RoboidControl-cpp/NetworkSync.cpp

#include "NetworkSync.h"

// #define RC_DEBUG 1

#ifdef RC_DEBUG
#include <Arduino.h>
#endif

#include "LinearAlgebra/Angle8.h"
#include "LinearAlgebra/Spherical.h"
#include "float16/float16.h"

#include <string.h>

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

void NetworkSync::ReceiveMessage(Roboid *roboid, unsigned char bytecount) {
  networkPerception->ProcessPacket(roboid, buffer, bytecount);

  switch (buffer[0]) {
  case NetworkIdMsg:
    // this->networkId = NetworkIdMsg;
    ReceiveNetworkId();
    break;
  }
}

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

void NetworkSync::NewObject(InterestingThing *thing) {
  if (thing == nullptr || thing->networkId != 0x00)
    return;

  unsigned char ix = 0;
  buffer[ix++] = CreateMsg;
  buffer[ix++] = thing->id;
  buffer[ix++] = thing->type;
  SendBuffer(ix);

#ifdef RC_DEBUG
  printf("Sent CreateMsg %d %d\n", buffer[1], buffer[2]);
#endif

  // PublishTrackedObject(roboid, obj);
}

void NetworkSync::PublishModel(Roboid *roboid) {
  if (roboid->modelUrl == nullptr)
    return;

  int len = strlen(roboid->modelUrl);
  if (len > 255)
    return;

  unsigned char ix = 0;
  buffer[ix++] = 0x90; // modelMsg
  buffer[ix++] = 0x00; // objectId
  // SendVector3(buffer, &ix, position);
  // Polar polar = Polar(Vector2(position));
  // SendPolar(buffer, &ix, polar);
  Spherical s = Spherical(roboid->modelPosition);
  SendSpherical(buffer, &ix, s);
  SendFloat16(buffer, &ix, roboid->modelScale);

  buffer[ix++] = len;
  // printf("send url %d, scale = %f \n", ix, sscale);
  for (int urlIx = 0; urlIx < len; urlIx++) {
    buffer[ix++] = roboid->modelUrl[urlIx];
  }
  SendBuffer(ix);
}

void NetworkSync::DestroyObject(InterestingThing *thing) {
  unsigned char ix = 0;
  buffer[ix++] = DestroyMsg;
  buffer[ix++] = thing->id;
  SendBuffer(ix);

#if RC_DEBUG
  printf("Sent DestroyMsg %d %d\n", buffer[1], buffer[2]);
#endif
}

void NetworkSync::SendPose(Roboid *roboid) {
  if (roboid->propulsion == nullptr)
    return;

  Polar velocity = roboid->propulsion->GetVelocity();
  Vector2 worldVelocity2 =
      Vector2::Rotate(Vector2::forward * velocity.distance, velocity.angle);
  Vector3 worldVelocity3 = Vector3(worldVelocity2.x, 0, worldVelocity2.y);

  float angularVelocity = roboid->propulsion->GetAngularVelocity();
  Vector3 worldAngularVelocity = Vector3(0, angularVelocity, 0);

  unsigned char buffer[3 + 12 + 12] = {
      PoseMsg,
      0, // objectId;
      Pose_LinearVelocity | Pose_AngularVelocity,
  };
  unsigned char ix = 3;
  SendVector3(buffer, &ix, worldVelocity3);
  SendVector3(buffer, &ix, worldAngularVelocity);

  SendBuffer(ix);
}

void NetworkSync::SendVector3(unsigned char *data, unsigned char *startIndex,
                              const Vector3 v) {
  SendSingle100(data, *startIndex, v.Right());
  (*startIndex) += 4;
  SendSingle100(data, *startIndex, v.Up());
  (*startIndex) += 4;
  SendSingle100(data, *startIndex, v.Forward());
  (*startIndex) += 4;
}

void NetworkSync::SendQuaternion(unsigned char *data, const int startIndex,
                                 const Quaternion q) {
  Vector3 angles = Quaternion::ToAngles(q);
  int ix = startIndex;
  SendAngle8(data, ix++, angles.Right());
  SendAngle8(data, ix++, angles.Up());
  SendAngle8(data, ix++, angles.Forward());
}

void NetworkSync::SendPolar(unsigned char *data, unsigned char *startIndex,
                            Polar p) {
  SendAngle8(data, *startIndex, (const float)p.angle);
  SendSingle100(data, (*startIndex) + 1, p.distance);
}

void NetworkSync::SendSpherical(unsigned char *data, unsigned char *startIndex,
                                Spherical s) {
  SendAngle8(data, (*startIndex)++, s.horizontalAngle);
  SendAngle8(data, (*startIndex)++, s.verticalAngle);
  // SendAngle8(data, startIndex++, s.distance);
  SendFloat16(data, startIndex, s.distance);
}

// void NetworkSync::SendSpherical16(unsigned char *data, int startIndex,
//                                   Spherical s) {
//   SendAngle16(data, startIndex, s.horizontalAngle);
//   SendAngle16(data, startIndex += 2, s.verticalAngle);
//   SendSingle100(data, startIndex += 2, s.distance);
// }

