RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Switch to MPU6050, finally getting good data

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This commit is contained in:
Pascal Serrarens 2025-06-27 17:12:42 +02:00
parent 8901e6933a
commit f20ebd7ad2
2 changed files with 8 additions and 108 deletions
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114
Participants/ParticipantUDP.cpp
View File

@ -118,32 +118,9 @@ RemoteParticipantUDP::RemoteParticipantUDP(const char* ipAddress, int port) {
} }
bool RemoteParticipantUDP::Send(IMessage* msg) { bool RemoteParticipantUDP::Send(IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer); // No message is actually sent, because this class has no networking
if (bufferSize <= 0) // implementation
return true;
// std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
// << " to " << this->ipAddress << std::endl;
// #if defined(_WIN32) || defined(_WIN64)
// Windows::ParticipantUDP* thisWindows =
// static_cast<Windows::ParticipantUDP*>(this);
// return thisWindows->SendTo(this, bufferSize);
// #elif defined(__unix__) || defined(__APPLE__)
// Posix::ParticipantUDP* thisPosix =
// static_cast<Posix::ParticipantUDP*>(this); return thisPosix->SendTo(this,
// bufferSize);
// #elif defined(ARDUINO)
// Arduino::ParticipantUDP* thisArduino =
// static_cast<Arduino::ParticipantUDP*>(this);
// return thisArduino->SendTo(this, bufferSize);
// #elif defined(IDF_VER)
// EspIdf::ParticipantUDP* thisEspIdf =
// static_cast<EspIdf::ParticipantUDP*>(this);
// return thisEspIdf->SendTo(this, bufferSize);
// #else
return false; return false;
// #endif
} }
#pragma region Init #pragma region Init
@ -192,30 +169,6 @@ void ParticipantUDPGeneric::begin() {
SetupUDP(this->port, this->remoteSite->ipAddress, this->remoteSite->port); SetupUDP(this->port, this->remoteSite->ipAddress, this->remoteSite->port);
} }
/*
void ParticipantUDPGeneric::SetupUDP(int localPort,
const char* remoteIpAddress,
int remotePort) {
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
thisWindows->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
thisPosix->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Setup();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
thisEspIdf->Setup(localPort, remoteIpAddress, remotePort);
#endif
this->connected = true;
}
*/
#pragma endregion Init #pragma endregion Init
#pragma region Update #pragma region Update
@ -231,14 +184,9 @@ void ParticipantUDPGeneric::Update(bool recurse) {
if (this->connected == false) if (this->connected == false)
begin(); begin();
ParticipantUDP* thisEspIdf =
static_cast<ParticipantUDP*>(this);
// thisEspIdf->SendTest();
if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) { if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
ParticipantMsg* msg = new ParticipantMsg(this->networkId); ParticipantMsg* msg = new ParticipantMsg(this->networkId);
// thisEspIdf->SendTest();
if (this->remoteSite == nullptr) if (this->remoteSite == nullptr)
this->Publish(msg); this->Publish(msg);
else else
@ -248,22 +196,19 @@ void ParticipantUDPGeneric::Update(bool recurse) {
this->nextPublishMe = currentTimeMs + this->publishInterval; this->nextPublishMe = currentTimeMs + this->publishInterval;
} }
// this->ReceiveUDP(); this->ReceiveUDP();
} }
// UpdateMyThings(); UpdateMyThings();
// UpdateOtherThings(); UpdateOtherThings();
} }
void ParticipantUDPGeneric::UpdateMyThings() { void ParticipantUDPGeneric::UpdateMyThings() {
std::cout << "# things = " << this->things.size() << std::endl;
for (Thing* thing : this->things) { for (Thing* thing : this->things) {
std::cout << ".\n";
if (thing == nullptr) // || thing->GetParent() != nullptr) if (thing == nullptr) // || thing->GetParent() != nullptr)
continue; continue;
std::cout << (int)this->root << std::endl;
std::cout << thing->name << std::endl; // Why don't we do recursive?
// Why don't we do recursive?
// Because when a thing creates a thing in the update, // Because when a thing creates a thing in the update,
// that new thing is not sent out (because of hierarchyChanged) // that new thing is not sent out (because of hierarchyChanged)
// before it is updated itself: it is immediatedly updated! // before it is updated itself: it is immediatedly updated!
@ -356,56 +301,11 @@ void ParticipantUDPGeneric::PublishThingInfo(Thing* thing) {
delete customMsg; delete customMsg;
} }
/*
bool ParticipantUDPGeneric::Publish(IMessage* msg) {
// std::cout << "publish msg\n";
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
return thisWindows->Publish(msg);
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
return thisPosix->Publish(msg);
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
return thisArduino->Publish(msg);
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
return thisEspIdf->Publish(msg);
#else
return false;
#endif
}
*/
// Send // Send
#pragma endregion #pragma endregion
#pragma region Receive #pragma region Receive
/*
void ParticipantUDPGeneric::ReceiveUDP() {
#if defined(_WIN32) || defined(_WIN64)
Windows::ParticipantUDP* thisWindows =
static_cast<Windows::ParticipantUDP*>(this);
thisWindows->Receive();
#elif defined(__unix__) || defined(__APPLE__)
Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
thisPosix->Receive();
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Receive();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
thisEspIdf->Receive();
#endif
}
*/
void ParticipantUDPGeneric::ReceiveData(unsigned char packetSize, void ParticipantUDPGeneric::ReceiveData(unsigned char packetSize,
char* senderIpAddress, char* senderIpAddress,
unsigned int senderPort) { unsigned int senderPort) {

2
Participants/ParticipantUDP.h
View File

@ -181,7 +181,7 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
void SendThingInfo(Participant* remoteParticipant, Thing* thing); void SendThingInfo(Participant* remoteParticipant, Thing* thing);
void PublishThingInfo(Thing* thing); void PublishThingInfo(Thing* thing);
virtual bool Send(IMessage* msg); virtual bool Send(IMessage* msg) override;
virtual bool Publish(IMessage* msg) = 0; virtual bool Publish(IMessage* msg) = 0;
#pragma endregion Send #pragma endregion Send