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