62 lines
1.8 KiB
Python
62 lines
1.8 KiB
Python
from . import LowLevelMessages
|
|
from .Thing import Thing
|
|
|
|
class IMessage:
|
|
id = 0x00
|
|
|
|
## Serialize the message into the given buffer
|
|
#
|
|
## @returns: the length of the message
|
|
def Serialize(buffer):
|
|
return 0
|
|
|
|
def SendTo(self, participant):
|
|
buffer_size = self.Serialize([participant.buffer])
|
|
if buffer_size == 0:
|
|
return False
|
|
return participant.SendBuffer(buffer_size)
|
|
|
|
def Publish(self, participant):
|
|
bufferSize = self.Serialize([participant.buffer])
|
|
if bufferSize == 0:
|
|
return False
|
|
return participant.PublishBuffer(bufferSize)
|
|
|
|
class InvestigateMsg():
|
|
id = 0x81
|
|
length = 3
|
|
|
|
def __init__(self, buffer):
|
|
self.network_id = buffer[1]
|
|
self.thing_id = buffer[2]
|
|
|
|
class PoseMsg(IMessage):
|
|
id = 0x10
|
|
length = 4
|
|
|
|
def __init__(self, network_id, thing):
|
|
self.network_id = network_id
|
|
self.thing = thing
|
|
|
|
def Serialize(self, buffer_ref):
|
|
if (self.network_id is None) or (self.thing is None):
|
|
return 0
|
|
|
|
buffer: bytearray = buffer_ref[0]
|
|
buffer[0:PoseMsg.length] = [
|
|
PoseMsg.id,
|
|
self.network_id,
|
|
self.thing.id,
|
|
self.thing.pose_updated
|
|
]
|
|
ix = [4]
|
|
if self.thing.pose_updated & Thing.Position:
|
|
LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
|
|
if self.thing.pose_updated & Thing.Orientation:
|
|
LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
|
|
if self.thing.pose_updated & Thing.LinearVelocity:
|
|
LowLevelMessages.SendSpherical(buffer, ix, self.thing.linearVelocity)
|
|
if self.thing.pose_updated & Thing.AngularVelocity:
|
|
LowLevelMessages.SendSpherical(buffer, ix, self.thing.angularVelocity)
|
|
return ix[0]
|