d:/PlatformIO/RoboidControl/NetworkSync.h

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#pragma once
 
#include "NetworkPerception.h"
#include "Perception.h"
#include "Roboid.h"
#include "Types.h"
 
namespace Passer {
namespace RoboidControl {
 
class NetworkSync {
public:
  NetworkSync();
 
  unsigned char networkId;
 
  virtual void NetworkUpdate(Roboid *roboid) = 0;
  virtual void DestroyObject(InterestingThing *obj) = 0;
  virtual void NewObject(InterestingThing *obj) {};
  static const unsigned char PoseMsg = 0x10;
  static const unsigned char PoseTypeMsg = 0x11;
  static const unsigned char RelativePoseMsg = 0x12;
  static const unsigned char Pose_Position = 0x01;
  static const unsigned char Pose_Orientation = 0x02;
  static const unsigned char Pose_LinearVelocity = 0x04;
  static const char Pose_AngularVelocity = 0x08;
 
  static const unsigned char DestroyMsg = 0x20;
 
  static const unsigned char AngVelocity2DMsg = 0x46;
  static const unsigned char Position2DMsg = 0x61;
  static const unsigned char Velocity2DMsg = 0x62;
  static const unsigned char CreateMsg = 0x80;
  static const unsigned char InvestigateMsg = 0x81;
  static const unsigned char ClientMsg = 0xA0;
  static const unsigned char NetworkIdMsg = 0xA1;
 
  typedef void (*Buffer)(UInt8 *buffer, UInt16 bufferSize);
 
  void ReceiveMessage(Roboid *roboid, unsigned char bytecount);
 
  void ReceiveNetworkId();
 
  void SendInvestigateThing(InterestingThing *thing);
 
  void SendPoseMsg(Buffer sendBuffer, Roboid *roboid);
  void SendDestroyObject(Buffer sendBuffer, InterestingThing *obj);
  void PublishNewObject();
 
  void PublishTrackedObjects(Buffer sendBuffer, InterestingThing **objects);
 
  virtual void SendPosition(Vector3 worldPosition) {};
  virtual void SendPose(Vector3 worldPosition, Quaternion worldOrientation) {};
 
protected:
  NetworkPerception *networkPerception;
  void PublishTrackedObject(Buffer sendBuffer, InterestingThing *object);
  void PublishRelativeObject(Buffer sendBuffer, UInt8 parentId,
                             InterestingThing *object);
 
  void SendSingle100(unsigned char *data, unsigned int startIndex, float value);
  void SendInt32(unsigned char *data, unsigned int startIndex, Int32 value);
  void SendAngle8(unsigned char *data, unsigned int startIndex,
                  const float value);
  // void SendAngle16(unsigned char *data, unsigned int startIndex,
  //                  const float value);
  // void SendAngle32(unsigned char *data, unsigned int startIndex,
  //                  const float value);
  void SendVector3(unsigned char *data, unsigned char *startIndex,
                   const Vector3 v);
  void SendQuaternion(unsigned char *data, const int startIndex,
                      const Quaternion q);
 
  void SendPolar(unsigned char *data, unsigned char *startIndex, Polar p);
  void SendSpherical(unsigned char *data, int startIndex, Spherical s);
  // void SendSpherical16(unsigned char *data, int startIndex, Spherical s);
  // void SendSpherical32(unsigned char *data, int startIndex, Spherical s);
  void SendQuat32(unsigned char *data, unsigned char *startIndex,
                  const Quaternion q);
 
  unsigned char *buffer; // =[32];
  virtual void SendBuffer(unsigned char bufferSize);
 
  void PublishClient();
};
 
} // namespace RoboidControl
} // namespace Passer