86 lines
2.6 KiB
Python
86 lines
2.6 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.network_id = buffer[1]
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self.thing_id = buffer[2]
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class PoseMsg(IMessage):
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id = 0x10
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length = 4
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def __init__(self, network_id, thing):
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self.network_id = network_id
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self.thing = thing
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def Serialize(self, buffer_ref):
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if (self.network_id is None) or (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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self.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.network_id = buffer[1]
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self.thing_id = buffer[2]
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self.thing: Thing = Thing.Get(self.network_id, 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.network_id is None or 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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participant.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 |