Moved ip/port out of participant to participantUDP
This commit is contained in:
parent
57cff2d4b2
commit
027c0c7b80
@ -22,18 +22,19 @@ namespace RoboidControl.Unity {
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case ThingMsg.id:
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HandleThingEvent(e);
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break;
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default:
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Debug.Log($"Unhandled event: {e.messageId}");
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break;
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}
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}
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protected virtual void HandleThingEvent(RoboidControl.Participant.UpdateEvent e) {
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switch (e.thing) {
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case RoboidControl.TouchSensor coreTouchSensor:
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Debug.Log("Handle TouchSensor");
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TouchSensor touchSensor = TouchSensor.Create(coreTouchSensor);
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coreTouchSensor.component = touchSensor;
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break;
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case RoboidControl.DifferentialDrive coreDrive:
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Debug.Log("Handle Diff.Drive");
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DifferentialDrive differentialDrive = DifferentialDrive.Create(coreDrive);
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coreDrive.component = differentialDrive;
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break;
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@ -44,7 +45,6 @@ namespace RoboidControl.Unity {
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// before we can create the wheel reliably
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break;
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case RoboidControl.Thing coreThing:
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// Debug.Log("Handle Thing");
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if (coreThing.component == null) {
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Thing[] things = FindObjectsByType<Thing>(FindObjectsSortMode.None);
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// Debug.Log(things.Length);
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@ -49,11 +49,14 @@ namespace RoboidControl.Unity {
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Participant participant = remoteParticipant.AddComponent<Participant>();
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participant.coreParticipant = e.participant;
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participant.coreParticipant.component = participant;
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participant.ipAddress = e.participant.ipAddress;
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participant.port = e.participant.port;
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ParticipantUDP participantUDP = participant.coreParticipant as ParticipantUDP;
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if (participantUDP != null) {
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participant.ipAddress = participantUDP.ipAddress;
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participant.port = participantUDP.port;
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}
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foreach (RoboidControl.Thing thing in this.site.things)
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participant.coreParticipant.SendThingInfo(thing);
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participant.coreParticipant.SendThingInfo(thing);
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break;
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case ThingMsg.id:
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@ -29,7 +29,6 @@ namespace RoboidControl.Unity {
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/// <param name="core">The core of the thing</param>
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/// <returns>The created thing</returns>
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public static Thing Create(RoboidControl.Thing core) {
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Debug.Log("Creating new Unity thing");
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GameObject gameObj = string.IsNullOrEmpty(core.name) ?
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new("Thing") :
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new(core.name);
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@ -117,18 +116,15 @@ namespace RoboidControl.Unity {
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private void HandleCoreEvent(RoboidControl.Thing.CoreEvent coreEvent) {
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switch (coreEvent.messageId) {
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case ThingMsg.id:
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Debug.Log($"{this.core.id} Handle Thing");
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if (core.parent == null)
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this.transform.SetParent(core.owner.component.transform, true);
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else if (core.parent.component != null)
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this.transform.SetParent(core.parent.component.transform, true);
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break;
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case NameMsg.Id:
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Debug.Log($"{this.core.id} Handle Name");
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this.gameObject.name = core.name;
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break;
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case ModelUrlMsg.Id:
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Debug.Log($"{this.core.id} Handle Model URL");
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string extension = core.modelUrl[core.modelUrl.LastIndexOf(".")..];
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if (extension == ".jpg" || extension == ".png")
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StartCoroutine(LoadJPG());
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@ -138,11 +134,9 @@ namespace RoboidControl.Unity {
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#endif
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break;
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case PoseMsg.Id:
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Debug.Log($"{this.core.id} Handle Pose");
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this.HandlePose();
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break;
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case BinaryMsg.Id:
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Debug.Log($"{this.core.id} Handle Binary");
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this.HandleBinary();
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break;
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}
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@ -185,7 +179,9 @@ namespace RoboidControl.Unity {
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if (!loadingModel) {
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loadingModel = true;
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#if DEBUG
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Debug.Log("Loading GLTF model from :" + coreThing.modelUrl);
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#endif
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GltfImport gltfImport = new GltfImport();
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bool success = await gltfImport.Load(coreThing.modelUrl);
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if (success) {
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@ -206,7 +202,7 @@ namespace RoboidControl.Unity {
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if (meshRenderers.Length > 0) {
