RoboidControl-cpp/NetworkSync.cpp

#include "NetworkSync.h"

// #define RC_DEBUG 1

#ifdef RC_DEBUG
#include <Arduino.h>
#if ESP32
#define SERIALPORT Serial
#else
#define SERIALPORT Serial
#endif
#endif

#include "ControlCore/Messages.h"
#include "LinearAlgebra/Angle.h"
#include "LinearAlgebra/AngleUsing.h"
#include "LinearAlgebra/Spherical.h"

#include <string.h>

NetworkSync::NetworkSync(Roboid *roboid) {
  this->roboid = roboid;
  this->networkId = 0;
}

// #include <Arduino.h>

void NetworkSync::ReceiveMessage(Roboid *roboid, unsigned char bytecount) {
  // printf("Received msgId %d, length %d\n", buffer[0], bytecount);
  ReceiveData(bytecount);
}

void NetworkSync::PublishClient() {
  ClientMsg msg = ClientMsg(this->networkId);
  msg.Publish(this);

#ifdef RC_DEBUG
  SERIALPORT.printf("Publish Device\n");
#endif
}

void NetworkSync::ProcessNetworkIdMsg(Passer::Control::NetworkIdMsg msg) {
#ifdef RC_DEBUG
  SERIALPORT.printf("Received network Id %d\n", msg.networkId);
#endif
  this->networkId = msg.networkId;
  SendThingInfo(roboid, true);
  printf("completed\n");
}

void NetworkSync::ReceiveNetworkId() {
  this->networkId = buffer[1];
#ifdef RC_DEBUG
  SERIALPORT.printf("Received network Id %d\n", this->networkId);
#endif
  SendThingInfo(roboid, true);
  printf("completed\n");
}

void NetworkSync::ProcessInvestigateMsg(InvestigateMsg msg) {
#if RC_DEBUG
  printf("Received InvestigateMsg [%d/%d]\n", msg.networkId, msg.thingId);
#endif

  if (msg.networkId != this->networkId)
    // We only respond to investigation requests for our own objects
    return;

  Thing *thing = (Thing *)Thing::Get(0, msg.thingId);
  if (thing != nullptr)
    this->SendThingInfo(thing, true);
}

void NetworkSync::ProcessThingMsg(ThingMsg msg) {
  if (msg.networkId == roboid->networkSync->networkId)
    // Do not process messages for you own things
    return;

  printf("Received Thing message [%d/%d]\n", msg.networkId, msg.thingId);
  InterestingThing *thing =
      roboid->perception->FindTrackedObject(msg.networkId, msg.thingId);
  if (thing != nullptr) {
    thing->type = msg.thingType;
  }
  printf("complete\n");
}

void NetworkSync::ProcessPoseMsg(PoseMsg msg) {}

void NetworkSync::PublishState(Roboid *roboid) {
  SendPose(roboid);
  PublishPerception(roboid);
}

void NetworkSync::SendThingInfo(Thing *thing, bool recurse) {
  if (thing == nullptr)
    return;

  SendThing(thing);
  SendName(thing);
  SendModel(thing);
  SendCustom(thing);
  SendPose(thing, true, false);

  if (recurse) {
    for (unsigned char childIx = 0; childIx < thing->childCount; childIx++) {
      Thing *child = (Thing *)thing->GetChildByIndex(childIx);
      if (child != nullptr)
        SendThingInfo(child, true);
    }
  }
}

void NetworkSync::SendThing(Thing *thing) {
  if (thing == nullptr)
    return;

  Thing *parent = (Thing *)thing->GetParent();
  ThingMsg msg = ThingMsg(this->networkId, thing->id, thing->type,
                          parent == nullptr ? 0 : parent->id);
  msg.SendTo(this);

#ifdef RC_DEBUG
  printf("Sent Thing [%d/%d] %d\n", networkId, thing->id, (byte)thing->type);
#endif
}

void NetworkSync::SendName(Thing *thing) {
  if (thing->name == nullptr)
    return;

  unsigned char len = strlen(thing->name);
  if (len > 255)
    return;

  NameMsg msg = NameMsg(this->networkId, thing->id, thing->name, len);
  msg.SendTo(this);

#ifdef RC_DEBUG
  SERIALPORT.printf("Sent Name [%d/%d] %s\n", networkId, buffer[1],
                    thing->name);
#endif
}

void NetworkSync::SendModel(Thing *thing) {
  if (thing->modelUrl == nullptr)
    return;

  unsigned char len = strlen(thing->modelUrl);
  if (len > 255)
    return;

  ModelUrlMsg msg = ModelUrlMsg(this->networkId, thing->id, len,
                                thing->modelUrl, thing->modelScale);
  msg.SendTo(this);
}

void NetworkSync::SendCustom(Thing *thing) {
  CustomMsg msg = CustomMsg(this->networkId, thing);
  msg.SendTo(this);
}

void NetworkSync::SendDestroy(Thing *thing) {
  DestroyMsg msg = DestroyMsg(this->networkId, thing);
  msg.SendTo(this);
#if RC_DEBUG
  printf("Sent DestroyMsg [%d/%d]\n", thing->networkId, thing->id);
#endif
}

