Add SendInt

NetworkSync.cpp

@@ -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);
-    Thing *child = roboid->GetChild(0); // actuation;
     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,

NetworkSync.h

@@ -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;