RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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made pose sending generic

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This commit is contained in:
Pascal Serrarens 2024-01-22 15:57:02 +01:00
parent 6eefd5892c
commit b998903bd8
2 changed files with 38 additions and 25 deletions
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14
NetworkSync.cpp
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@ -4,13 +4,25 @@
#include <Arduino.h>
#endif
UInt8 NetworkSync::CreatePoseMsg(Roboid* roboid, UInt8* buffer) {
Vector3 position = roboid->GetPosition();
UInt8 bufferSize = 3 + 12;
buffer[0] = PoseMsg;
buffer[1] = 0; // ObjectId;
buffer[2] = Pose_Position;
SendVector3(buffer, 3, position);
return bufferSize;
}
void NetworkSync::SendVector3(unsigned char* data, int startIndex, Vector3 v) {
SendSingle100(data, startIndex, v.x);
SendSingle100(data, startIndex + 4, v.y);
SendSingle100(data, startIndex + 8, v.z);
}
void NetworkSync::SendSingle100(unsigned char *data, int startIndex,
void NetworkSync::SendSingle100(unsigned char* data,
int startIndex,
float value) {
// Sends a float with truncated 2 decimal precision
Int32 intValue = value * 100;

1
NetworkSync.h
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@ -46,6 +46,7 @@ protected:
NetworkPerception* networkPerception;
void PublishTrackedObject(SendBuffer sendBuffer, TrackedObject* object);
UInt8 CreatePoseMsg(Roboid* roboid, UInt8* buffer);
void SendVector3(unsigned char* data, int startIndex, Vector3 v);
void SendSingle100(unsigned char* data, int startIndex, float value);
void SendInt32(unsigned char* data, int startIndex, Int32 value);