203 lines
7.0 KiB
C++
203 lines
7.0 KiB
C++
#pragma once
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#if !defined(NO_STD)
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#include <iostream>
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#include <list>
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#endif
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#include "LinearAlgebra/Spherical.h"
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#include "LinearAlgebra/SwingTwist.h"
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namespace RoboidControl {
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class Participant;
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class LocalParticipant;
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#define THING_STORE_SIZE 256
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// IMPORTANT: values higher than 256 will need to change the Thing::id type
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// to 16-bit or higher, breaking the networking protocol!
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/// @brief A thing is the primitive building block
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class Thing {
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public:
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/// @brief Predefined thing types
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enum Type {
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Undetermined,
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// Sensor,
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Switch,
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DistanceSensor,
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DirectionalSensor,
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TemperatureSensor,
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TouchSensor,
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// Motor,
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ControlledMotor,
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UncontrolledMotor,
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Servo,
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// Other
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Roboid,
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Humanoid,
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ExternalSensor,
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};
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/// @brief Create a new thing using an implicit local participant
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/// @param thingType The type of thing
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Thing(int thingType = Type::Undetermined);
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/// @brief Create a new thing of the given type
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/// @param thingType The predefined type of thing
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Thing(Participant* participant, Type thingType = Type::Undetermined);
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/// @brief Create a new thing of the give type
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/// @param thingType The custom type of the thing
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Thing(Participant* participant, int thingType);
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/// @brief Create a new thing for the given participant
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/// @param participant The participant for which this thing is created
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/// @param networkId The network ID of the thing
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/// @param thingId The ID of the thing
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/// @param thingType The type of thing
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Thing(Participant* participant,
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unsigned char networkId,
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unsigned char thingId,
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Type thingType = Type::Undetermined);
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/// @brief The participant managing this thing
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Participant* owner;
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/// @brief The network ID of this thing
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/// @note This field will likely disappear in future versions
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unsigned char networkId = 0;
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/// @brief The ID of the thing
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unsigned char id = 0;
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/// @brief The type of Thing
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/// This can be either a Thing::Type of a byte value for custom types
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unsigned char type = 0;
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/// @brief Find a thing by name
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/// @param name Rhe name of the thing
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/// @return The found thing or nullptr when nothing is found
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Thing* FindThing(const char* name);
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/// @brief Sets the parent Thing
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/// @param parent The Thing which should become the parnet
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/// @remark This is equivalent to calling parent->AddChild(this);
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virtual void SetParent(Thing* parent);
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void SetParent(Thing* root, const char* name);
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/// @brief Gets the parent Thing
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/// @return The parent Thing
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Thing* GetParent();
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/// @brief Add a child Thing to this Thing
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/// @param child The Thing which should become a child
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/// @remark When the Thing is already a child, it will not be added again
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virtual void AddChild(Thing* child);
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/// @brief Remove the given thing as a child of this thing
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/// @param child The child to remove
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/// @return The removed child or nullptr if the child could not be found
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Thing* RemoveChild(Thing* child);
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/// @brief The number of children
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unsigned char childCount = 0;
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/// @brief Get a child by thing Id
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/// @param id The thing ID to find
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/// @param recursive Look recursively through all descendants
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/// @return The found thing of nullptr when nothing is found
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Thing* GetChild(unsigned char id, bool recursive = false);
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/// @brief Get a child by index
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/// @param ix The child index
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/// @return The found thing of nullptr when nothing is found
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Thing* GetChildByIndex(unsigned char ix);
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protected:
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Thing* parent = nullptr;
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Thing** children = nullptr;
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public:
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/// @brief The name of the thing
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const char* name = nullptr;
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/// @brief An URL pointing to the location where a model of the thing can be
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/// found
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const char* modelUrl = nullptr;
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/// @brief The scale of the model (deprecated I think)
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float modelScale = 1;
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/// @brief Set the position of the thing
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/// @param position The new position in local space, in meters
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void SetPosition(Spherical16 position);
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/// @brief Get the position of the thing
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/// @return The position in local space, in meters
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Spherical16 GetPosition();
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/// @brief Set the orientation of the thing
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/// @param orientation The new orientation in local space
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void SetOrientation(SwingTwist16 orientation);
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/// @brief Get the orientation of the thing
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/// @return The orienation in local space
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SwingTwist16 GetOrientation();
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/// @brief The scale of the thing (deprecated I think)
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// float scale = 1; // assuming uniform scale
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/// @brief boolean indicating if the position was updated
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bool positionUpdated = false;
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/// @brief boolean indicating if the orientation was updated
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bool orientationUpdated = false;
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/// @brief Set the linear velocity of the thing
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/// @param linearVelocity The new linear velocity in local space, in meters
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/// per second
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void SetLinearVelocity(Spherical16 linearVelocity);
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/// @brief Get the linear velocity of the thing
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/// @return The linear velocity in local space, in meters per second
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virtual Spherical16 GetLinearVelocity();
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/// @brief Set the angular velocity of the thing
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/// @param angularVelocity the new angular velocity in local space
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virtual void SetAngularVelocity(Spherical16 angularVelocity);
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/// @brief Get the angular velocity of the thing
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/// @return The angular velocity in local space
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virtual Spherical16 GetAngularVelocity();
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bool linearVelocityUpdated = false;
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bool angularVelocityUpdated = false;
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private:
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/// @brief The position in local space
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/// @remark When this Thing has a parent, the position is relative to the
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/// parent's position and orientation
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Spherical16 position;
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/// @brief The orientation in local space
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/// @remark When this Thing has a parent, the orientation is relative to the
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/// parent's orientation
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SwingTwist16 orientation;
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/// @brief The linear velocity in local space
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Spherical16 linearVelocity;
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/// @brief The angular velocity in local spze
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Spherical16 angularVelocity;
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public:
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/// @brief Terminated things are no longer updated
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void Terminate();
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/// @brief Sets the location from where the 3D model of this Thing can be
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/// loaded from
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/// @param url The url of the model
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/// @remark Although the roboid implementation is not dependent on the model,
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/// the only official supported model format is .obj
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void SetModel(const char* url);
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static unsigned long GetTimeMs();
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void Update();
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/// @brief Updates the state of the thing
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/// @param currentTimeMs The current clock time in milliseconds
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virtual void Update(
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unsigned long currentTimeMs); // { (void)currentTimeMs; };
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static void UpdateThings(unsigned long currentTimeMs);
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/// @brief Function used to generate binary data for this thing
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/// @param buffer The byte array for thw binary data
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/// @param ix The starting position for writing the binary data
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virtual void GenerateBinary(char* buffer, unsigned char* ix);
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// /// @brief FUnction used to process binary data received for this thing
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/// @param bytes The binary data
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virtual void ProcessBinary(char* bytes);
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};
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} // namespace RoboidControl
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