RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Optimise sending of messages

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This commit is contained in:
Pascal Serrarens 2025-06-06 09:37:30 +02:00
parent 9a2ce4dd5e
commit c2ac149df6
6 changed files with 59 additions and 68 deletions
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2
Participant.cpp
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@ -62,7 +62,7 @@ bool Participant::Send(IMessage* msg) {
return true; return true;
// std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff) // std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
// << " to " << remoteParticipant->ipAddress << std::endl; // << " to " << this->ipAddress << std::endl;
#if defined(_WIN32) || defined(_WIN64) #if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows = Windows::ParticipantUDP* thisWindows =

98
Participants/ParticipantUDP.cpp
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@ -97,7 +97,7 @@ void ParticipantUDP::Update() {
if (this->remoteSite == nullptr) if (this->remoteSite == nullptr)
this->Publish(msg); this->Publish(msg);
else else
this->remoteSite->Send(msg); this->Send(msg);
delete msg; delete msg;
@ -127,19 +127,19 @@ void ParticipantUDP::UpdateMyThings() {
continue; continue;
// std::cout << thing->name << "\n"; // std::cout << thing->name << "\n";
if (thing->hierarchyChanged) { // if (thing->hierarchyChanged) {
if (!(this->isIsolated || this->networkId == 0)) { // if (!(this->isIsolated || this->networkId == 0)) {
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing); // ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->remoteSite->Send(thingMsg); // this->remoteSite->Send(thingMsg);
delete thingMsg; // delete thingMsg;
if (thing->nameChanged) { // if (thing->nameChanged) {
NameMsg* nameMsg = new NameMsg(this->networkId, thing); // NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->remoteSite->Send(nameMsg); // this->remoteSite->Send(nameMsg);
delete nameMsg; // delete nameMsg;
} // }
} // }
} // }
// std::cout << "B\n"; // std::cout << "B\n";
// Why don't we do recursive? // Why don't we do recursive?
@ -149,26 +149,26 @@ void ParticipantUDP::UpdateMyThings() {
thing->Update(false); thing->Update(false);
// std::cout << "C\n"; // std::cout << "C\n";
if (!(this->isIsolated || this->networkId == 0)) { // if (!(this->isIsolated || this->networkId == 0)) {
if (thing->terminate) { // if (thing->terminate) {
DestroyMsg* destroyMsg = new DestroyMsg(this->networkId, thing); // DestroyMsg* destroyMsg = new DestroyMsg(this->networkId, thing);
this->remoteSite->Send(destroyMsg); // this->remoteSite->Send(destroyMsg);
delete destroyMsg; // delete destroyMsg;
} else { // } else {
// Send to remote site // // Send to remote site
if (thing->nameChanged) { // if (thing->nameChanged) {
NameMsg* nameMsg = new NameMsg(this->networkId, thing); // NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->remoteSite->Send(nameMsg); // this->remoteSite->Send(nameMsg);
delete nameMsg; // delete nameMsg;
} // }
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing); // PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
this->remoteSite->Send(poseMsg); // this->remoteSite->Send(poseMsg);
delete poseMsg; // delete poseMsg;
BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing); // BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
this->remoteSite->Send(binaryMsg); // this->remoteSite->Send(binaryMsg);
delete binaryMsg; // delete binaryMsg;
} // }
} // }
// std::cout << "D\n"; // std::cout << "D\n";
if (thing->terminate) if (thing->terminate)
this->Remove(thing); this->Remove(thing);
@ -230,34 +230,10 @@ void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
delete binaryMsg; delete binaryMsg;
} }
// bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) { bool ParticipantUDP::Send(IMessage* msg) {
// int bufferSize = msg->Serialize(this->buffer); if (this->remoteSite != nullptr)
// if (bufferSize <= 0) this->remoteSite->Send(msg);
// return true; }
// // std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
// // << " to " << remoteParticipant->ipAddress << std::endl;
// #if defined(_WIN32) || defined(_WIN64)
// Windows::ParticipantUDP* thisWindows =
// static_cast<Windows::ParticipantUDP*>(this);
// return thisWindows->Send(remoteParticipant, bufferSize);
// #elif defined(__unix__) || defined(__APPLE__)
// Posix::ParticipantUDP* thisPosix =
// static_cast<Posix::ParticipantUDP*>(this); return
// thisPosix->Send(remoteParticipant, bufferSize);
// #elif defined(ARDUINO)
// Arduino::ParticipantUDP* thisArduino =
// static_cast<Arduino::ParticipantUDP*>(this);
// return thisArduino->Send(remoteParticipant, bufferSize);
// #elif defined(IDF_VER)
// EspIdf::ParticipantUDP* thisEspIdf =
// static_cast<EspIdf::ParticipantUDP*>(this);
// return thisEspIdf->Send(remoteParticipant, bufferSize);
// #else
// return false;
// #endif
// }
void ParticipantUDP::PublishThingInfo(Thing* thing) { void ParticipantUDP::PublishThingInfo(Thing* thing) {
// std::cout << "Publish thing info" << thing->networkId << "\n"; // std::cout << "Publish thing info" << thing->networkId << "\n";

