RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Merge branch 'main' of http://gitlab.passervr.com/passer/cpp/roboidcontrol

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This commit is contained in:
Pascal Serrarens 2024-09-16 14:24:38 +02:00
commit 89099a2dbb
5 changed files with 20 additions and 5 deletions
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13
NetworkSync.cpp
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@ -49,8 +49,9 @@ void NetworkSync::PublishState(Roboid* roboid) {
// if (roboid->updated == false) // if (roboid->updated == false)
// return; // return;
if (roboid->GetVelocity().magnitude() > 0)
SendPose(roboid); SendPose(roboid);
// PublishPerception(roboid); PublishPerception(roboid);
} }
void NetworkSync::NewObject(InterestingThing* thing) { void NetworkSync::NewObject(InterestingThing* thing) {
@ -235,12 +236,15 @@ void NetworkSync::PublishClient() {
} }
void NetworkSync::PublishState(Sensor* sensor) { void NetworkSync::PublishState(Sensor* sensor) {
float* value = (float*)sensor->GetValue();
if (value == nullptr)
return;
unsigned char ix = 0; unsigned char ix = 0;
buffer[ix++] = StateMsg; buffer[ix++] = StateMsg;
buffer[ix++] = sensor->type; buffer[ix++] = sensor->type;
float* value = (float*)sensor->GetValue();
SendFloat16(buffer, &ix, *value); SendFloat16(buffer, &ix, *value);
SendBuffer(ix); PublishBuffer(ix);
} }
void NetworkSync::PublishPerception(Roboid* roboid) { void NetworkSync::PublishPerception(Roboid* roboid) {
@ -253,7 +257,6 @@ void NetworkSync::PublishPerception(Roboid* roboid) {
Sensor* sensor = perception->sensors[sensorIx]; Sensor* sensor = perception->sensors[sensorIx];
if (sensor == nullptr) if (sensor == nullptr)
continue; continue;
// sensor->PublishState();
PublishState(sensor); PublishState(sensor);
} }
PublishTrackedObjects(roboid, roboid->perception->GetTrackedObjects()); PublishTrackedObjects(roboid, roboid->perception->GetTrackedObjects());
@ -532,3 +535,5 @@ void NetworkSync::SendInt32(unsigned char* data,
} }
void NetworkSync::SendBuffer(unsigned char bufferSize) {} void NetworkSync::SendBuffer(unsigned char bufferSize) {}
void NetworkSync::PublishBuffer(unsigned char bufferSize) {}

1
NetworkSync.h
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@ -126,6 +126,7 @@ class NetworkSync {
unsigned char buffer[256]; unsigned char buffer[256];
virtual void SendBuffer(unsigned char bufferSize); virtual void SendBuffer(unsigned char bufferSize);
virtual void PublishBuffer(unsigned char bufferSize);
void PublishClient(); void PublishClient();
}; };

3
Perception.cpp
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@ -16,6 +16,9 @@ unsigned char Perception::maxObjectCount = 7; // 7 is typically the maximum
// be tracked by a human // be tracked by a human
Perception::Perception() { Perception::Perception() {
this->sensorCount = 0;
this->sensors = new Sensor*[0];
this->trackedObjects = new InterestingThing*[maxObjectCount]; this->trackedObjects = new InterestingThing*[maxObjectCount];
for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++)
this->trackedObjects[objIx] = nullptr; this->trackedObjects[objIx] = nullptr;

4
Roboid.cpp
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@ -126,6 +126,10 @@ void Roboid::SetOrientation2D(float angle) {
this->worldAngleAxis = AngleAxis<float>(angle, Direction<float>::up); this->worldAngleAxis = AngleAxis<float>(angle, Direction<float>::up);
} }
Vector3 Passer::RoboidControl::Roboid::GetVelocity() {
return Vector3();
}
void Roboid::AddChild(Thing* child) { void Roboid::AddChild(Thing* child) {
Thing::AddChild(child); Thing::AddChild(child);
if (child->IsSensor()) { if (child->IsSensor()) {

2
Roboid.h
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@ -68,6 +68,8 @@ class Roboid : public Thing {
virtual void SetOrientation(Quaternion worldOrientation); virtual void SetOrientation(Quaternion worldOrientation);
void SetOrientation2D(float angle); void SetOrientation2D(float angle);
virtual Vector3 GetVelocity();
virtual void AddChild(Thing* child) override; virtual void AddChild(Thing* child) override;
private: private: