||||
- RoboidControl::LocalParticipant
|
||||
- RoboidControl::SiteServer
|
||||
- RoboidControl::Participant
|
||||
154
Thing.cpp
154
Thing.cpp
@ -17,17 +17,17 @@
|
||||
|
||||
namespace RoboidControl {
|
||||
|
||||
Thing::Thing(int thingType)
|
||||
#pragma region Init
|
||||
|
||||
Thing::Thing(unsigned char thingType)
|
||||
: Thing(IsolatedParticipant::Isolated(), thingType) {}
|
||||
|
||||
Thing::Thing(Participant* owner, Type thingType, unsigned char thingId)
|
||||
: Thing(owner, (unsigned char)thingType, thingId) {}
|
||||
|
||||
Thing::Thing(Participant* owner, int thingType, unsigned char thingId) {
|
||||
Thing::Thing(Participant* owner,
|
||||
unsigned char thingType,
|
||||
unsigned char thingId) {
|
||||
this->owner = owner;
|
||||
this->id = thingId;
|
||||
this->type = thingType;
|
||||
this->networkId = 0;
|
||||
|
||||
this->position = Spherical::zero;
|
||||
this->positionUpdated = true;
|
||||
@ -44,11 +44,13 @@ Thing::Thing(Participant* owner, int thingType, unsigned char thingId) {
|
||||
this->owner->Add(this, true);
|
||||
}
|
||||
|
||||
Thing::Thing(Thing* parent, int thingType, unsigned char thingId)
|
||||
Thing::Thing(Thing* parent, unsigned char thingType, unsigned char thingId)
|
||||
: Thing(parent->owner, thingType, thingId) {
|
||||
this->SetParent(parent);
|
||||
}
|
||||
|
||||
#pragma endregion Init
|
||||
|
||||
void Thing::SetName(const char* name) {
|
||||
this->name = name;
|
||||
this->nameChanged = true;
|
||||
@ -58,22 +60,12 @@ const char* Thing::GetName() const {
|
||||
return this->name;
|
||||
}
|
||||
|
||||
Thing* Thing::FindThing(const char* name) {
|
||||
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
|
||||
Thing* child = this->children[childIx];
|
||||
if (child == nullptr || child->name == nullptr)
|
||||
continue;
|
||||
|
||||
if (strcmp(child->name, name) == 0)
|
||||
return child;
|
||||
|
||||
Thing* foundChild = child->FindThing(name);
|
||||
if (foundChild != nullptr)
|
||||
return foundChild;
|
||||
}
|
||||
return nullptr;
|
||||
void Thing::SetModel(const char* url) {
|
||||
this->modelUrl = url;
|
||||
}
|
||||
|
||||
#pragma region Hierarchy
|
||||
|
||||
void Thing::SetParent(Thing* parent) {
|
||||
if (parent == nullptr) {
|
||||
Thing* parentThing = this->parent;
|
||||
@ -85,16 +77,20 @@ void Thing::SetParent(Thing* parent) {
|
||||
this->hierarchyChanged = true;
|
||||
}
|
||||
|
||||
void Thing::SetParent(Thing* root, const char* name) {
|
||||
Thing* thing = root->FindThing(name);
|
||||
if (thing != nullptr)
|
||||
this->SetParent(thing);
|
||||
}
|
||||
// void Thing::SetParent(Thing* root, const char* name) {
|
||||
// Thing* thing = root->FindChild(name);
|
||||
// if (thing != nullptr)
|
||||
// this->SetParent(thing);
|
||||
// }
|
||||
|
||||
Thing* Thing::GetParent() {
|
||||
return this->parent;
|
||||
}
|
||||
|
||||
Thing* Thing::GetChildByIndex(unsigned char ix) {
|
||||
return this->children[ix];
|
||||
}
|
||||
|
||||
void Thing::AddChild(Thing* child) {
|
||||
unsigned char newChildCount = this->childCount + 1;
|
||||
Thing** newChildren = new Thing*[newChildCount];
|
||||
@ -143,7 +139,7 @@ Thing* Thing::RemoveChild(Thing* child) {
|
||||
return child;
|
||||
}
|
||||
|
||||
Thing* Thing::GetChild(unsigned char id, bool recursive) {
|
||||
Thing* Thing::GetChild(unsigned char id, bool recurse) {
|
||||
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
|
||||
Thing* child = this->children[childIx];
|
||||
if (child == nullptr)
|
||||
@ -151,8 +147,8 @@ Thing* Thing::GetChild(unsigned char id, bool recursive) {
|
||||
if (child->id == id)
|
||||
return child;
|
||||
|
||||
if (recursive) {
|
||||
Thing* foundChild = child->GetChild(id, recursive);
|
||||
if (recurse) {
|
||||
Thing* foundChild = child->GetChild(id, recurse);
|
||||
if (foundChild != nullptr)
|
||||
return foundChild;
|
||||
}
|
||||
