ControlCore compatibility

Runtime/HumanoidControl/Scripts/Networking/Roboid/ControlCore/Messages.cs

@@ -168,8 +168,8 @@ namespace Passer.Control {
             this.thingId = buffer[ix++];
         }
 
-        public static bool Send(Client client, byte thingId) {
+        public static bool Send(Client client, byte networkId, byte thingId) {
-            InvestigateMsg msg = new(client.networkId, thingId);
+            InvestigateMsg msg = new(networkId, thingId);
             return SendMsg(client, msg);
         }
         public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
@@ -406,7 +406,6 @@ namespace Passer.Control {
             return SendMsg(client, msg);
         }
         public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
-            UnityEngine.Debug.Log("Receive pose");
             if (packetSize != length)
                 return false;
 

Runtime/HumanoidControl/Scripts/Networking/Roboid/HumanoidPlayerRoboid.cs

@@ -128,6 +128,7 @@ namespace Passer.Humanoid {
 
         public class HumanoidClient : Client {
             readonly HumanoidPlayer player;
+            public List<Thing> allThings = new();
 
             public HumanoidClient(UdpClient udpClient, string ipAddress, int port, HumanoidPlayer player) : base(udpClient, port) {
                 this.player = player;
@@ -141,7 +142,12 @@ namespace Passer.Humanoid {
                 player.ProcessNetworkId(this, msg);
             }
 
+            protected override void ProcessName(NameMsg msg) {
+                Debug.Log($"Name [{msg.networkId}/{msg.thingId} {msg.name}]");
+            }
+
             protected override void ProcessModelUrl(ModelUrlMsg msg) {
+                Debug.Log($"Model [{msg.networkId}/{msg.thingId} {msg.url}]");
                 int ix = msg.url.LastIndexOf(".");
                 if (ix < 0)
                     return;
@@ -153,6 +159,16 @@ namespace Passer.Humanoid {
                     player.ProcessGltfModel(msg);
                 }
             }
+
+            protected override void ProcessPose(PoseMsg msg) {
+                Debug.Log($"Pose [{msg.networkId}/{msg.thingId}]");
+                Thing thing = allThings.Find(thing => thing.networkId == msg.networkId && thing.thingId == msg.thingId);
+                if (thing == null) {
+                    Debug.Log($"Unknown thing [{msg.networkId}/{msg.thingId}]");
+                    thing = Thing.Create(player.gameObject, this, msg.thingId, 0);
+                    InvestigateMsg.Send(this, msg.networkId, msg.thingId);
+                }
+            }
         }
 
         protected virtual void Awake() {

Runtime/HumanoidControl/Scripts/Networking/Roboid/Thing.cs

@@ -0,0 +1,44 @@
+using UnityEngine;
+using Passer.Control;
+
+public class Thing : MonoBehaviour {
+    public Client client;
+    public byte networkId;
+    public byte thingId;
+    public byte objectType;
+    //protected Sensor sensor;
+
+    protected virtual void Init() {
+        //if (this.objectType == 2) {
+        //    sensor = this.gameObject.AddComponent<DistanceSensor>();
+        //    sensor.thing = this;
+        //}
+    }
+
+    public static Thing Create(GameObject obj, Client client, byte objId, byte objType) {
+        Thing thing = obj.AddComponent<Thing>();
+        thing.client = client;
+        thing.thingId = objId;
+        thing.objectType = objType;
+        thing.networkId = client.networkId;
+        thing.Init();
+
+        return thing;
+    }
+
+    public virtual Thing CopyTo(GameObject obj) {
+        //Debug.Log($"copy {obj}");
+        Thing foundThing = Thing.Create(obj, this.client, this.thingId, this.objectType);
+        Destroy(this.gameObject);
+        return foundThing;
+    }
+
+    //public void ProcessBytes(byte[] bytes) {
+    //    if (sensor != null)
+    //        sensor.ProcessBytes(bytes);
+    //}
+    //public void Update() {
+    //    if (objectId == 0)
+    //        Debug.Log(this.transform.eulerAngles);
+    //}
+}

Runtime/HumanoidControl/Scripts/Networking/Roboid/Thing.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: dbfb00fc659e2d8489a48aafec5ddfc5