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foreach (SkinnedMeshRenderer meshRenderer in meshRenderers) {
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if (meshRenderer.rootBone != null) {
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Debug.Log("Found a skinned mesh with bones");
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// Debug.Log("Found a skinned mesh with bones");
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ScanForThings(meshRenderer.rootBone);
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break;
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}
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@ -232,7 +228,7 @@ namespace RoboidControl.Unity {
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if (foundObj != null && (thing.component != null && foundObj != thing.component.gameObject)) {
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Thing foundThing = foundObj.GetComponent<Thing>();
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if (foundThing == null) {
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Debug.Log($"move thing [{thing.owner.networkId}/{thing.id}] to {foundObj.name}");
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// Debug.Log($"move thing [{thing.owner.networkId}/{thing.id}] to {foundObj.name}");
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foundThing = foundObj.AddComponent<Thing>();
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foundThing.core = thing;
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foundThing.core.position = LinearAlgebra.Spherical.FromVector3(foundObj.transform.localPosition);
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@ -31,13 +31,13 @@ namespace RoboidControl {
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/// <param name="port">The UDP port of the participant</param>
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/// <remarks>This does not belong here, it should move to ParticipantUDP or something like that in the future
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public Participant(string ipAddress, int port, Participant localParticipant = null) {
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this.ipAddress = ipAddress;
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this.port = port;
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// this.ipAddress = ipAddress;
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// this.port = port;
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Thing.CreateRoot(this);
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if (localParticipant != null)
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this.udpClient = localParticipant.udpClient;
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// if (localParticipant != null)
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// this.udpClient = localParticipant.udpClient;
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}
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/// <summary>
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@ -56,28 +56,32 @@ namespace RoboidControl {
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#region Properties
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/*
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/// <summary>
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/// The Ip Address of a participant. When the participant is local, this contains 0.0.0.0
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/// </summary>
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/// <remarks>This does not belong here, it should move to ParticipantUDP or something like that in the future
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public string ipAddress = "0.0.0.0";
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protected string ipAddress = "0.0.0.0";
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/// <summary>
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/// The port number for UDP communication with the participant. This is 0 for isolated participants.
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/// </summary>
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/// <remarks>This does not belong here, it should move to ParticipantUDP or something like that in the future
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public int port = 0;
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protected int port = 0;
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/// <summary>
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/// The udpClient for this participant
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/// </summary>
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/// <remarks>This does not belong here, it should move to ParticipantUDP or something like that in the future
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public UdpClient udpClient = null;
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*/
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/// <summary>
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/// The network Id to identify the participant
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/// </summary>
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public byte networkId = 0;
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public bool isRemote = false;
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/// <summary>
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/// The root thing for this participant
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/// </summary>
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@ -178,17 +182,18 @@ namespace RoboidControl {
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public byte[] buffer = new byte[1024];
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public virtual bool Send(IMessage msg) {
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int bufferSize = msg.Serialize(ref this.buffer);
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if (bufferSize <= 0)
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return true;
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return false;
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// int bufferSize = msg.Serialize(ref this.buffer);
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// if (bufferSize <= 0)
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// return true;
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IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(this.ipAddress), this.port);
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// Console.WriteLine($"msg to remote participant {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
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if (udpClient != null) {
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//Console.WriteLine("sending...");
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this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
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}
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return true;
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// IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(this.ipAddress), this.port);
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// // Console.WriteLine($"msg to remote participant {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
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// if (udpClient != null) {
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// //Console.WriteLine("sending...");
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// this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
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// }
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// return true;
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}
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public void SendThingInfo(Thing thing) {
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@ -214,14 +219,14 @@ namespace RoboidControl {
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/// <param name="ipAddress">The ip address of the participant</param>