@ -160,13 +156,66 @@ Thing* Thing::GetChild(unsigned char id, bool recursive) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Thing* Thing::GetChildByIndex(unsigned char ix) {
|
||||
return this->children[ix];
|
||||
Thing* Thing::FindChild(const char* name, bool recurse) {
|
||||
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
|
||||
Thing* child = this->children[childIx];
|
||||
if (child == nullptr || child->name == nullptr)
|
||||
continue;
|
||||
|
||||
if (strcmp(child->name, name) == 0)
|
||||
return child;
|
||||
|
||||
Thing* foundChild = child->FindChild(name);
|
||||
if (foundChild != nullptr)
|
||||
return foundChild;
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void Thing::SetModel(const char* url) {
|
||||
this->modelUrl = url;
|
||||
#pragma endregion Hierarchy
|
||||
|
||||
#pragma region Pose
|
||||
|
||||
void Thing::SetPosition(Spherical position) {
|
||||
this->position = position;
|
||||
this->positionUpdated = true;
|
||||
}
|
||||
Spherical Thing::GetPosition() {
|
||||
return this->position;
|
||||
}
|
||||
|
||||
void Thing::SetOrientation(SwingTwist orientation) {
|
||||
this->orientation = orientation;
|
||||
this->orientationUpdated = true;
|
||||
}
|
||||
|
||||
SwingTwist Thing::GetOrientation() {
|
||||
return this->orientation;
|
||||
}
|
||||
|
||||
void Thing::SetLinearVelocity(Spherical linearVelocity) {
|
||||
if (this->linearVelocity.distance != linearVelocity.distance) {
|
||||
this->linearVelocity = linearVelocity;
|
||||
this->linearVelocityUpdated = true;
|
||||
}
|
||||
}
|
||||
|
||||
Spherical Thing::GetLinearVelocity() {
|
||||
return this->linearVelocity;
|
||||
}
|
||||
|
||||
void Thing::SetAngularVelocity(Spherical angularVelocity) {
|
||||
if (this->angularVelocity.distance != angularVelocity.distance) {
|
||||
this->angularVelocity = angularVelocity;
|
||||
this->angularVelocityUpdated = true;
|
||||
}
|
||||
}
|
||||
|
||||
Spherical Thing::GetAngularVelocity() {
|
||||
return this->angularVelocity;
|
||||
}
|
||||
|
||||
#pragma endregion Pose
|
||||
|
||||
#pragma region Update
|
||||
|
||||
@ -220,43 +269,4 @@ void Thing::ProcessBinary(char* bytes) {
|
||||
(void)bytes;
|
||||
};
|
||||
|
||||
void Thing::SetPosition(Spherical position) {
|
||||
this->position = position;
|
||||
this->positionUpdated = true;
|
||||
}
|
||||
Spherical Thing::GetPosition() {
|
||||
return this->position;
|
||||
}
|
||||
|
||||
void Thing::SetOrientation(SwingTwist orientation) {
|
||||
this->orientation = orientation;
|
||||
this->orientationUpdated = true;
|
||||
}
|
||||
|
||||
SwingTwist Thing::GetOrientation() {
|
||||
return this->orientation;
|
||||
}
|
||||
|
||||
void Thing::SetLinearVelocity(Spherical linearVelocity) {
|
||||
if (this->linearVelocity.distance != linearVelocity.distance) {
|
||||
this->linearVelocity = linearVelocity;
|
||||
this->linearVelocityUpdated = true;
|
||||
}
|
||||
}
|
||||
|
||||
Spherical Thing::GetLinearVelocity() {
|
||||
return this->linearVelocity;
|
||||
}
|
||||
|
||||
void Thing::SetAngularVelocity(Spherical angularVelocity) {
|
||||
if (this->angularVelocity.distance != angularVelocity.distance) {
|
||||
this->angularVelocity = angularVelocity;
|
||||
this->angularVelocityUpdated = true;
|
||||
}
|
||||
}
|
||||
|
||||
Spherical Thing::GetAngularVelocity() {
|
||||
return this->angularVelocity;
|
||||
}
|
||||
|
||||
} // namespace RoboidControl
|
||||
187
Thing.h
187
Thing.h
@ -20,7 +20,7 @@ class ParticipantUDP;
|
||||
class Thing {
|
||||
public:
|
||||
/// @brief Predefined thing types
|
||||
enum Type {
|
||||
enum Type : unsigned char {
|
||||
Undetermined,
|
||||
// Sensor,
|
||||
Switch,
|
||||
@ -38,54 +38,86 @@ class Thing {
|
||||
ExternalSensor,
|
||||
};
|
||||
|
||||
/// @brief Create a new thing using an implicit local participant
|
||||
/// @param thingType The type of thing
|
||||
Thing(int thingType = Type::Undetermined);
|
||||
/// @brief Create a new thing of the given type
