129 lines
4.7 KiB
C++
129 lines
4.7 KiB
C++
#pragma once
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#include "NetworkPerception.h"
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#include "Perception.h"
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#include "Roboid.h"
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#include "Types.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief Interface for synchronizaing state between clients across a network
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class NetworkSync {
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public:
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NetworkSync() {};
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NetworkSync(Roboid *roboid);
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unsigned char networkId = 0;
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/// @brief Retreive and send the roboid state
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/// @param roboid The roboid for which the state is updated
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virtual void NetworkUpdate(Roboid *roboid) = 0;
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/// @brief Inform that the given object is no longer being tracked
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/// @param obj
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virtual void SendDestroyThing(InterestingThing *obj);
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void SendThingInfo(Thing *thing, bool recurse = false);
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void SendThing(Thing *thing);
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void SendName(Thing *roboid);
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void SendModel(Thing *thing);
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/// @brief The id of a Pose message
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static const unsigned char PoseMsg = 0x10;
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static const unsigned char PoseTypeMsg = 0x11;
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static const unsigned char RelativePoseMsg = 0x12;
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static const unsigned char StateMsg = 0x18;
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/// @brief A bit pattern for the pose, stating that this message contains a
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/// position in world coordinates
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static const unsigned char Pose_Position = 0x01;
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/// @brief A bit pattern for the pose, stating that this message contains an
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/// orientation in world coordinates
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static const unsigned char Pose_Orientation = 0x02;
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/// @brief A bit pattern for the pose, stating that this messsage contains a
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/// linear velocity in world coordinates
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static const unsigned char Pose_LinearVelocity = 0x04;
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/// @brief A bit pattern for the pose, stating that this message contains an
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/// angular velocity in world coordinates
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static const char Pose_AngularVelocity = 0x08;
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static const unsigned char DestroyMsg = 0x20;
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static const unsigned char AngVelocity2DMsg = 0x46;
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static const unsigned char Position2DMsg = 0x61;
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static const unsigned char Velocity2DMsg = 0x62;
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static const unsigned char CreateMsg = 0x80;
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static const unsigned char InvestigateMsg = 0x81;
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static const unsigned char ModelMsg = 0x90;
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static const unsigned char NameMsg = 0x91;
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static const unsigned char DeviceMsg = 0xA0;
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static const unsigned char NetworkIdMsg = 0xA1;
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static const unsigned char BytesMsg = 0xB1;
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typedef void (*Buffer)(UInt8 *buffer, UInt16 bufferSize);
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void ReceiveMessage(Roboid *roboid, unsigned char bytecount);
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void PublishState(Roboid *roboid);
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void SendInvestigate(InterestingThing *thing);
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void PublishPerception(Roboid *roboid);
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void PublishTrackedObjects(Roboid *roboid, InterestingThing **objects);
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virtual void SendPosition(Spherical16 worldPosition) {};
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virtual void SendPose(Spherical16 worldPosition,
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SwingTwist16 worldOrientation) {};
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// void SendPose(Roboid* roboid, bool recurse = true);
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void SendPose(Thing *thing, bool recurse = true);
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virtual void SendText(const char *s);
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void SendInt(const int x);
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virtual void Download(const char *url) {};
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protected:
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Roboid *roboid;
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NetworkPerception *networkPerception;
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void ReceiveNetworkId();
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void ReceiveBytes();
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void PublishState(Sensor *sensor);
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void PublishTrackedObject(Roboid *roboid, InterestingThing *object);
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// void PublishRelativeObject(Buffer sendBuffer,
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// UInt8 parentId,
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// InterestingThing* object);
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void SendSingle100(unsigned char *data, unsigned int startIndex, float value);
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void SendFloat16(unsigned char *data, unsigned char *startIndex, float value);
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void SendInt32(unsigned char *data, unsigned int startIndex, Int32 value);
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void SendAngle8(unsigned char *data, unsigned int startIndex,
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const float value);
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// void SendAngle16(unsigned char *data, unsigned int startIndex,
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// const float value);
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// void SendAngle32(unsigned char *data, unsigned int startIndex,
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// const float value);
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void SendVector3(unsigned char *data, unsigned char *startIndex,
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const Vector3 v);
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void SendQuaternion(unsigned char *data, const int startIndex,
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const Quaternion q);
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void SendPolar(unsigned char *data, unsigned char *startIndex, Polar p);
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void SendSpherical16(unsigned char *data, unsigned char *startIndex,
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Spherical16 s);
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void SendSwingTwist(unsigned char *data, unsigned char *startIndex,
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const SwingTwist16 r);
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void SendQuat32(unsigned char *data, unsigned char *startIndex,
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const Quaternion q);
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unsigned char buffer[256];
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virtual void SendBuffer(unsigned char bufferSize);
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virtual void PublishBuffer(unsigned char bufferSize);
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void PublishClient();
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};
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} // namespace RoboidControl
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} // namespace Passer
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