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/// <param name="port">The port number used to send messages to the participant</param>
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/// <returns>The participant or null if it is not found.</returns>
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public static Participant GetParticipant(string ipAddress, int port) {
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//Console.WriteLine($"Get Participant {ipAddress}:{port}");
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foreach (Participant participant in Participant.participants) {
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if (participant.ipAddress == ipAddress && participant.port == port)
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return participant;
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}
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return null;
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}
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// public static Participant GetParticipant(string ipAddress, int port) {
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// //Console.WriteLine($"Get Participant {ipAddress}:{port}");
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// foreach (Participant participant in Participant.participants) {
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// if (participant.ipAddress == ipAddress && participant.port == port)
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// return participant;
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// }
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// return null;
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// }
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/// <summary>
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/// Retrieve a participant using a network ID
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/// </summary>
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@ -236,21 +241,21 @@ namespace RoboidControl {
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return null;
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}
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/// <summary>
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/// Add a new participant to the collection of participants
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/// </summary>
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/// <param name="ipAddress">The IP address of the participant</param>
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/// <param name="port">The port used to send messages to this participant</param>
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/// <returns>The added participant</returns>
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public static Participant AddParticipant(string ipAddress, int port, Participant localParticipant = null) {
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Console.WriteLine($"New Participant {ipAddress}:{port}");
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// This code is only valid for site, because those can distribute networkIds.....
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Participant participant = new(ipAddress, port, localParticipant) {
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networkId = (byte)(Participant.participants.Count + 1)
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};
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Participant.participants.Add(participant);
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return participant;
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}
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// /// <summary>
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// /// Add a new participant to the collection of participants
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// /// </summary>
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// /// <param name="ipAddress">The IP address of the participant</param>
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// /// <param name="port">The port used to send messages to this participant</param>
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// /// <returns>The added participant</returns>
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// public static Participant AddParticipant(string ipAddress, int port, Participant localParticipant = null) {
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// Console.WriteLine($"New Participant {ipAddress}:{port}");
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// // This code is only valid for site, because those can distribute networkIds.....
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// Participant participant = new(ipAddress, port, localParticipant) {
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// networkId = (byte)(Participant.participants.Count + 1)
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// };
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// Participant.participants.Add(participant);
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// return participant;
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// }
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/// <summary>
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/// Add a new participant to the collection of participants
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/// </summary>
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@ -83,6 +83,15 @@ namespace RoboidControl {
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Participant.ReplaceLocalParticipant(this);
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}
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public ParticipantUDP(string ipAddress, int port, ParticipantUDP localParticipant) : base(ipAddress, port, localParticipant) {
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this.ipAddress = ipAddress;
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this.port = port;
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if (localParticipant != null)
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this.udpClient = localParticipant.udpClient;
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}
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#endregion Init
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#region Properties
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@ -92,6 +101,23 @@ namespace RoboidControl {
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/// </summary>
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public string name = "ParticipantUDP";
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/// <summary>
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/// The Ip Address of a participant. When the participant is local, this contains 0.0.0.0
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/// </summary>
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/// <remarks>This does not belong here, it should move to ParticipantUDP or something like that in the future
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public string ipAddress = "0.0.0.0";
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/// <summary>
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/// The port number for UDP communication with the participant. This is 0 for isolated participants.
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/// </summary>
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/// <remarks>This does not belong here, it should move to ParticipantUDP or something like that in the future
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public int port = 0;
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/// <summary>
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/// The udpClient for this participant
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/// </summary>
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/// <remarks>This does not belong here, it should move to ParticipantUDP or something like that in the future
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public UdpClient udpClient = null;
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/// <summary>
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/// True if the participant is running isolated.