|
||||
/// @param thingType The predefined type of thing
|
||||
Thing(Participant* participant,
|
||||
Type thingType = Type::Undetermined,
|
||||
#pragma region Init
|
||||
|
||||
/// @brief Create a new thing without communication abilities
|
||||
/// @param thingType The type of thing (can use Thing::Type)
|
||||
Thing(unsigned char thingType = Type::Undetermined);
|
||||
|
||||
/// @brief Create a new thing for a participant
|
||||
/// @param owner The owning participant
|
||||
/// @param thingType The type of thing (can use Thing::Type)
|
||||
/// @param thingId The ID of the thing, leave out or set to zero to generate
|
||||
/// an ID
|
||||
Thing(Participant* owner,
|
||||
unsigned char thingType = Type::Undetermined,
|
||||
unsigned char thingId = 0);
|
||||
/// @brief Create a new thing of the give type
|
||||
/// @param thingType The custom type of the thing
|
||||
Thing(Participant* participant, int thingType, unsigned char thingId = 0);
|
||||
/// @brief Create a new thing for the given participant
|
||||
/// @param participant The participant for which this thing is created
|
||||
/// @param networkId The network ID of the thing
|
||||
/// @param thingId The ID of the thing
|
||||
/// @param thingType The type of thing
|
||||
// Thing(Participant* participant,
|
||||
// unsigned char networkId,
|
||||
// unsigned char thingId,
|
||||
// Type thingType = Type::Undetermined);
|
||||
Thing(Thing* parent, int thingType = 0, unsigned char thingId = 0);
|
||||
|
||||
/// @brief Create a new child thing
|
||||
/// @param parent The parent thing
|
||||
/// @param thingType The type of thing (can use Thing::Type)
|
||||
/// @param thingId The ID of the thing, leave out or set to zero to generate
|
||||
/// an ID
|
||||
/// @note The owner will be the same as the owner of the parent thing
|
||||
Thing(Thing* parent, unsigned char thingType = 0, unsigned char thingId = 0);
|
||||
|
||||
#pragma endregion Init
|
||||
|
||||
public:
|
||||
/// @brief Terminated things are no longer updated
|
||||
void Terminate();
|
||||
bool terminate = false;
|
||||
|
||||
#pragma region Properties
|
||||
|
||||
/// @brief The participant managing this thing
|
||||
Participant* owner;
|
||||
/// @brief The network ID of this thing
|
||||
/// @note This field will likely disappear in future versions
|
||||
unsigned char networkId = 0;
|
||||
Participant* owner = nullptr;
|
||||
/// @brief The ID of the thing
|
||||
unsigned char id = 0;
|
||||
|
||||
/// @brief The type of Thing
|
||||
/// This can be either a Thing::Type of a byte value for custom types
|
||||
unsigned char type = 0;
|
||||
unsigned char type = Type::Undetermined;
|
||||
|
||||
/// @brief Find a thing by name
|
||||
/// @param name Rhe name of the thing
|
||||
/// @return The found thing or nullptr when nothing is found
|
||||
Thing* FindThing(const char* name);
|
||||
/// @brief The name of the thing
|
||||
const char* name = nullptr;
|
||||
|
||||
/// @brief Sets the parent Thing
|
||||
/// @param parent The Thing which should become the parnet
|
||||
/// @remark This is equivalent to calling parent->AddChild(this);
|
||||
public:
|
||||
void SetName(const char* name);
|
||||
const char* GetName() const;
|
||||
bool nameChanged = false;
|
||||
|
||||
/// @brief Sets the location from where the 3D model of this Thing can be
|
||||
/// loaded from
|
||||
/// @param url The url of the model
|
||||
/// @remark Although the roboid implementation is not dependent on the model,
|
||||
/// the only official supported model format is .obj
|
||||
void SetModel(const char* url);
|
||||
|
||||
/// @brief An URL pointing to the location where a model of the thing can be
|
||||
/// found
|
||||
const char* modelUrl = nullptr;
|
||||
/// @brief The scale of the model (deprecated I think)
|
||||
float modelScale = 1;
|
||||
|
||||
#pragma endregion Properties
|
||||
|
||||
#pragma region Hierarchy
|
||||
|
