90 lines
2.7 KiB
Python
90 lines
2.7 KiB
Python
import Messages.LowLevelMessages as LowLevelMessages
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#from Thing import Thing
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class IMessage:
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id = 0x00
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## Serialize the message into the given buffer
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#
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## @returns: the length of the message
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def Serialize(buffer):
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return 0
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def SendTo(self, participant):
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buffer_size = self.Serialize([participant.buffer])
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if buffer_size == 0:
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return False
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return participant.SendBuffer(buffer_size)
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def Publish(self, participant):
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bufferSize = self.Serialize([participant.buffer])
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if bufferSize == 0:
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return False
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return participant.PublishBuffer(bufferSize)
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# class InvestigateMsg():
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# id = 0x81
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# length = 3
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# def __init__(self, buffer):
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# self.thing_id = buffer[2]
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# class PoseMsg(IMessage):
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# """! Message to communicate the pose of the thing
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# The pose is in local space relative to the parent.
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# If there is not parent (the thing is a root thing), the pose will be in world space.
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# """
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# ## The message ID
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# id = 0x10
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# ## The length of the message
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# length = 4
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# def __init__(self, thing):
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# self.thing = thing
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# def Serialize(self, buffer_ref):
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# if self.thing is None:
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# return 0
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# buffer: bytearray = buffer_ref[0]
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# buffer[0:PoseMsg.length] = [
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# PoseMsg.id,
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# 0, # Network id
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# self.thing.id,
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# self.thing.pose_updated
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# ]
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# ix = [4]
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# if self.thing.pose_updated & Thing.Position:
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# LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
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# if self.thing.pose_updated & Thing.Orientation:
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# LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
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# if self.thing.pose_updated & Thing.LinearVelocity:
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# LowLevelMessages.SendSpherical(buffer, ix, self.thing.linearVelocity)
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# if self.thing.pose_updated & Thing.AngularVelocity:
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# LowLevelMessages.SendSpherical(buffer, ix, self.thing.angularVelocity)
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# return ix[0]
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# class BinaryMsg():
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# id = 0xB1
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# def __init__(self, buffer):
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# self.thing_id = buffer[2]
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# self.thing = Thing.Get(self.thing_id)
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# self.data = buffer[3:]
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# def SendTo(participant, thing, data: bytearray):
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# length = 3
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# if thing is None or data is None:
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# return False
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# participant.buffer[0:length] = [
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# BinaryMsg.id,
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# 0, # network_id,
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# thing.id
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# ]
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# full_length = length + len(data)
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# participant.buffer[length:full_length] = data
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# participant.SendBuffer(full_length)
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# return True |