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/// </summary>
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@ -109,10 +135,7 @@ namespace RoboidControl {
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public ulong publishIntervalMS = 3000; // = 3 seconds
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public ulong sendUpdateIntervalMS = 100; // = 0.1 seconds for object updates
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//public byte[] buffer = new byte[1024];
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public IPEndPoint endPoint = null;
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//public UdpClient udpClient = null;
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public string broadcastIpAddress = "255.255.255.255";
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public readonly ConcurrentQueue<IMessage> messageQueue = new ConcurrentQueue<IMessage>();
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@ -132,8 +155,8 @@ namespace RoboidControl {
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IPAddress broadcastAddress = new(broadcastBytes);
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this.broadcastIpAddress = broadcastAddress.ToString();
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Console.WriteLine($"Subnet mask: {subnetMask.ToString()}");
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Console.WriteLine($"Broadcast address: {this.broadcastIpAddress}");
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// Console.WriteLine($"Subnet mask: {subnetMask.ToString()}");
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// Console.WriteLine($"Broadcast address: {this.broadcastIpAddress}");
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}
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#endregion Properties
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@ -143,7 +166,7 @@ namespace RoboidControl {
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public override void Update() {
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ulong currentTimeMS = Thing.GetTimeMs();
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if (this.isIsolated == false) {
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if (this.isIsolated == false && this.isRemote == false) {
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if (this.publishIntervalMS > 0 && currentTimeMS > this.nextPublishMe) {
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ParticipantMsg msg = new(this.networkId);
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if (this.remoteSite == null)
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@ -156,7 +179,8 @@ namespace RoboidControl {
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}
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UpdateMyThings(currentTimeMS);
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UpdateOtherThings(currentTimeMS);
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if (this.isRemote == false)
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UpdateOtherThings(currentTimeMS);
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}
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protected ulong nextPublishMe = 0;
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@ -167,11 +191,11 @@ namespace RoboidControl {
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if (thing == null)
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continue;
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if (thing.hierarchyChanged && !(this.isIsolated || this.networkId == 0)) {
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ThingMsg thingMsg = new(this.networkId, thing);
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// this.Send(this.remoteSite, thingMsg);
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this.remoteSite.Send(thingMsg);
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}
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// if (thing.hierarchyChanged && !(this.isIsolated || this.networkId == 0)) {
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// ThingMsg thingMsg = new(this.networkId, thing);
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// // this.Send(this.remoteSite, thingMsg);
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// this.remoteSite.Send(thingMsg);
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// }
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// Why don't we do recursive?
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// Because when a thing creates a thing in the update,
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@ -184,15 +208,15 @@ namespace RoboidControl {
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// this.Send(this.remoteSite, destroyMsg);
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this.remoteSite.Send(destroyMsg);
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}
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else {
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// Send to remote site
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// PoseMsg poseMsg = new(thing.owner.networkId, thing);
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// this.Send(this.remoteSite, poseMsg);
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// BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
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// this.Send(this.remoteSite, binaryMsg);
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this.remoteSite.Send(new PoseMsg(thing.owner.networkId, thing));
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this.remoteSite.Send(new BinaryMsg(thing.owner.networkId, thing));
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}
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// else {
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// // Send to remote site
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// // PoseMsg poseMsg = new(thing.owner.networkId, thing);
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// // this.Send(this.remoteSite, poseMsg);
