Detailed Description

A thing is the primitive building block.

#include <Thing.h>

Inheritance diagram for RoboidControl::Thing:

Public Types
enum	Type { Undetermined , Switch , DistanceSensor , DirectionalSensor , TemperatureSensor , TouchSensor , ControlledMotor , UncontrolledMotor , Servo , Roboid , Humanoid , ExternalSensor }
	Predefined thing types.

Public Member Functions
	Thing (int thingType=Type::Undetermined)
	Create a new thing using an implicit local participant.

	Thing (Participant *participant, Type thingType=Type::Undetermined)
	Create a new thing of the given type.

	Thing (Participant *participant, int thingType)
	Create a new thing of the give type.

	Thing (Participant *participant, unsigned char networkId, unsigned char thingId, Type thingType=Type::Undetermined)
	Create a new thing for the given participant.

Thing *	FindThing (const char *name)
	Find a thing by name.

virtual void	SetParent (Thing *parent)
	Sets the parent Thing.

void	SetParent (Thing root, const char name)

Thing *	GetParent ()
	Gets the parent Thing.

virtual void	AddChild (Thing *child)
	Add a child Thing to this Thing.

Thing *	RemoveChild (Thing *child)
	Remove the given thing as a child of this thing.

Thing *	GetChild (unsigned char id, bool recursive=false)
	Get a child by thing Id.

Thing *	GetChildByIndex (unsigned char ix)
	Get a child by index.

void	SetPosition (Spherical position)
	Set the position of the thing.

Spherical	GetPosition ()
	Get the position of the thing.

void	SetOrientation (SwingTwist orientation)
	Set the orientation of the thing.

SwingTwist	GetOrientation ()
	Get the orientation of the thing.

void	SetLinearVelocity (Spherical linearVelocity)
	Set the linear velocity of the thing.

virtual Spherical	GetLinearVelocity ()
	Get the linear velocity of the thing.

virtual void	SetAngularVelocity (Spherical angularVelocity)
	Set the angular velocity of the thing.

virtual Spherical	GetAngularVelocity ()
	Get the angular velocity of the thing.

void	Terminate ()
	Terminated things are no longer updated.

void	SetModel (const char *url)
	Sets the location from where the 3D model of this Thing can be loaded from.

void	Update (bool recursive=false)

virtual void	Update (unsigned long currentTimeMs, bool recursive=false)
	Updates the state of the thing.

virtual void	GenerateBinary (char buffer, unsigned char ix)
	Function used to generate binary data for this thing.

virtual void	ProcessBinary (char *bytes)

Static Public Member Functions
static unsigned long	GetTimeMs ()

static void	UpdateThings (unsigned long currentTimeMs)

Public Attributes
Participant *	owner
	The participant managing this thing.

unsigned char	networkId = 0
	The network ID of this thing.

unsigned char	id = 0
	The ID of the thing.

unsigned char	type = 0
	The type of Thing This can be either a Thing::Type of a byte value for custom types.

unsigned char	childCount = 0
	The number of children.

const char *	name = nullptr
	The name of the thing.

const char *	modelUrl = nullptr
	An URL pointing to the location where a model of the thing can be found.

float	modelScale = 1
	The scale of the model (deprecated I think)

bool	positionUpdated = false
	The scale of the thing (deprecated I think)

bool	orientationUpdated = false
	boolean indicating if the orientation was updated

bool	linearVelocityUpdated = false

bool	angularVelocityUpdated = false

Protected Attributes
Thing *	parent = nullptr

Thing **	children = nullptr

Constructor & Destructor Documentation

◆ Thing() [1/4]

RoboidControl::Thing::Thing ( int thingType = Type::Undetermined )

Create a new thing using an implicit local participant.

Parameters

thingType The type of thing

◆ Thing() [2/4]

RoboidControl::Thing::Thing	(	Participant *	participant,
		Type	thingType = `Type::Undetermined`
	)

Create a new thing of the given type.

Parameters

thingType The predefined type of thing

◆ Thing() [3/4]

RoboidControl::Thing::Thing	(	Participant *	participant,
		int	thingType
	)

Create a new thing of the give type.

Parameters

thingType The custom type of the thing

◆ Thing() [4/4]

RoboidControl::Thing::Thing	(	Participant *	participant,
		unsigned char	networkId,
		unsigned char	thingId,
		Type	thingType = `Type::Undetermined`
	)

Create a new thing for the given participant.

Parameters

participant	The participant for which this thing is created
networkId	The network ID of the thing
thingId	The ID of the thing
thingType	The type of thing

Member Function Documentation

◆ FindThing()

Thing * RoboidControl::Thing::FindThing ( const char * name )

Find a thing by name.

Parameters

name	Rhe name of the thing

Returns: The found thing or nullptr when nothing is found

◆ SetParent()

void RoboidControl::Thing::SetParent ( Thing * parent )

virtual

Sets the parent Thing.

