153 lines
3.8 KiB
C++
153 lines
3.8 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 "CoreThing.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(unsigned 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 Send(Participant *participant);
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};
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class ClientMsg : public IMessage {
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public:
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static const unsigned char id = 0xA0;
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unsigned char networkId;
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ClientMsg(unsigned char networkId);
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virtual unsigned char Serialize(unsigned char *buffer) override;
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};
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class NetworkIdMsg : public IMessage {
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public:
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static const unsigned char id = 0xA1;
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static const unsigned char length = 2;
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unsigned char networkId;
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NetworkIdMsg(unsigned char *buffer);
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static NetworkIdMsg Receive(unsigned char *buffer, unsigned char bufferSize);
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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(unsigned char *buffer);
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InvestigateMsg(unsigned char networkId, unsigned char thingId);
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virtual unsigned char Serialize(unsigned char *buffer) override;
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};
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class ThingMsg : public IMessage {
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public:
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static const unsigned char id = 0x80;
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static const unsigned char length = 5;
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unsigned char networkId;
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unsigned char thingId;
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unsigned char thingType;
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unsigned char parentId;
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ThingMsg(const unsigned char *buffer);
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ThingMsg(unsigned char networkId, unsigned char thingId,
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unsigned char thingType, unsigned char parentId);
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virtual unsigned char Serialize(unsigned char *buffer) override;
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};
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class NameMsg : public IMessage {
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public:
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static const unsigned char id = 0x91;
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static const unsigned char length = 4;
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unsigned char networkId;
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unsigned char thingId;
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unsigned char nameLength;
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const char *name;
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NameMsg(unsigned char networkId, unsigned char thingId, const char *name,
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unsigned char nameLength);
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virtual unsigned char Serialize(unsigned char *buffer) override;
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};
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class ModelUrlMsg : public IMessage {
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public:
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static const unsigned char id = 0x90;
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unsigned char networkId;
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unsigned char thingId;
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float scale;
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unsigned char urlLength;
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const char *url;
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ModelUrlMsg(unsigned char networkId, unsigned char thingId,
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unsigned char urlLegth, const char *url, float scale = 1);
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virtual unsigned char Serialize(unsigned 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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PoseMsg(unsigned char networkId, unsigned char thingId,
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unsigned char poseType, Spherical16 position,
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SwingTwist16 orientation);
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PoseMsg(const unsigned char *buffer);
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virtual unsigned char Serialize(unsigned 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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CoreThing *thing;
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unsigned char dataSize;
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unsigned char *data;
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CustomMsg(unsigned char *buffer);
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CustomMsg(unsigned char networkId, CoreThing *thing);
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virtual unsigned char Serialize(unsigned char *buffer) override;
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static CustomMsg Receive(unsigned char *buffer, unsigned char bufferSize);
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};
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} // namespace Control
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} // namespace Passer
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using namespace Passer::Control; |