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// // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
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// // this.Send(this.remoteSite, binaryMsg);
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// this.remoteSite.Send(new PoseMsg(thing.owner.networkId, thing));
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// this.remoteSite.Send(new BinaryMsg(thing.owner.networkId, thing));
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// }
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}
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if (thing.terminate)
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this.Remove(thing);
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@ -209,29 +233,42 @@ namespace RoboidControl {
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if (this.isIsolated)
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continue;
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if (currentTimeMS > this.nextSendUpdate) {
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for (int thingIx = 0; thingIx < participant.things.Count; thingIx++) {
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Thing thing = participant.things[thingIx];
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if (thing == null)
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continue;
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// if (currentTimeMS > this.nextSendUpdate) {
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// for (int thingIx = 0; thingIx < participant.things.Count; thingIx++) {
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// Thing thing = participant.things[thingIx];
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// if (thing == null)
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// continue;
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// PoseMsg poseMsg = new(thing.owner.networkId, thing);
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// this.Send(participant, poseMsg);
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// BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
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// this.Send(participant, binaryMsg);
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// participant.Send(new PoseMsg(thing.owner.networkId, thing));
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// participant.Send(new BinaryMsg(thing.owner.networkId, thing));
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}
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this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
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}
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// // PoseMsg poseMsg = new(thing.owner.networkId, thing);
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// // this.Send(participant, poseMsg);
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// // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
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// // this.Send(participant, binaryMsg);
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// // participant.Send(new PoseMsg(thing.owner.networkId, thing));
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// // participant.Send(new BinaryMsg(thing.owner.networkId, thing));
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// }
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// this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
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// }
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}
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}
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#endregion Update
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#region Send
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public override bool Send(IMessage msg) {
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int bufferSize = msg.Serialize(ref this.buffer);
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if (bufferSize <= 0)
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return true;
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IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(this.ipAddress), this.port);
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// Console.WriteLine($"msg to remote participant {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
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if (udpClient != null) {
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//Console.WriteLine("sending...");
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this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
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}
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return true;
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}
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public void PublishThingInfo(Thing thing) {
|
||||
// Console.WriteLine("Publish thing info");
|
||||
this.Publish(new ThingMsg(this.networkId, thing));
|
||||
@ -281,10 +318,19 @@ namespace RoboidControl {
|
||||
// It is hard to determine our source port
|
||||
string ipAddress = endPoint.Address.ToString();
|
||||
if (ipAddress != this.ipAddress) {
|
||||
Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
|
||||
remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port, this);
|
||||
Participant sender = GetParticipant(ipAddress, endPoint.Port);
|
||||
if (sender == null) {
|
||||
sender = AddParticipant(ipAddress, endPoint.Port, this);
|
||||
sender.isRemote = true;
|
||||
}
|
||||
|
||||
ReceiveData(data, remoteParticipant);
|
||||
UpdateEvent e = new() {
|
||||
messageId = NetworkIdMsg.Id,
|
||||
participant = sender
|
||||
};
|
||||
this.updateQueue.Enqueue(e);
|
||||
|
||||
ReceiveData(data, sender);
|
||||
}
|
||||
}
|
||||
|
||||
@ -383,12 +429,6 @@ namespace RoboidControl {
|
||||
// HACK to get the networkId for sites corrected to 0.
