RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Cleanup

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This commit is contained in:
Pascal Serrarens 2024-12-19 09:14:11 +01:00
parent b027460c63
commit 788765dc97
1 changed files with 11 additions and 52 deletions
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63
ControlCore/Messages.cpp
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@ -8,17 +8,8 @@
IMessage::IMessage() {}
// IMessage::IMessage(unsigned char *buffer) { Deserialize(buffer); }
unsigned char IMessage::Serialize(unsigned char *buffer) { return 0; }
// void IMessage::Deserialize(unsigned char *buffer) {}
// bool IMessage::SendMsg(Participant *client, IMessage msg) {
// // return SendMsg(client, client.buffer, );nameLength
// return client->SendBuffer(msg.Serialize(client->buffer));
// }
unsigned char *IMessage::ReceiveMsg(unsigned char packetSize) {
return nullptr;
}
@ -39,14 +30,11 @@ ClientMsg::ClientMsg(unsigned char networkId) { this->networkId = networkId; }
unsigned char ClientMsg::Serialize(unsigned char *buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = ClientMsg::id;
buffer[ix++] = this->networkId;
return ix;
}
// bool ClientMsg::Send(Participant *participant, unsigned char networkId) {
// ClientMsg msg = ClientMsg()
// }
// Client Msg
#pragma endregion
@ -56,10 +44,6 @@ NetworkIdMsg::NetworkIdMsg(unsigned char *buffer) {
this->networkId = buffer[1];
}
// void NetworkIdMsg::Deserialize(unsigned char *buffer) {
// this->networkId = buffer[1];
// }
NetworkIdMsg NetworkIdMsg::Receive(unsigned char *buffer,
unsigned char bufferSize) {
NetworkIdMsg msg = NetworkIdMsg(buffer);
@ -83,18 +67,12 @@ InvestigateMsg::InvestigateMsg(unsigned char networkId, unsigned char thingId) {
unsigned char InvestigateMsg::Serialize(unsigned char *buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = InvestigateMsg::id;
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
return ix;
}
// bool InvestigateMsg::Send(Participant *participant, unsigned char networkId,
// unsigned char thingId) {
// InvestigateMsg msg = InvestigateMsg(networkId, thingId);
// return msg.Send(participant);
// }
// Investigate
#pragma endregion
@ -118,7 +96,7 @@ ThingMsg::ThingMsg(unsigned char networkId, unsigned char thingId,
unsigned char ThingMsg::Serialize(unsigned char *buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = ThingMsg::id;
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
buffer[ix++] = this->thingType;
@ -126,13 +104,6 @@ unsigned char ThingMsg::Serialize(unsigned char *buffer) {
return ix;
}
// bool ThingMsg::Send(Participant *participant, unsigned char networkId,
// unsigned char thingId, unsigned char thingType,
// unsigned char parentId) {
// ThingMsg msg = ThingMsg(networkId, thingId, thingType, parentId);
// return msg.Send(participant);
// }
// Thing
#pragma endregion
@ -148,7 +119,7 @@ NameMsg::NameMsg(unsigned char networkId, unsigned char thingId,
unsigned char NameMsg::Serialize(unsigned char *buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = NameMsg::id;
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
buffer[ix++] = this->nameLength;
@ -158,18 +129,6 @@ unsigned char NameMsg::Serialize(unsigned char *buffer) {
return ix;
}
// bool NameMsg::Send(Participant *participant, Thing *thing,
// unsigned char nameLength) {
// if (thing->name == nullptr)
// return true; // nothing sent, but still a success!
// if (strlen(thing->name) == 0)
// return true;
// NameMsg msg = NameMsg(thing->networkId, thing->id, thing->name,
// nameLength); return msg.Send(participant);
// }
// Name
#pragma endregion
@ -187,7 +146,7 @@ ModelUrlMsg::ModelUrlMsg(unsigned char networkId, unsigned char thingId,
unsigned char ModelUrlMsg::Serialize(unsigned char *buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = ModelUrlMsg::id;
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
LowLevelMessages::SendFloat16(buffer, &ix, this->scale);
@ -230,13 +189,13 @@ unsigned char PoseMsg::Serialize(unsigned char *buffer) {
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
buffer[ix++] = this->poseType;
if ((this->poseType & Pose_Position) != 0)
if (this->poseType & Pose_Position)
LowLevelMessages::SendSpherical16(buffer, &ix, this->position);
if ((this->poseType & Pose_Orientation) != 0)
if (this->poseType & Pose_Orientation)
LowLevelMessages::SendQuat32(buffer, &ix, this->orientation);
if ((this->poseType & Pose_LinearVelocity) != 0)
if (this->poseType & Pose_LinearVelocity)
LowLevelMessages::SendSpherical16(buffer, &ix, this->linearVelocity);
if ((this->poseType & Pose_AngularVelocity) != 0)
if (this->poseType & Pose_AngularVelocity)
LowLevelMessages::SendSpherical16(buffer, &ix, this->angularVelocity);
return ix;
}
@ -267,7 +226,7 @@ unsigned char CustomMsg::Serialize(unsigned char *buffer) {
if (ix <= this->length) // in this case, no data is actually sent
return 0;
buffer[0] = this->id;
buffer[0] = CustomMsg::id;
buffer[1] = this->networkId;
buffer[2] = this->thingId;
return ix;
@ -290,7 +249,7 @@ DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
unsigned char DestroyMsg::Serialize(unsigned char *buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = DestroyMsg::id;
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
return ix;