Parameters

parent The Thing which should become the parnet

Remarks: This is equivalent to calling parent->AddChild(this);

◆ GetParent()

Thing * RoboidControl::Thing::GetParent ( )

Gets the parent Thing.

Returns: The parent Thing

◆ AddChild()

void RoboidControl::Thing::AddChild ( Thing * child )

virtual

Add a child Thing to this Thing.

Parameters

child The Thing which should become a child

Remarks: When the Thing is already a child, it will not be added again

◆ RemoveChild()

Thing * RoboidControl::Thing::RemoveChild ( Thing * child )

Remove the given thing as a child of this thing.

Parameters

child The child to remove

Returns: The removed child or nullptr if the child could not be found

◆ GetChild()

Thing * RoboidControl::Thing::GetChild	(	unsigned char	id,
		bool	recursive = `false`
	)

Get a child by thing Id.

Parameters

id	The thing ID to find
recursive	Look recursively through all descendants

Returns: The found thing of nullptr when nothing is found

◆ GetChildByIndex()

Thing * RoboidControl::Thing::GetChildByIndex ( unsigned char ix )

Get a child by index.

Parameters

ix	The child index

Returns: The found thing of nullptr when nothing is found

◆ SetPosition()

void RoboidControl::Thing::SetPosition ( Spherical position )

Set the position of the thing.

Parameters

position The new position in local space, in meters

◆ GetPosition()

Spherical RoboidControl::Thing::GetPosition ( )

Get the position of the thing.

Returns: The position in local space, in meters

◆ SetOrientation()

void RoboidControl::Thing::SetOrientation ( SwingTwist orientation )

Set the orientation of the thing.

Parameters

orientation The new orientation in local space

◆ GetOrientation()

SwingTwist RoboidControl::Thing::GetOrientation ( )

Get the orientation of the thing.

Returns: The orienation in local space

◆ SetLinearVelocity()

void RoboidControl::Thing::SetLinearVelocity ( Spherical linearVelocity )

Set the linear velocity of the thing.

Parameters

linearVelocity The new linear velocity in local space, in meters per second

◆ GetLinearVelocity()

Spherical RoboidControl::Thing::GetLinearVelocity ( )

virtual

Get the linear velocity of the thing.

Returns: The linear velocity in local space, in meters per second

◆ SetAngularVelocity()

void RoboidControl::Thing::SetAngularVelocity ( Spherical angularVelocity )

virtual

Set the angular velocity of the thing.

Parameters

angularVelocity the new angular velocity in local space

Reimplemented in RoboidControl::Arduino::DRV8833Motor.

◆ GetAngularVelocity()

Spherical RoboidControl::Thing::GetAngularVelocity ( )

virtual

Get the angular velocity of the thing.

Returns: The angular velocity in local space

◆ SetModel()

void RoboidControl::Thing::SetModel ( const char * url )

Sets the location from where the 3D model of this Thing can be loaded from.

Parameters

url	The url of the model

Remarks: Although the roboid implementation is not dependent on the model, the only official supported model format is .obj

◆ Update()

void RoboidControl::Thing::Update	(	unsigned long	currentTimeMs,
		bool	recursive = `false`
	)

virtual

Updates the state of the thing.

Parameters

currentTimeMs The current clock time in milliseconds

Reimplemented in RoboidControl::DifferentialDrive, RoboidControl::Arduino::DigitalInput, and RoboidControl::Arduino::UltrasonicSensor.

◆ GenerateBinary()

void RoboidControl::Thing::GenerateBinary	(	char *	buffer,
		unsigned char *	ix
	)

virtual

Function used to generate binary data for this thing.

Parameters

buffer	The byte array for thw binary data
ix	The starting position for writing the binary data

Reimplemented in RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.

◆ ProcessBinary()

void RoboidControl::Thing::ProcessBinary ( char * bytes )

virtual

Parameters

bytes The binary data

Reimplemented in RoboidControl::TemperatureSensor, and RoboidControl::TouchSensor.

Member Data Documentation

◆ networkId

unsigned char RoboidControl::Thing::networkId = 0

The network ID of this thing.

Note: This field will likely disappear in future versions

◆ positionUpdated

bool RoboidControl::Thing::positionUpdated = false

The scale of the thing (deprecated I think)

boolean indicating if the position was updated

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ Thing() [1/4]

◆ Thing() [2/4]

◆ Thing() [3/4]

◆ Thing() [4/4]

Member Function Documentation

◆ FindThing()

◆ SetParent()

◆ GetParent()

◆ AddChild()

◆ RemoveChild()

◆ GetChild()

◆ GetChildByIndex()

◆ SetPosition()

◆ GetPosition()

◆ SetOrientation()

◆ GetOrientation()

◆ SetLinearVelocity()

◆ GetLinearVelocity()

◆ SetAngularVelocity()

◆ GetAngularVelocity()

◆ SetModel()

◆ Update()

◆ GenerateBinary()

◆ ProcessBinary()

Member Data Documentation

◆ networkId

◆ positionUpdated