Skip to content
This repository has been archived by the owner on Dec 4, 2024. It is now read-only.

Commit

Permalink
Updated serde
Browse files Browse the repository at this point in the history
  • Loading branch information
@manglemix
manglemix committed Mar 25, 2022
1 parent a404a1c commit e71c647
Show file tree
Hide file tree
Showing 5 changed files with 57 additions and 47 deletions.
4 changes: 3 additions & 1 deletion .gitignore
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,4 +4,6 @@ LUNABOT.LOG
export_presets.cfg
exports/
*.blend
*.blend1
*.blend1
gdnatives/lunabase_serde.dll
gdnatives/liblunabase_serde.so
Binary file removed gdnatives/liblunabase_serde.so
View file
Binary file not shown.
Binary file removed gdnatives/lunabase_serde.dll
View file
Binary file not shown.
96 changes: 52 additions & 44 deletions scripts/bot_server.gd
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@ enum {
TARGET_ARM_ANGLE
}

signal odometry_received(odom)
signal arm_angle_received(angle)
signal packet_received(delta)

const DEADZONE := 0.05
Expand Down Expand Up @@ -131,47 +133,22 @@ func _process(delta):
print("Bot has requested to terminate")
ODOMETRY:
# Pass data to rust module to deserialize
get_tree().root.propagate_call("_handle_odometry", [Odometry.new(
Serde.deserialize_vector3(msg.subarray(0, 3)),
Serde.deserialize_vector3(msg.subarray(4, 7)),
Serde.deserialize_vector3(msg.subarray(8, 11)),
Serde.deserialize_vector3(msg.subarray(12, 15))
)])
emit_signal("odometry_received", Odometry.new(
Serde.deserialize_quat(msg.subarray(0, 15)),
Serde.deserialize_vector3(msg.subarray(16, 27)),
Serde.deserialize_vector3(msg.subarray(28, 39)),
Serde.deserialize_quat(msg.subarray(40, 55))
))
ARM_ANGLE:
get_tree().root.propagate_call("_handle_arm_angle", [Serde.deserialize_f32(msg)])
emit_signal("arm_angle_received", Serde.deserialize_f32(msg))
_:
push_error("Received unrecognized header: " + str(msg[0]))

# var parsed: Dictionary = parse_json(msg)
# for key in parsed:
# var data = parsed[key]
# match int(key):
# ODOMETRY:
# get_tree().root.propagate_call("_handle_odometry", [Odometry.new(data)])
#
# ARM_ANGLE:
# get_tree().root.propagate_call("_handle_arm_angle", [data])
#
# AUTONOMY_STAGE:
# get_tree().root.propagate_call("_handle_autonomy_stage", [data])
#
# PATHING:
# var path := PoolVector3Array()
# for arr in data:
# path.append(array_to_vector(arr))
# get_tree().root.propagate_call("_handle_pathing", [path])
#
# COST_MAP:
# assert(false)
#
# _:
# prints("Received unrecognized enum:", key)


func _input(event):
if (event is InputEventJoypadMotion and abs(event.axis_value) >= DEADZONE) or \
event is InputEventJoypadButton:
var err := bot.put_packet(to_json(_get_controller_state()).to_ascii())
var err := bot.put_packet(_get_controller_state())
if err != OK:
push_error("Faced error code " + str(err) + "while sending input data!")

Expand All @@ -183,15 +160,15 @@ func _get_joy_axis(device: int, axis: int) -> float:
return value


func _get_controller_state():
return {
"axes": [
_get_joy_axis(0, JOY_AXIS_0), _get_joy_axis(0, JOY_AXIS_1),
_get_joy_axis(0, JOY_AXIS_2), _get_joy_axis(0, JOY_AXIS_3),
_get_joy_axis(0, JOY_AXIS_6),
_get_joy_axis(0, JOY_AXIS_7)
],
"buttons": [
func _get_controller_state() -> PoolByteArray:
return _concat_bytes([
Serde.serialize_f32(_get_joy_axis(0, JOY_AXIS_0)),
Serde.serialize_f32(_get_joy_axis(0, JOY_AXIS_1)),
Serde.serialize_f32(_get_joy_axis(0, JOY_AXIS_2)),
Serde.serialize_f32(_get_joy_axis(0, JOY_AXIS_3)),
Serde.serialize_f32(_get_joy_axis(0, JOY_AXIS_6)),
Serde.serialize_f32(_get_joy_axis(0, JOY_AXIS_7)),
Serde.serialize_bool_array([
Input.is_joy_button_pressed(0, JOY_DPAD_LEFT),
Input.is_joy_button_pressed(0, JOY_DPAD_RIGHT),
Input.is_joy_button_pressed(0, JOY_DPAD_UP),
Expand All @@ -206,8 +183,39 @@ func _get_controller_state():
Input.is_joy_button_pressed(0, JOY_XBOX_A),
Input.is_joy_button_pressed(0, JOY_L),
Input.is_joy_button_pressed(0, JOY_R),
]
}
])
])
# return {
# "axes": [
# _get_joy_axis(0, JOY_AXIS_0), _get_joy_axis(0, JOY_AXIS_1),
# _get_joy_axis(0, JOY_AXIS_2), _get_joy_axis(0, JOY_AXIS_3),
# _get_joy_axis(0, JOY_AXIS_6),
# _get_joy_axis(0, JOY_AXIS_7)
# ],
# "buttons": [
# Input.is_joy_button_pressed(0, JOY_DPAD_LEFT),
# Input.is_joy_button_pressed(0, JOY_DPAD_RIGHT),
# Input.is_joy_button_pressed(0, JOY_DPAD_UP),
# Input.is_joy_button_pressed(0, JOY_DPAD_DOWN),
# Input.is_joy_button_pressed(0, JOY_XBOX_X),
# Input.is_joy_button_pressed(0, JOY_XBOX_B),
# Input.is_joy_button_pressed(0, JOY_XBOX_Y),
# Input.is_joy_button_pressed(0, JOY_XBOX_A),
# Input.is_joy_button_pressed(0, JOY_XBOX_X),
# Input.is_joy_button_pressed(0, JOY_XBOX_B),
# Input.is_joy_button_pressed(0, JOY_XBOX_Y),
# Input.is_joy_button_pressed(0, JOY_XBOX_A),
# Input.is_joy_button_pressed(0, JOY_L),
# Input.is_joy_button_pressed(0, JOY_R),
# ]
# }


static func _concat_bytes(bytes_arr: Array) -> PoolByteArray:
var bytes: PoolByteArray = bytes_arr[0]
for i in range(1, bytes_arr.size()):
bytes.append_array(bytes_arr[i])
return bytes


func get_runtime() -> int:
Expand Down
4 changes: 2 additions & 2 deletions scripts/odometry.gd
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,10 @@ extends Reference

var transform: Transform
var linear_velocity: Vector3
var angular_velocity: Vector3
var angular_velocity: Quat


func _init(rotation: Vector3, origin: Vector3, lin_vel: Vector3, ang_vel: Vector3):
func _init(rotation: Quat, origin: Vector3, lin_vel: Vector3, ang_vel: Quat):
# rotation, origin, lin_vel, ang_vel
transform = Transform(Basis(rotation), origin)
linear_velocity = lin_vel
Expand Down

0 comments on commit e71c647

Please sign in to comment.