RoboidControl::Thing Class Reference

Detailed Description

A thing is the primitive building block.

#include <Thing.h>

Inheritance diagram for RoboidControl::Thing:

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

Public Member Functions
	Thing (unsigned char thingType=Type::Undetermined)
	Create a new thing without communication abilities.
	Thing (Participant *owner, unsigned char thingType=Type::Undetermined, unsigned char thingId=0)
	Create a new thing for a participant.
	Thing (Thing *parent, unsigned char thingType=0, unsigned char thingId=0)
	Create a new child thing.
void	SetName (const char *name)
const char *	GetName () const
void	SetModel (const char *url)
	Sets the location from where the 3D model of this Thing can be loaded from.
virtual void	SetParent (Thing *parent)
	Sets the parent of this Thing.
Thing *	GetParent ()
	Gets the parent of this Thing.
Thing *	GetChildByIndex (unsigned char ix)
	Get a child by index.
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 recurse=false)
	Get a child by thing Id.
Thing *	FindChild (const char *name, bool recurse=true)
	Find a thing by name.
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	Update (bool recursive=false)
	Updates the state of the thing.
virtual void	Update (unsigned long currentTimeMs, bool recurse=false)
	Updates the state of the thing.
virtual int	GenerateBinary (char *buffer, unsigned char *ix)
	Function used to generate binary data for this thing.
virtual void	ProcessBinary (char *bytes)
	Function used to process binary data received for this thing.

Static Public Member Functions
static unsigned long	GetTimeMs ()
	Get the current time in milliseconds.
static void	UpdateThings (unsigned long currentTimeMs)

Public Attributes
bool	terminate = false
	Terminated things are no longer updated.
Participant *	owner = nullptr
	The participant managing this thing.
unsigned char	id = 0
	The ID of the thing.
unsigned char	type = Type::Undetermined
	The type of Thing This can be either a Thing::Type of a byte value for custom types.
const char *	name = nullptr
	The name of the thing.
bool	nameChanged = false
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)
unsigned char	childCount = 0
	The number of children.
bool	hierarchyChanged = true
	Indicator that the hierarchy of the thing has changed.
bool	positionUpdated = false
	Boolean indicating that the thing has an updated position.
bool	orientationUpdated = false
	Boolean indicating the thing has an updated orientation.
bool	linearVelocityUpdated = false
	Boolean indicating the thing has an updated linear velocity.
bool	angularVelocityUpdated = false
	Boolean indicating the thing has an updated angular velocity.

Constructor & Destructor Documentation

Thing() [1/3]

RoboidControl::Thing::Thing

(

unsigned char

thingType = Type::Undetermined

)

Create a new thing without communication abilities.

Parameters

thingType

The type of thing (can use Thing::Type)

Thing() [2/3]

RoboidControl::Thing::Thing	(	Participant *	owner,
		unsigned char	thingType = Type::Undetermined,
		unsigned char	thingId = 0
	)

Create a new thing for a participant.

Parameters

owner	The owning participant
thingType	The type of thing (can use Thing::Type)
thingId	The ID of the thing, leave out or set to zero to generate an ID

Thing() [3/3]

RoboidControl::Thing::Thing	(	Thing *	parent,
		unsigned char	thingType = 0,
		unsigned char	thingId = 0
	)

Create a new child thing.

Parameters

parent	The parent thing
thingType	The type of thing (can use Thing::Type)
thingId	The ID of the thing, leave out or set to zero to generate an ID

Note

The owner will be the same as the owner of the parent thing

Member Function Documentation

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

SetParent()

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

virtual

Sets the parent of this Thing.

Parameters

parent

The Thing which should become the parent

GetParent()

Thing * RoboidControl::Thing::GetParent

(

)

Gets the parent of this Thing.

Returns

The parent Thing

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

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	recurse = false
	)

Get a child by thing Id.

Parameters

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

Returns

The found thing of nullptr when nothing is found

FindChild()

Thing * RoboidControl::Thing::FindChild	(	const char *	name,
		bool	recurse = true
	)

Find a thing by name.

Parameters

name	The name of the thing
recurse	Look recursively through all descendants

Returns

The found thing or 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

GetTimeMs()

unsigned long RoboidControl::Thing::GetTimeMs ( )

static

Get the current time in milliseconds.

Returns

The current time in milliseconds

Update()

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

virtual

Updates the state of the thing.

Parameters

currentTimeMs	The current clock time in milliseconds; if this is zero, the current time is retrieved automatically
recurse	When true, this will Update the descendants recursively

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

GenerateBinary()

int 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

Returns

The size of the binary data

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

ProcessBinary()

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

virtual

Function used to process binary data received for this thing.

Parameters

bytes

The binary data

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