31 lines
1.0 KiB
Python
31 lines
1.0 KiB
Python
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class PoseMsg():
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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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