||||
/// @brief Sets the parent of this Thing
|
||||
/// @param parent The Thing which should become the parent
|
||||
virtual void SetParent(Thing* parent);
|
||||
void SetParent(Thing* root, const char* name);
|
||||
/// @brief Gets the parent Thing
|
||||
/// @brief Gets the parent of this Thing
|
||||
/// @return The parent Thing
|
||||
Thing* GetParent();
|
||||
|
||||
/// @brief The number of children
|
||||
unsigned char childCount = 0;
|
||||
/// @brief Get a child by index
|
||||
/// @param ix The child index
|
||||
/// @return The found thing of nullptr when nothing is found
|
||||
Thing* GetChildByIndex(unsigned char ix);
|
||||
|
||||
/// @brief Add a child Thing to this Thing
|
||||
/// @param child The Thing which should become a child
|
||||
/// @remark When the Thing is already a child, it will not be added again
|
||||
@ -95,17 +127,17 @@ class Thing {
|
||||
/// @return The removed child or nullptr if the child could not be found
|
||||
Thing* RemoveChild(Thing* child);
|
||||
|
||||
/// @brief The number of children
|
||||
unsigned char childCount = 0;
|
||||
/// @brief Get a child by thing Id
|
||||
/// @param id The thing ID to find
|
||||
/// @param recursive Look recursively through all descendants
|
||||
/// @param recurse Look recursively through all descendants
|
||||
/// @return The found thing of nullptr when nothing is found
|
||||
Thing* GetChild(unsigned char id, bool recursive = false);
|
||||
/// @brief Get a child by index
|
||||
/// @param ix The child index
|
||||
/// @return The found thing of nullptr when nothing is found
|
||||
Thing* GetChildByIndex(unsigned char ix);
|
||||
Thing* GetChild(unsigned char id, bool recurse = false);
|
||||
|
||||
/// @brief Find a thing by name
|
||||
/// @param name The name of the thing
|
||||
/// @param recurse Look recursively through all descendants
|
||||
/// @return The found thing or nullptr when nothing is found
|
||||
Thing* FindChild(const char* name, bool recurse = true);
|
||||
|
||||
/// @brief Indicator that the hierarchy of the thing has changed
|
||||
bool hierarchyChanged = true;
|
||||
@ -114,38 +146,27 @@ class Thing {
|
||||
Thing* parent = nullptr;
|
||||
Thing** children = nullptr;
|
||||
|
||||
/// @brief The name of the thing
|
||||
const char* name = nullptr;
|
||||
#pragma endregion Hierarchy
|
||||
|
||||
#pragma region Pose
|
||||
|
||||
public:
|
||||
void SetName(const char* name);
|
||||
const char* GetName() const;
|
||||
bool nameChanged = false;
|
||||
|
||||
/// @brief An URL pointing to the location where a model of the thing can be
|
||||
/// found
|
||||
const char* modelUrl = nullptr;
|
||||
/// @brief The scale of the model (deprecated I think)
|
||||
float modelScale = 1;
|
||||
|
||||
/// @brief Set the position of the thing
|
||||
/// @param position The new position in local space, in meters
|
||||
void SetPosition(Spherical position);
|
||||
/// @brief Get the position of the thing
|
||||
/// @return The position in local space, in meters
|
||||
Spherical GetPosition();
|
||||
/// @brief Boolean indicating that the thing has an updated position
|
||||
bool positionUpdated = false;
|
||||
|
||||
/// @brief Set the orientation of the thing
|
||||
/// @param orientation The new orientation in local space
|
||||
void SetOrientation(SwingTwist orientation);
|
||||
/// @brief Get the orientation of the thing
|
||||
/// @return The orienation in local space
|
||||
SwingTwist GetOrientation();
|
||||
/// @brief The scale of the thing (deprecated I think)
|
||||
// float scale = 1; // assuming uniform scale
|
||||
|
||||
/// @brief boolean indicating if the position was updated
|
||||
bool positionUpdated = false;
|
||||
/// @brief boolean indicating if the orientation was updated
|
||||
/// @brief Boolean indicating the thing has an updated orientation
|
||||
bool orientationUpdated = false;
|
||||
|
||||
/// @brief Set the linear velocity of the thing
