#pragma once

#include "Roboid.h"
#include "Sensor.h"
#include "Types.h"

namespace Passer {
namespace RoboidControl {

class NetworkPerception : public Sensor {
public:
  void ProcessPacket(Roboid *roboid, unsigned char *buffer, int packetsize);

protected:
  void ReceiveCreateMsg(unsigned char *data, Roboid *roboid);
  void ReceiveInvestigateMsg(unsigned char *data, Roboid *roboid);
  void ReceivePoseMsg(unsigned char *data, Roboid *roboid);
  void ReceiveTypedObject(unsigned char *data, Roboid *roboid);

  void ReceivePlane(unsigned char *data, Roboid *roboid);
  void ReceiveSphere(unsigned char *data, Roboid *roboid);

  Int32 ReceiveInt32(unsigned char *data, int startIndex);
  float ReceiveFloat100(unsigned char *data, int startIndex);
  Vector3 ReceiveVector3(unsigned char *data, int startIndex);

public:
  static float ReceiveFloat16(unsigned char *data, unsigned char *startIndex);
};

} // namespace RoboidControl
} // namespace Passer