78 lines
3.2 KiB
C++
78 lines
3.2 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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/// @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 DestroyObject(InterestingThing *obj) = 0;
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virtual void NewObject(InterestingThing *obj){};
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/// @brief The id of a Pose message
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static const char PoseMsg = 0x10;
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static const char PoseTypeMsg = 0x11;
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static const char RelativePoseMsg = 0x12;
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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 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 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 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 char DestroyMsg = 0x20;
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typedef void (*SendBuffer)(UInt8 *buffer, UInt16 bufferSize);
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void SendPoseMsg(SendBuffer sendBuffer, Roboid *roboid);
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void SendDestroyObject(SendBuffer sendBuffer, InterestingThing *obj);
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void PublishNewObject();
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void PublishTrackedObjects(SendBuffer sendBuffer, InterestingThing **objects);
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virtual void SendPosition(Vector3 worldPosition){};
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virtual void SendPose(Vector3 worldPosition, Quaternion worldOrientation){};
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protected:
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NetworkPerception *networkPerception;
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void PublishTrackedObject(SendBuffer sendBuffer, InterestingThing *object);
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void PublishRelativeObject(SendBuffer sendBuffer, 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 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 int 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 SendSpherical(unsigned char *data, int startIndex, Spherical s);
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// void SendSpherical16(unsigned char *data, int startIndex, Spherical s);
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// void SendSpherical32(unsigned char *data, int startIndex, Spherical s);
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void SendQuat32(unsigned char *data, int startIndex, const Quaternion q);
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};
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} // namespace RoboidControl
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} // namespace Passer
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