#include <iostream>
void NetworkSync::ProcessCustomMsg(CustomMsg msg) {
  // we assume networkId == 0 as custom messages are intended for my things
  Thing *thing = (Thing *)roboid->GetChild(msg.thingId, true);
  if (thing != nullptr)
    thing->ProcessBytes(msg.data);
}

void NetworkSync::SendPose(Thing *thing, bool force, bool recurse) {
  if (this->networkId == 0) // We're not connected to a site yet
    return;

  thing->positionUpdated |= thing->GetLinearVelocity().distance > 0;
  thing->orientationUpdated |= thing->GetAngularVelocity().distance > 0;
  if (force || thing->positionUpdated || thing->orientationUpdated) {
    unsigned char poseType = 0;
    if (force || thing->positionUpdated)
      poseType |= PoseMsg::Pose_Position;
    if (force || thing->orientationUpdated)
      poseType |= PoseMsg::Pose_Orientation;
    if (thing->linearVelocity.distance > 0)
      poseType |= PoseMsg::Pose_LinearVelocity;
    if (thing->angularVelocity.distance > 0)
      poseType |= PoseMsg::Pose_AngularVelocity;
    PoseMsg msg = PoseMsg(this->networkId, thing->id, poseType,
                          thing->GetPosition(), thing->GetOrientation(),
                          thing->linearVelocity, thing->angularVelocity);
    msg.SendTo(this);

    thing->positionUpdated = false;
    thing->orientationUpdated = false;

#if RC_DEBUG
    if (thing->id != 0) {
      Vector3 v = thing->position.ToVector3();
      printf("Sent PoseMsg Thing [%d/%d] %f(%f)-(%f %f %f) %f\n",
             this->networkId, thing->id, thing->position.distance,
             thing->position.direction.horizontal.InDegrees(), v.Right(),
             v.Up(), v.Forward(),
             thing->orientation.swing.horizontal.InDegrees());
    }
#endif
  }

  if (recurse) {
    for (unsigned char childIx = 0; childIx < thing->childCount; childIx++) {
      Thing *child = (Thing *)thing->GetChildByIndex(childIx);
      if (child != nullptr)
        SendPose(child, force, recurse);
    }
  }
}

void NetworkSync::PublishPerception(Roboid *roboid) {
  // Perception *perception = roboid->perception;
  // if (perception == nullptr)
  //   return;

  // for (unsigned int sensorIx = 0; sensorIx < perception->sensorCount;
  //      sensorIx++) {
  //   Sensor *sensor = perception->sensors[sensorIx];
  //   if (sensor == nullptr)
  //     continue;
  // }
  PublishTrackedObjects(roboid, roboid->perception->GetTrackedObjects());
}

void NetworkSync::PublishTrackedObjects(Roboid *roboid,
                                        InterestingThing **objects) {
  if (networkId == 0) // We're not connected to a site yet
    return;

  int n = 0;
  for (unsigned char objIx = 0; objIx < Perception::maxObjectCount; objIx++) {
    InterestingThing *obj = objects[objIx];
    if (obj == nullptr)
      continue;

    if (obj->confidence > 0)
      PublishTrackedObject(roboid, obj);

    n++;
  }
}

void NetworkSync::PublishTrackedObject(Roboid *roboid,
                                       InterestingThing *thing) {
  if (thing == nullptr || thing->updated == false || thing->networkId != 0x00) {
    return;
  }
  SwingTwist16 inv_originOrientation;
  Spherical16 originPosition;
  if (roboid->worldOrigin == nullptr) {
    inv_originOrientation = SwingTwist16::identity;
    originPosition = Spherical16::zero;
  } else {
    inv_originOrientation =
        SwingTwist16::Inverse(roboid->worldOrigin->GetOrientation());
    originPosition = roboid->worldOrigin->GetPosition();
  }

  // SwingTwist16 inv_originOrientation =
  //     SwingTwist16::Inverse(roboid->worldOrigin->orientation);
  // Spherical16 originPosition = roboid->worldOrigin->position;

  SwingTwist16 worldOrientation =
      inv_originOrientation * thing->GetOrientation();
  Spherical16 worldPosition =
      inv_originOrientation * (thing->GetPosition() - originPosition);

  PoseMsg msg = PoseMsg(this->networkId, thing->id,
                        PoseMsg::Pose_Position | PoseMsg::Pose_Orientation,
                        worldPosition, worldOrientation);
  SendBuffer(msg.Serialize(this->buffer));

#if RC_DEBUG
  printf("Sent Thing PoseMsg [%d/%d] %d\n", networkId, buffer[1], thing->type);
#endif

  thing->updated = false;
}

void NetworkSync::SendText(const char *s) {
  unsigned char length;
  for (length = 0; length < 253; length++) {
    if (s[length] == '\0')
      break;
  }
  if (length >= 253)
    return;

  unsigned char ix = 0;
  buffer[ix++] = 0xB0;
  buffer[ix++] = length;
  for (int urlIx = 0; urlIx < length; urlIx++)
    buffer[ix++] = s[urlIx];

  SendBuffer(ix);
#ifdef RC_DEBUG
  printf("Sent Text %s\n", s);
#endif
}

#if ESP32
#include <Arduino.h>
#endif
void NetworkSync::SendInt(const int x) {
#if ESP32
  String s = String(x);
  char length = s.length();

  unsigned char ix = 0;
  buffer[ix++] = 0xB0;
  buffer[ix++] = length;
  for (int urlIx = 0; urlIx < length; urlIx++)
    buffer[ix++] = s[urlIx];

  SendBuffer(ix);
#endif
}