RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Add SendInt

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This commit is contained in:
Pascal Serrarens 2024-06-17 14:30:31 +02:00
parent 7dfd2b0004
commit c299bb0018
2 changed files with 15 additions and 26 deletions
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40
NetworkSync.cpp
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@ -32,9 +32,7 @@ void NetworkSync::ReceiveNetworkId() {
#ifdef RC_DEBUG
printf("_Received network Id %d\n", this->networkId);
#endif
// delay(100);
PublishModel(roboid);
// delay(100);
if (roboid->childCount > 0)
PublishRelativeThing(roboid->GetChild(0), true);
}
@ -136,28 +134,6 @@ void NetworkSync::DestroyObject(InterestingThing *thing) {
}
void NetworkSync::SendPose(Roboid *roboid, bool recurse) {
// if (roboid->propulsion == nullptr)
// return;
// Polar velocity = roboid->propulsion->GetVelocity();
// Vector2 worldVelocity2 =
// Vector2::Rotate(Vector2::forward * velocity.distance, velocity.angle);
// Vector3 worldVelocity3 = Vector3(worldVelocity2.x, 0, worldVelocity2.y);
// float angularVelocity = roboid->propulsion->GetAngularVelocity();
// Vector3 worldAngularVelocity = Vector3(0, angularVelocity, 0);
// unsigned char buffer[3 + 12 + 12] = {
// PoseMsg,
// 0, // objectId;
// Pose_LinearVelocity | Pose_AngularVelocity,
// };
// unsigned char ix = 3;
// SendVector3(buffer, &ix, worldVelocity3);
// SendVector3(buffer, &ix, worldAngularVelocity);
// SendBuffer(ix);
unsigned char ix = 0;
buffer[ix++] = PoseMsg;
buffer[ix++] = 0x00;
@ -167,8 +143,7 @@ void NetworkSync::SendPose(Roboid *roboid, bool recurse) {
SendBuffer(ix);
if (recurse) {
// delay(10);
Thing *child = roboid->GetChild(0); // actuation;
Thing *child = roboid->GetChild(0);
if (child != nullptr)
SendPose(child, true);
}
@ -334,6 +309,19 @@ void NetworkSync::SendText(const char *s) {
SendBuffer(ix);
}
void NetworkSync::SendInt(const int x) {
String s = String(x);
byte length = s.length();
unsigned char ix;
buffer[ix++] = 0xB0;
buffer[ix++] = length;
for (int urlIx = 0; urlIx < length; urlIx++)
buffer[ix++] = s[urlIx];
SendBuffer(ix);
}
// Low-level functions
void NetworkSync::SendVector3(unsigned char *data, unsigned char *startIndex,

1
NetworkSync.h
View File

@ -73,6 +73,7 @@ public:
void SendPose(Thing *thing, bool recurse = true);
virtual void SendText(const char *s);
void SendInt(const int x);
protected:
Roboid *roboid;