3
Participants/ParticipantUDP.h
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@ -77,7 +77,6 @@ public:
long publishInterval = 3000; // 3 seconds long publishInterval = 3000; // 3 seconds
protected: protected:
char buffer[1024];
#if !defined(ARDUINO) #if !defined(ARDUINO)
#if defined(__unix__) || defined(__APPLE__) #if defined(__unix__) || defined(__APPLE__)
@ -114,7 +113,7 @@ public:
void SendThingInfo(Participant* remoteParticipant, Thing* thing); void SendThingInfo(Participant* remoteParticipant, Thing* thing);
void PublishThingInfo(Thing* thing); void PublishThingInfo(Thing* thing);
//bool Send(Participant* remoteParticipant, IMessage* msg); virtual bool Send(IMessage* msg) override;
bool Publish(IMessage* msg); bool Publish(IMessage* msg);
#pragma endregion Send #pragma endregion Send

4
Things/ControlledMotor.cpp
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@ -39,8 +39,8 @@ void ControlledMotor::Update(bool recurse) {
this->lastError = error; this->lastError = error;
float output = p_term + i_term + d_term; float output = p_term + i_term + d_term;
std::cout << "target " << this->targetVelocity << " actual " // std::cout << "target " << this->targetVelocity << " actual "
<< this->actualVelocity << " output = " << output << std::endl; // << this->actualVelocity << " output = " << output << std::endl;
// float acceleration = // float acceleration =
// error * timeStep * pidP; // Just P is used at this moment // error * timeStep * pidP; // Just P is used at this moment
// std::cout << "motor acc. " << acceleration << std::endl; // std::cout << "motor acc. " << acceleration << std::endl;

16
Things/Motor.cpp
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@ -1,5 +1,8 @@
#include "Motor.h" #include "Motor.h"
#include "Messages/BinaryMsg.h"
#include "Participant.h"
namespace RoboidControl { namespace RoboidControl {
Motor::Motor(Thing* parent) : Thing(parent) { Motor::Motor(Thing* parent) : Thing(parent) {
@ -7,7 +10,20 @@ Motor::Motor(Thing* parent) : Thing(parent) {
} }
void Motor::SetTargetVelocity(float targetSpeed) { void Motor::SetTargetVelocity(float targetSpeed) {
if (targetSpeed != this->targetVelocity) {
this->targetVelocity = targetSpeed; this->targetVelocity = targetSpeed;
if (this->owner->networkId != 0) {
// in other word: if we are connected...
BinaryMsg* binaryMsg = new BinaryMsg(this->owner->networkId, this);
this->owner->Send(binaryMsg);
delete binaryMsg;
}
}
}
float Motor::GetTargetVelocity() {
return this->targetVelocity;
} }
int Motor::GenerateBinary(char* data, unsigned char* ix) { int Motor::GenerateBinary(char* data, unsigned char* ix) {

4
Things/Motor.h
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@ -14,11 +14,11 @@ class Motor : public Thing {
Direction direction; Direction direction;
virtual void SetTargetVelocity(float velocity); // -1..0..1 virtual void SetTargetVelocity(float velocity); // -1..0..1
virtual float GetTargetVelocity();
int GenerateBinary(char* bytes, unsigned char* ix) override; int GenerateBinary(char* bytes, unsigned char* ix) override;
// virtual void ProcessBinary(char* bytes) override;
//protected: protected:
float targetVelocity = 0; float targetVelocity = 0;
}; };