// void NetworkSync::SendSpherical32(unsigned char *data, int startIndex,
//                                   Spherical s) {
//   SendAngle32(data, startIndex, s.horizontalAngle);
//   SendAngle32(data, startIndex += 4, s.verticalAngle);
//   SendSingle100(data, startIndex += 4, s.distance);
// }

void NetworkSync::SendQuat32(unsigned char *data, unsigned char *startIndex,
                             const Quaternion q) {
  unsigned char qx = (char)(q.x * 127 + 128);
  unsigned char qy = (char)(q.y * 127 + 128);
  unsigned char qz = (char)(q.z * 127 + 128);
  unsigned char qw = (char)(q.w * 255);
  if (q.w < 0) {
    qx = -qx;
    qy = -qy;
    qz = -qz;
    qw = -qw;
  }
  // Serial.printf(" (%d) %d:%d:%d:%d ", startIndex, qx, qy, qz, qw);
  data[(*startIndex)++] = qx;
  data[(*startIndex)++] = qy;
  data[(*startIndex)++] = qz;
  data[(*startIndex)++] = qw;
}

void NetworkSync::SendAngle8(unsigned char *data, unsigned int startIndex,
                             const float angle) {
  AngleUsing<signed char> packedAngle = AngleUsing<signed char>(angle);
  data[startIndex] = packedAngle.GetValue();
}

// void NetworkSync::SendAngle16(unsigned char *data, unsigned int startIndex,
//                               const float angle) {
//   AngleUsing<signed short> packedAngle = AngleUsing<signed short>(angle);
//   signed short value = packedAngle.GetValue();
//   data[startIndex] = value >> 8;
//   data[startIndex + 1] = value & 0xFF;
// }

// void NetworkSync::SendAngle32(unsigned char *data, unsigned int startIndex,
//                               const float angle) {
//   AngleUsing<signed long> packedAngle = AngleUsing<signed long>(angle);
//   unsigned long value = packedAngle.GetValue();
//   data[startIndex] = value >> 24 & 0xFF;
//   data[startIndex + 1] = value >> 16 & 0xFF;
//   data[startIndex + 2] = value >> 8 & 0xFF;
//   data[startIndex + 3] = value & 0xFF;
//   // Serial.printf(" %lu=%d:%d:%d:%d ", value, data[startIndex],
//   //               data[startIndex + 1], data[startIndex + 2],
//   //               data[startIndex + 3]);
// }

void NetworkSync::SendSingle100(unsigned char *data, unsigned int startIndex,
                                float value) {
  // Sends a float with truncated 2 decimal precision
  Int32 intValue = value * 100;
  SendInt32(data, startIndex, intValue);
  // for (unsigned char ix = 0; ix < 4; ix++) {
  //   data[startIndex + ix] = ((unsigned char *)&intValue)[ix];
  // }
}
void NetworkSync::SendFloat16(unsigned char *data, unsigned char *startIndex,
                              float value) {
  float16 value16 = float16(value);
  short binary = value16.getBinary();

  data[(*startIndex)++] = (binary >> 8) & 0xFF;
  data[(*startIndex)++] = binary & 0xFF;
}

void NetworkSync::SendInt32(unsigned char *data, unsigned int startIndex,
                            Int32 value) {
  for (unsigned char ix = 0; ix < 4; ix++) {
    data[startIndex++] = ((unsigned char *)&value)[ix];
  }
}

// static unsigned char buffer[100];

void NetworkSync::SendBuffer(unsigned char bufferSize) {}

void NetworkSync::PublishClient() {
  unsigned char ix = 0;
  buffer[ix++] = ClientMsg;
  buffer[ix++] = 0; // No network ID
  SendBuffer(ix);

#ifdef RC_DEBUG
  printf("Sent new Client\n");
#endif
}

void NetworkSync::PublishTrackedObjects(Roboid *roboid,
                                        InterestingThing **objects) {
  int n = 0;
  for (unsigned char objIx = 0; objIx < Perception::maxObjectCount; objIx++) {
    InterestingThing *obj = objects[objIx];
    if (obj == nullptr)
      continue;
    if (obj->sensor->type == Thing::ExternalType)
      continue;

    if (obj->confidence > 0) {
      PublishTrackedObject(roboid, obj);
    }
    n++;
  }
}

void NetworkSync::PublishTrackedObject(Roboid *roboid,
                                       InterestingThing *object) {
  if (object == nullptr || object->updated == false ||
      object->networkId != 0x00) {
    return;
  }

  // if (object->parentId != 0)
  //   return PublishRelativeObject(object);

  Vector3 roboidPosition = roboid->GetPosition();
  Quaternion roboidOrientation = roboid->GetOrientation();

  // Vector3 localPosition = object->position.ToVector3();
  Vector3 localPosition = Vector3(object->position);
  Vector3 worldPosition = roboidPosition + roboidOrientation * localPosition;
  Quaternion worldOrientation = roboidOrientation * object->orientation;

  unsigned char ix = 0;
  buffer[ix++] = PoseMsg;    // Position2DMsg;
  buffer[ix++] = object->id; // objectId;
  buffer[ix++] = Pose_Position | Pose_Orientation;
  // SendPolar(buffer, &ix, polar); // 3 bytes
  SendVector3(buffer, &ix, worldPosition);
  // SendQuat32(buffer, &ix, worldOrientation);
  SendBuffer(ix);

  object->updated = false;

