RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Network send position

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This commit is contained in:
Pascal Serrarens 2024-02-14 13:47:01 +01:00
parent 08e053f05a
commit c41fbbc309
2 changed files with 16 additions and 0 deletions
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2
NetworkSync.h
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@ -42,6 +42,8 @@ public:
void PublishTrackedObjects(SendBuffer sendBuffer, InterestingThing **objects); void PublishTrackedObjects(SendBuffer sendBuffer, InterestingThing **objects);
virtual void SendPosition(Vector3 worldPosition){};
protected: protected:
NetworkPerception *networkPerception; NetworkPerception *networkPerception;
void PublishTrackedObject(SendBuffer sendBuffer, InterestingThing *object); void PublishTrackedObject(SendBuffer sendBuffer, InterestingThing *object);

14
Roboid.cpp
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@ -2,6 +2,8 @@
#include "NetworkSync.h" #include "NetworkSync.h"
#define RC_DEBUG
#ifdef RC_DEBUG #ifdef RC_DEBUG
#include <Arduino.h> #include <Arduino.h>
#endif #endif
@ -10,12 +12,19 @@ Roboid::Roboid() {
#ifdef RC_DEBUG #ifdef RC_DEBUG
Serial.begin(115200); Serial.begin(115200);
#endif #endif
this->perception = new Perception();
this->perception->roboid = this;
this->propulsion = nullptr;
this->actuationRoot = nullptr;
} }
Roboid::Roboid(Perception *perception, Propulsion *propulsion) : Roboid() { Roboid::Roboid(Perception *perception, Propulsion *propulsion) : Roboid() {
if (this->perception != nullptr)
delete this->perception;
this->perception = perception; this->perception = perception;
if (perception != nullptr) if (perception != nullptr)
perception->roboid = this; perception->roboid = this;
this->propulsion = propulsion; this->propulsion = propulsion;
if (propulsion != nullptr) if (propulsion != nullptr)
propulsion->roboid = this; propulsion->roboid = this;
@ -34,8 +43,10 @@ Roboid::Roboid(ServoMotor *actuationRoot) : actuationRoot(actuationRoot) {}
void Roboid::Update(float currentTimeMs) { void Roboid::Update(float currentTimeMs) {
if (perception != nullptr) if (perception != nullptr)
perception->Update(currentTimeMs); perception->Update(currentTimeMs);
if (propulsion != nullptr) if (propulsion != nullptr)
propulsion->Update(currentTimeMs); propulsion->Update(currentTimeMs);
if (networkSync != nullptr) if (networkSync != nullptr)
networkSync->NetworkUpdate(this); networkSync->NetworkUpdate(this);
@ -55,6 +66,9 @@ void Roboid::SetPosition(Vector3 newWorldPosition) {
Polar polarTranslation = Polar(angle, distance); Polar polarTranslation = Polar(angle, distance);
perception->UpdatePose(polarTranslation); perception->UpdatePose(polarTranslation);
this->worldPosition = newWorldPosition; this->worldPosition = newWorldPosition;
if (networkSync != nullptr)
networkSync->SendPosition(this->worldPosition);
} }
void Roboid::SetOrientation(Quaternion worldOrientation) { void Roboid::SetOrientation(Quaternion worldOrientation) {