RoboidControl-cpp/ControlCore/Messages.h

#pragma once

#include "LinearAlgebra/Spherical.h"
#include "LinearAlgebra/SwingTwist.h"
#include "Thing.h"
#include "float16.h"

namespace Passer {
namespace Control {

class Participant;

class IMessage {
public:
  IMessage();
  virtual unsigned char Serialize(unsigned char *buffer);

  static unsigned char *ReceiveMsg(unsigned char packetSize);

  bool Publish(Participant *participant);
  bool SendTo(Participant *participant);
};

class ClientMsg : public IMessage {
public:
  static const unsigned char id = 0xA0;
  unsigned char networkId;

  ClientMsg(unsigned char networkId);
  virtual unsigned char Serialize(unsigned char *buffer) override;
};

class NetworkIdMsg : public IMessage {
public:
  static const unsigned char id = 0xA1;
  static const unsigned char length = 2;
  unsigned char networkId;

  NetworkIdMsg(unsigned char *buffer);

  static NetworkIdMsg Receive(unsigned char *buffer, unsigned char bufferSize);
};

class InvestigateMsg : public IMessage {
public:
  static const unsigned char id = 0x81;
  static const unsigned char length = 3;
  unsigned char networkId;
  unsigned char thingId;

  InvestigateMsg(unsigned char *buffer);
  InvestigateMsg(unsigned char networkId, unsigned char thingId);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

class ThingMsg : public IMessage {
public:
  static const unsigned char id = 0x80;
  static const unsigned char length = 5;
  unsigned char networkId;
  unsigned char thingId;
  unsigned char thingType;
  unsigned char parentId;

  ThingMsg(const unsigned char *buffer);
  ThingMsg(unsigned char networkId, unsigned char thingId,
           unsigned char thingType, unsigned char parentId);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

class NameMsg : public IMessage {
public:
  static const unsigned char id = 0x91;
  static const unsigned char length = 4;
  unsigned char networkId;
  unsigned char thingId;
  unsigned char nameLength;
  const char *name;

  NameMsg(unsigned char networkId, unsigned char thingId, const char *name,
          unsigned char nameLength);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

class ModelUrlMsg : public IMessage {
public:
  static const unsigned char id = 0x90;

  unsigned char networkId;
  unsigned char thingId;

  float scale;
  unsigned char urlLength;
  const char *url;

  ModelUrlMsg(unsigned char networkId, unsigned char thingId,
              unsigned char urlLegth, const char *url, float scale = 1);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

class PoseMsg : public IMessage {
public:
  static const unsigned char id = 0x10;
  unsigned char length = 4 + 4 + 4;

  unsigned char networkId;
  unsigned char thingId;

  unsigned char poseType;
  static const unsigned char Pose_Position = 0x01;
  static const unsigned char Pose_Orientation = 0x02;
  static const unsigned char Pose_LinearVelocity = 0x04;  // For future use
  static const unsigned char Pose_AngularVelocity = 0x08; // For future use

  Spherical16 position;
  SwingTwist16 orientation;
  Spherical16 linearVelocity;
  Spherical16 angularVelocity;

  PoseMsg(unsigned char networkId, unsigned char thingId,
          unsigned char poseType, Spherical16 position,
          SwingTwist16 orientation, Spherical16 linearVelocity = Spherical16(),
          Spherical16 angularVelocity = Spherical16());
  PoseMsg(const unsigned char *buffer);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

class CustomMsg : public IMessage {
public:
  static const unsigned char id = 0xB1;
  static const unsigned length = 3;

  unsigned char networkId;
  unsigned char thingId;
  Thing *thing;

  unsigned char dataSize;
  unsigned char *data;

  CustomMsg(unsigned char *buffer);
  CustomMsg(unsigned char networkId, Thing *thing);

  virtual unsigned char Serialize(unsigned char *buffer) override;

  static CustomMsg Receive(unsigned char *buffer, unsigned char bufferSize);
};

class DestroyMsg : public IMessage {
public:
  static const unsigned char id = 0x20;
  static const unsigned length = 3;
  unsigned char networkId;
  unsigned char thingId;

  DestroyMsg(unsigned char networkId, Thing *thing);

  virtual unsigned char Serialize(unsigned char *buffer) override;
};

} // namespace Control
} // namespace Passer

using namespace Passer::Control;