From c31fd5f9110281e18c6ce27f83e514d7fbf0224c Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Tue, 2 Jul 2024 12:28:05 +0200 Subject: [PATCH] Fix include --- NetworkPerception.cpp | 59 ++++++++++++++++++++++--------------------- 1 file changed, 30 insertions(+), 29 deletions(-) diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp index 2eb5bbe..4f24ece 100644 --- a/NetworkPerception.cpp +++ b/NetworkPerception.cpp @@ -1,34 +1,35 @@ #include "NetworkPerception.h" -#include "RoboidControl/NetworkSync.h" +#include "NetworkSync.h" // #define DEBUG true #if DEBUG #include #endif -void NetworkPerception::ProcessPacket(Roboid *roboid, unsigned char *buffer, +void NetworkPerception::ProcessPacket(Roboid* roboid, + unsigned char* buffer, int packetsize) { // printf("packet received, type = 0x%02x %d %d %d %d %d\n", buffer[0], // buffer[2], buffer[2], buffer[3], buffer[4], buffer[5]); switch (buffer[0]) { - case NetworkSync::CreateMsg: - ReceiveCreateMsg(buffer, roboid); - break; - case NetworkSync::InvestigateMsg: - ReceiveInvestigateMsg(buffer, roboid); - break; - case NetworkSync::PoseMsg: - ReceivePoseMsg(buffer, roboid); - break; - case NetworkSync::PoseTypeMsg: - ReceiveTypedObject(buffer, roboid); - break; + case NetworkSync::CreateMsg: + ReceiveCreateMsg(buffer, roboid); + break; + case NetworkSync::InvestigateMsg: + ReceiveInvestigateMsg(buffer, roboid); + break; + case NetworkSync::PoseMsg: + ReceivePoseMsg(buffer, roboid); + break; + case NetworkSync::PoseTypeMsg: + ReceiveTypedObject(buffer, roboid); + break; } } -void NetworkPerception::ReceiveCreateMsg(unsigned char *data, Roboid *roboid) { +void NetworkPerception::ReceiveCreateMsg(unsigned char* data, Roboid* roboid) { unsigned char networkId = data[1]; unsigned char objectId = data[2]; unsigned char objectType = data[3]; @@ -36,15 +37,15 @@ void NetworkPerception::ReceiveCreateMsg(unsigned char *data, Roboid *roboid) { return; // printf("Received create message [%d/%d]\n", networkId, objectId); - InterestingThing *thing = + InterestingThing* thing = roboid->perception->FindTrackedObject(networkId, objectId); if (thing != nullptr) { thing->type = objectType; } } -void NetworkPerception::ReceiveInvestigateMsg(unsigned char *data, - Roboid *roboid) { +void NetworkPerception::ReceiveInvestigateMsg(unsigned char* data, + Roboid* roboid) { unsigned char networkId = data[1]; unsigned char objectId = data[2]; @@ -61,7 +62,7 @@ void NetworkPerception::ReceiveInvestigateMsg(unsigned char *data, if (roboid->modelUrl != nullptr) roboid->networkSync->PublishModel(roboid); } else { - InterestingThing *thing = + InterestingThing* thing = roboid->perception->FindTrackedObject(0x00, objectId); if (thing == nullptr) return; @@ -70,7 +71,7 @@ void NetworkPerception::ReceiveInvestigateMsg(unsigned char *data, } } -void NetworkPerception::ReceivePlane(unsigned char *data, Roboid *roboid) { +void NetworkPerception::ReceivePlane(unsigned char* data, Roboid* roboid) { unsigned char networkId = data[1]; unsigned char poseType = data[3]; if ((poseType & NetworkSync::Pose_Position) == 0 | @@ -107,7 +108,7 @@ void NetworkPerception::ReceivePlane(unsigned char *data, Roboid *roboid) { roboid->perception->AddTrackedObject(this, position, 0x80, networkId); } -void NetworkPerception::ReceiveSphere(unsigned char *data, Roboid *roboid) { +void NetworkPerception::ReceiveSphere(unsigned char* data, Roboid* roboid) { unsigned char networkId = data[1]; float radius = ReceiveFloat100(data, 3); @@ -126,7 +127,7 @@ void NetworkPerception::ReceiveSphere(unsigned char *data, Roboid *roboid) { 0x81, 0x81, networkId); } -void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) { +void NetworkPerception::ReceivePoseMsg(unsigned char* data, Roboid* roboid) { unsigned char networkId = data[1]; unsigned char objectId = data[2]; unsigned char poseType = data[3]; @@ -172,7 +173,7 @@ void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) { } } - InterestingThing *thing = roboid->perception->AddTrackedObject( + InterestingThing* thing = roboid->perception->AddTrackedObject( this, position, orientation, 0x81, 0x81, networkId); if (thing->networkId != 0x00 && thing->type == 0xFF) { // Unknown thing @@ -180,11 +181,11 @@ void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) { } } -void NetworkPerception::ReceiveTypedObject(unsigned char *data, - Roboid *roboid) { +void NetworkPerception::ReceiveTypedObject(unsigned char* data, + Roboid* roboid) { unsigned char objectType = data[1]; unsigned char objectId = data[2]; - if (objectType == 0x02) { // lighthouse + if (objectType == 0x02) { // lighthouse // We require position and orientation for lighthouses if (data[3] != (NetworkSync::Pose_Position | NetworkSync::Pose_Orientation)) { @@ -205,7 +206,7 @@ void NetworkPerception::ReceiveTypedObject(unsigned char *data, } } -Int32 NetworkPerception::ReceiveInt32(unsigned char *data, int startIndex) { +Int32 NetworkPerception::ReceiveInt32(unsigned char* data, int startIndex) { Int32 a = Int32((UInt32)(data[startIndex + 3]) << 24 | (UInt32)(data[startIndex + 2]) << 16 | (UInt32)(data[startIndex + 1]) << 8 | @@ -213,13 +214,13 @@ Int32 NetworkPerception::ReceiveInt32(unsigned char *data, int startIndex) { return a; } -float NetworkPerception::ReceiveFloat100(unsigned char *data, int startIndex) { +float NetworkPerception::ReceiveFloat100(unsigned char* data, int startIndex) { Int32 intValue = ReceiveInt32(data, startIndex); float f = (float)intValue / 100.0F; return f; } -Vector3 NetworkPerception::ReceiveVector3(unsigned char *data, int startIndex) { +Vector3 NetworkPerception::ReceiveVector3(unsigned char* data, int startIndex) { float x = ReceiveFloat100(data, startIndex); float y = ReceiveFloat100(data, startIndex + 4); float z = ReceiveFloat100(data, startIndex + 8);