100 lines
2.4 KiB
C++
100 lines
2.4 KiB
C++
#pragma once
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#include "LinearAlgebra/Spherical.h"
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#include "LinearAlgebra/SwingTwist.h"
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#include "Thing.h"
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#include "float16.h"
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namespace Passer {
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namespace Control {
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class Participant;
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class IMessage {
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public:
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IMessage();
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virtual unsigned char Serialize(char *buffer);
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static unsigned char *ReceiveMsg(unsigned char packetSize);
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// bool Publish(Participant *participant);
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// bool SendTo(Participant *participant);
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};
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class InvestigateMsg : public IMessage {
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public:
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static const unsigned char id = 0x81;
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static const unsigned char length = 3;
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unsigned char networkId;
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unsigned char thingId;
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InvestigateMsg(char *buffer);
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InvestigateMsg(unsigned char networkId, unsigned char thingId);
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virtual unsigned char Serialize(char *buffer) override;
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};
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class PoseMsg : public IMessage {
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public:
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static const unsigned char id = 0x10;
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unsigned char length = 4 + 4 + 4;
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unsigned char networkId;
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unsigned char thingId;
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unsigned char poseType;
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static const unsigned char Pose_Position = 0x01;
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static const unsigned char Pose_Orientation = 0x02;
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static const unsigned char Pose_LinearVelocity = 0x04; // For future use
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static const unsigned char Pose_AngularVelocity = 0x08; // For future use
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Spherical16 position;
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SwingTwist16 orientation;
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Spherical16 linearVelocity;
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Spherical16 angularVelocity;
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PoseMsg(unsigned char networkId, unsigned char thingId,
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unsigned char poseType, Spherical16 position,
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SwingTwist16 orientation, Spherical16 linearVelocity = Spherical16(),
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Spherical16 angularVelocity = Spherical16());
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PoseMsg(const char *buffer);
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virtual unsigned char Serialize(char *buffer) override;
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};
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class CustomMsg : public IMessage {
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public:
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static const unsigned char id = 0xB1;
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static const unsigned length = 3;
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unsigned char networkId;
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unsigned char thingId;
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Thing *thing;
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unsigned char bytesSize;
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char *bytes;
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CustomMsg(char *buffer);
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CustomMsg(unsigned char networkId, Thing *thing);
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virtual unsigned char Serialize(char *buffer) override;
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static CustomMsg Receive(char *buffer, unsigned char bufferSize);
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};
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class DestroyMsg : public IMessage {
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public:
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static const unsigned char id = 0x20;
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static const unsigned length = 3;
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unsigned char networkId;
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unsigned char thingId;
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DestroyMsg(unsigned char networkId, Thing *thing);
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virtual unsigned char Serialize(char *buffer) override;
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};
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} // namespace Control
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} // namespace Passer
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using namespace Passer::Control; |