|
||||
// This is needed because AddParticipant assigns a networkId for non-sites
|
||||
sender.networkId = 0;
|
||||
UpdateEvent e = new() {
|
||||
messageId = NetworkIdMsg.Id,
|
||||
participant = sender
|
||||
};
|
||||
this.updateQueue.Enqueue(e);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -414,6 +454,7 @@ namespace RoboidControl {
|
||||
// Console.Write($"Dropped {thing.id}");
|
||||
thing.parent = null;
|
||||
}
|
||||
ForwardMessage(sender, msg);
|
||||
}
|
||||
|
||||
protected virtual Thing ProcessNewThing(Participant sender, ThingMsg msg) {
|
||||
@ -448,7 +489,7 @@ namespace RoboidControl {
|
||||
}
|
||||
|
||||
protected virtual void Process(Participant sender, PoseMsg msg) {
|
||||
#if DEBUG
|
||||
#if DEBUG2
|
||||
Console.WriteLine($"{this.name}: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}");
|
||||
#endif
|
||||
Participant owner = Participant.GetParticipant(msg.networkId);
|
||||
@ -496,17 +537,51 @@ namespace RoboidControl {
|
||||
#endif
|
||||
}
|
||||
|
||||
private void ForwardMessage(IMessage msg) {
|
||||
// foreach (Participant client in senders) {
|
||||
// if (client == this)
|
||||
// continue;
|
||||
// //UnityEngine.Debug.Log($"---> {client.ipAddress}");
|
||||
// //IMessage.SendMsg(client, msg);
|
||||
// msg.Serialize(ref client.buffer);
|
||||
// client.SendBuffer(client.buffer.Length);
|
||||
// }
|
||||
private void ForwardMessage(Participant sender, IMessage msg) {
|
||||
foreach (Participant participant in Participant.participants) {
|
||||
if (participant == this || participant == sender)
|
||||
continue;
|
||||
|
||||
Console.WriteLine($"---> {participant.networkId}");
|
||||
participant.Send(msg);
|
||||
}
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Participant Registry
|
||||
|
||||
/// <summary>
|
||||
/// Retrieve a participant using ip address and port number
|
||||
/// </summary>
|
||||
/// <param name="ipAddress">The ip address of the participant</param>
|
||||
/// <param name="port">The port number used to send messages to the participant</param>
|
||||
/// <returns>The participant or null if it is not found.</returns>
|
||||
public static ParticipantUDP GetParticipant(string ipAddress, int port) {
|
||||
//Console.WriteLine($"Get Participant {ipAddress}:{port}");
|
||||
foreach (Participant participant in Participant.participants) {
|
||||
ParticipantUDP participantUDP = participant as ParticipantUDP;
|
||||
if (participantUDP.ipAddress == ipAddress && participantUDP.port == port)
|
||||
return participantUDP;
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Add a new participant to the collection of participants
|
||||
/// </summary>
|
||||
/// <param name="ipAddress">The IP address of the participant</param>
|
||||
/// <param name="port">The port used to send messages to this participant</param>
|
||||
/// <returns>The added participant</returns>
|
||||
public static ParticipantUDP AddParticipant(string ipAddress, int port, ParticipantUDP localParticipant = null) {
|
||||
Console.WriteLine($"New Participant {ipAddress}:{port}");
|
||||
// This code is only valid for site, because those can distribute networkIds.....
|
||||
ParticipantUDP participant = new(ipAddress, port, localParticipant) {
|
||||
networkId = (byte)(Participant.participants.Count + 1)
|
||||
};
|
||||
Participant.participants.Add(participant);
|
||||
return participant;
|
||||
}
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
@ -63,6 +63,13 @@ namespace RoboidControl {
|
||||
|
||||
#region Update
|
||||
|
||||
public override void Update() {
|
||||
ulong currentTimeMS = Thing.GetTimeMs();
|
||||
|
||||
UpdateMyThings(currentTimeMS);
|
||||
UpdateOtherThings(currentTimeMS);
|
||||
}
|
||||
|
||||
protected override void UpdateMyThings(ulong currentTimeMS) {
|
||||
// We don't use foreach to prevent the 'Collection was modified' error
|
||||
int n = this.things.Count;
|
||||
|
||||
@ -84,6 +84,7 @@ namespace RoboidControl {
|
||||
this.owner = owner;
|
||||
this.parent = null;
|
||||
this.owner.Add(this);
|
||||
this.id = 0; // Root always has id 0
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -166,7 +167,7 @@ namespace RoboidControl {
|
||||
public string modelUrl {
|
||||
get => _modelUrl;
|
||||
set {
|
||||
if (_modelUrl != value) {
|
||||
if (value != _modelUrl) {
|
||||
_modelUrl = value;
|
||||
this.updateQueue.Enqueue(new CoreEvent(ModelUrlMsg.Id));
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user