From 8e7be85ac69ced926d2b144d43d0248579131d75 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 31 Dec 2023 09:52:51 +0100
Subject: [PATCH] Generic Network sync

---
 NetworkSync.h  | 22 ++++++++++++++++++++++
 Perception.cpp | 37 +------------------------------------
 Roboid.cpp     |  2 +-
 Roboid.h       |  4 ++--
 4 files changed, 26 insertions(+), 39 deletions(-)
 create mode 100644 NetworkSync.h

diff --git a/NetworkSync.h b/NetworkSync.h
new file mode 100644
index 0000000..6f6e3a3
--- /dev/null
+++ b/NetworkSync.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "Perception.h"
+#include "Roboid.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+class NetworkSync {
+public:
+  virtual void NetworkUpdate(Roboid *roboid) = 0;
+  virtual void DestroyObject(PerceivedObject *obj) = 0;
+
+  static const char PoseMsg = 0x10;
+  static const char Pose_Position = 0x01;
+  static const char Pose_Orientation = 0x02;
+  static const char Pose_LinearVelocity = 0x04;
+  static const char Pose_AngularVelocity = 0x08;
+};
+
+} // namespace RoboidControl
+} // namespace Passer
\ No newline at end of file
diff --git a/Perception.cpp b/Perception.cpp
index 999e64b..6ac70a4 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -1,7 +1,7 @@
 #include "Perception.h"
 #include "Angle.h"
 #include "DistanceSensor.h"
-#include "RoboidWiFi.h"
+#include "NetworkSync.h"
 #include "Switch.h"
 
 #include <Arduino.h>
@@ -46,23 +46,6 @@ float Perception::GetDistance(float direction, float range) {
   if (range < 0)
     range = -range;
 
-  // for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
-  //   Placement placement = sensorPlacements[sensorIx];
-  //   // This still needs support for angles wrapping around 180 degrees !!!!
-  //   if (placement.horizontalDirection > direction - range &&
-  //       placement.horizontalDirection < direction + range) {
-  //     Thing *thing = placement.thing;
-  //     if (thing == nullptr)
-  //       continue;
-
-  //     if (thing->type == Thing::DistanceSensorType) {
-  //       DistanceSensor *distanceSensor = (DistanceSensor *)thing;
-  //       if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
-  //         minDistance = fmin(minDistance, distanceSensor->GetDistance());
-  //     }
-  //   }
-  // }
-
   for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
     PerceivedObject *obj = perceivedObjects[objIx];
     if (obj == nullptr)
@@ -82,24 +65,6 @@ float Perception::GetDistance(float horizontalDirection,
   if (range < 0)
     range = -range;
 
-  // for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
-  //   Placement placement = sensorPlacements[sensorIx];
-  //   // This still needs support for angles wrapping around 180 degrees !!!!
-  //   if (placement.horizontalDirection > horizontalDirection - range &&
-  //       placement.horizontalDirection < horizontalDirection + range &&
-  //       placement.verticalDirection > verticalDirection - range &&
-  //       placement.verticalDirection < verticalDirection + range) {
-  //     Thing *thing = placement.thing;
-  //     if (thing == nullptr)
-  //       continue;
-
-  //     if (thing->type == Thing::DistanceSensorType) {
-  //       DistanceSensor *distanceSensor = (DistanceSensor *)thing;
-  //       if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
-  //         minDistance = fmin(minDistance, distanceSensor->GetDistance());
-  //     }
-  //   }
-  // }
   for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
     PerceivedObject *obj = perceivedObjects[objIx];
     if (obj == nullptr)
diff --git a/Roboid.cpp b/Roboid.cpp
index ace1ed7..6da0535 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -1,6 +1,6 @@
 #include "Roboid.h"
 
-#include "RoboidWiFi.h"
+#include "NetworkSync.h"
 
 Roboid::Roboid() {}
 
diff --git a/Roboid.h b/Roboid.h
index 99eef4e..063c3ad 100644
--- a/Roboid.h
+++ b/Roboid.h
@@ -6,7 +6,7 @@
 namespace Passer {
 namespace RoboidControl {
 
-class RoboidWiFi;
+class NetworkSync;
 
 /// @brief A Roboid is used to control autonomous robots
 class Roboid {
@@ -28,7 +28,7 @@ public:
   /// @brief The Propulsion module of this Roboid
   Propulsion *propulsion;
 
-  RoboidWiFi *networkSync = nullptr;
+  NetworkSync *networkSync = nullptr;
 };
 
 } // namespace RoboidControl