|
||||
@ -155,58 +176,62 @@ class Thing {
|
||||
/// @brief Get the linear velocity of the thing
|
||||
/// @return The linear velocity in local space, in meters per second
|
||||
virtual Spherical GetLinearVelocity();
|
||||
/// @brief Boolean indicating the thing has an updated linear velocity
|
||||
bool linearVelocityUpdated = false;
|
||||
|
||||
/// @brief Set the angular velocity of the thing
|
||||
/// @param angularVelocity the new angular velocity in local space
|
||||
virtual void SetAngularVelocity(Spherical angularVelocity);
|
||||
/// @brief Get the angular velocity of the thing
|
||||
/// @return The angular velocity in local space
|
||||
virtual Spherical GetAngularVelocity();
|
||||
bool linearVelocityUpdated = false;
|
||||
/// @brief Boolean indicating the thing has an updated angular velocity
|
||||
bool angularVelocityUpdated = false;
|
||||
|
||||
private:
|
||||
/// @brief The position in local space
|
||||
/// @brief The position of the thing in local space, in meters
|
||||
/// @remark When this Thing has a parent, the position is relative to the
|
||||
/// parent's position and orientation
|
||||
Spherical position;
|
||||
/// @brief The orientation in local space
|
||||
/// @brief The orientation of the thing in local space
|
||||
/// @remark When this Thing has a parent, the orientation is relative to the
|
||||
/// parent's orientation
|
||||
SwingTwist orientation;
|
||||
|
||||
/// @brief The linear velocity in local space
|
||||
/// @brief The linear velocity of the thing in local space, in meters per second
|
||||
Spherical linearVelocity;
|
||||
/// @brief The angular velocity in local spze
|
||||
/// @brief The angular velocity of the thing in local space, in degrees per second
|
||||
Spherical angularVelocity;
|
||||
|
||||
#pragma endregion Pose
|
||||
|
||||
#pragma region Update
|
||||
|
||||
public:
|
||||
/// @brief Terminated things are no longer updated
|
||||
void Terminate();
|
||||
bool terminate = false;
|
||||
|
||||
/// @brief Sets the location from where the 3D model of this Thing can be
|
||||
/// loaded from
|
||||
/// @param url The url of the model
|
||||
/// @remark Although the roboid implementation is not dependent on the model,
|
||||
/// the only official supported model format is .obj
|
||||
void SetModel(const char* url);
|
||||
|
||||
/// @brief Get the current time in milliseconds
|
||||
/// @return The current time in milliseconds
|
||||
static unsigned long GetTimeMs();
|
||||
|
||||
/// @brief Updates the state of the thing
|
||||
void Update(bool recursive = false);
|
||||
|
||||
/// @brief Updates the state of the thing
|
||||
/// @param currentTimeMs The current clock time in milliseconds
|
||||
virtual void Update(unsigned long currentTimeMs, bool recursive = false);
|
||||
/// @param currentTimeMs The current clock time in milliseconds; if this is
|
||||
/// zero, the current time is retrieved automatically
|
||||
/// @param recurse When true, this will Update the descendants recursively
|
||||
virtual void Update(unsigned long currentTimeMs, bool recurse = false);
|
||||
|
||||
static void UpdateThings(unsigned long currentTimeMs);
|
||||
|
||||
#pragma endregion Update
|
||||
|
||||
public:
|
||||
/// @brief Function used to generate binary data for this thing
|
||||
/// @param buffer The byte array for thw binary data
|
||||
/// @param ix The starting position for writing the binary data
|
||||
/// @returns The size of the binary data
|
||||
/// @return The size of the binary data
|
||||
virtual int GenerateBinary(char* buffer, unsigned char* ix);
|
||||
// /// @brief FUnction used to process binary data received for this thing
|
||||
/// @brief Function used to process binary data received for this thing
|
||||
/// @param bytes The binary data
|
||||
virtual void ProcessBinary(char* bytes);
|
||||
};
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user