#if DEBUG
  printf("PublishTrackedObj [%d/%d] (%f %f)\n", object->networkId, buffer[1],
         worldPosition.Right(), worldPosition.Forward());
#endif
}

// void NetworkSync::PublishTrackedObjects(Buffer sendBuffer,
//                                         InterestingThing **objects) {
//   for (unsigned char objIx = 0; objIx < Perception::maxObjectCount; objIx++)
//   {
//     InterestingThing *obj = objects[objIx];
//     if (obj == nullptr)
//       continue;
//     if (obj->networkId != 0x00)
//       continue; // object is external
//     // if (obj->sensor->type == Thing::ExternalType)
//     //   continue;

//     // tmp
//     obj->id = objIx;
//     PublishTrackedObject(sendBuffer, obj);
//   }
// }

// void NetworkSync::PublishTrackedObject(Buffer sendBuffer,
//                                        InterestingThing *object) {
//   Vector2 worldPosition2 =
//       Vector2::Rotate(Vector2::forward * object->position.distance,
//                       -object->position.horizontalAngle);
//   Vector3 worldPosition3 = Vector3(worldPosition2.x, 0, worldPosition2.y);

// #ifdef RC_DEBUG
//   Serial.print("Send Pose ");
//   Serial.print((int)object->id);
//   Serial.print("  Position  ");
//   Serial.print(worldPosition3.Right());
//   Serial.print(", ");
//   Serial.print(worldPosition3.Up());
//   Serial.print(", ");
//   Serial.println(worldPosition3.Forward());
// #else
//   const UInt16 bufferSize = 3 + 12;
//   UInt8 buffer[bufferSize] = {
//       PoseMsg,
//       (UInt8)object->id,
//       Pose_Position,
//   };
//   unsigned char ix = 3;
//   SendVector3(buffer, &ix, worldPosition3);
//   sendBuffer(buffer, bufferSize);
// #endif
// }

// void NetworkSync::PublishRelativeObject(Buffer sendBuffer, UInt8 parentId,
//                                         InterestingThing *object) {
//   const UInt16 bufferSize = 4 + 12;
//   UInt8 buffer[bufferSize] = {
//       RelativePoseMsg,
//       (UInt8)parentId,
//       (UInt8)object->id,
//       Pose_Position,
//   };
//   unsigned char ix = 4;
//   SendSpherical(buffer, &ix, object->position);
//   // SendVector3(buffer, ix, worldPosition3);
//   sendBuffer(buffer, bufferSize);
// }

void NetworkSync::SendPoseMsg(Buffer sendBuffer, Roboid *roboid) {
  Polar velocity = roboid->propulsion->GetVelocity();
  Vector2 worldVelocity2 =
      Vector2::Rotate(Vector2::forward * velocity.distance, velocity.angle);
  Vector3 worldVelocity3 = Vector3(worldVelocity2.x, 0, worldVelocity2.y);

  float angularVelocity = roboid->propulsion->GetAngularVelocity();
  Vector3 worldAngularVelocity = Vector3(0, angularVelocity, 0);

#ifdef RC_DEBUG
  Serial.print("Send Pose 0  LinearVelocity  ");
  Serial.print(worldVelocity3.Right());
  Serial.print(", ");
  Serial.print(worldVelocity3.Up());
  Serial.print(", ");
  Serial.print(worldVelocity3.Forward());
  Serial.print("  AngularVelocity ");
  Serial.print(worldAngularVelocity.Right());
  Serial.print(", ");
  Serial.print(worldAngularVelocity.Up());
  Serial.print(", ");
  Serial.println(worldAngularVelocity.Forward());
#else
  const unsigned int bufferSize = 3 + 12 + 12;
  unsigned char buffer[bufferSize] = {
      PoseMsg,
      0, // objectId;
      Pose_LinearVelocity | Pose_AngularVelocity,
  };
  unsigned char ix = 3;
  SendVector3(buffer, &ix, worldVelocity3);
  SendVector3(buffer, &ix, worldAngularVelocity);

  sendBuffer(buffer, bufferSize);
#endif
}

void NetworkSync::SendDestroyObject(Buffer sendBuffer, InterestingThing *obj) {
#ifdef RC_DEBUG
  Serial.print("Send Destroy ");
  Serial.println((int)obj->id);
#else
  unsigned char buffer[2] = {DestroyMsg, (unsigned char)obj->id};
  sendBuffer(buffer, 2);
#endif
}

void NetworkSync::SendInvestigateThing(InterestingThing *thing) {
#ifdef RC_DEBUG
  printf("Investigate [%d/%d]\n", thing->networkId, thing->id);
#endif
  unsigned char ix = 0;
  buffer[ix++] = InvestigateMsg;
  buffer[ix++] = thing->networkId;
  buffer[ix++] = thing->id;
  SendBuffer(ix);
}

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

  SendBuffer(ix);
}