RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Client/NwId exchange works

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This commit is contained in:
Pascal Serrarens 2025-01-02 09:30:33 +01:00
parent b9e28dc421
commit 02920a56e2
5 changed files with 127 additions and 134 deletions
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4
ClientMsg.cs
View File

@ -9,7 +9,9 @@ namespace Passer.Control.Core {
this.networkId = networkId; this.networkId = networkId;
} }
public ClientMsg(byte[] buffer) : base(buffer) { } public ClientMsg(byte[] buffer) : base(buffer) {
this.networkId = buffer[1];
}
public override byte Serialize(ref byte[] buffer) { public override byte Serialize(ref byte[] buffer) {
byte ix = 0; byte ix = 0;

4
NetworkIdMsg.cs
View File

@ -8,7 +8,9 @@ namespace Passer.Control.Core {
public NetworkIdMsg(byte networkId) { public NetworkIdMsg(byte networkId) {
this.networkId = networkId; this.networkId = networkId;
} }
NetworkIdMsg(byte[] buffer) : base(buffer) { } public NetworkIdMsg(byte[] buffer) : base(buffer) {
this.networkId = buffer[1];
}
public override byte Serialize(ref byte[] buffer) { public override byte Serialize(ref byte[] buffer) {
buffer[0] = NetworkIdMsg.Id; buffer[0] = NetworkIdMsg.Id;

141
Participant.cs
View File

@ -14,27 +14,35 @@ namespace Passer.Control.Core {
public string ipAddress = "0.0.0.0"; public string ipAddress = "0.0.0.0";
public string broadcastIpAddress = "255.255.255.255"; public string broadcastIpAddress = "255.255.255.255";
public int port; public int port;
public Stream dataStream; // public Stream dataStream;
public byte[] buffer = new byte[256]; public byte[] buffer = new byte[256];
public byte networkId = 0; public byte networkId = 0;
public string name = "Participant";
public readonly ConcurrentQueue<IMessage> messageQueue = new(); public readonly ConcurrentQueue<IMessage> messageQueue = new();
public Participant? GetClient(string ipAddress, int port) { public List<Participant> others = new List<Participant>();
public Participant? GetParticipant(string ipAddress, int port) {
foreach (Participant c in others) { foreach (Participant c in others) {
if (c.ipAddress == ipAddress && c.port == port) if (c.ipAddress == ipAddress && c.port == port)
return c; return c;
} }
return null; return null;
} }
public List<Participant> others = new List<Participant>(); public Participant AddParticipant(string ipAddress, int port) {
Participant participant = new Participant(ipAddress, port);
participant.networkId = (byte)this.others.Count;
//others.Add();
return participant;
}
#region Init #region Init
public Participant() { public Participant() {
this.dataStream = new EchoStream(); // this.dataStream = new EchoStream();
others.Add(this); others.Add(this);
} }
@ -54,7 +62,6 @@ namespace Passer.Control.Core {
public Participant(UdpClient udpClient, int port) : this() { public Participant(UdpClient udpClient, int port) : this() {
this.udpClient = udpClient; this.udpClient = udpClient;
this.ipAddress = null;
this.port = port; this.port = port;
//this.dataStream = new EchoStream(); //this.dataStream = new EchoStream();
//clients.Add(this); //clients.Add(this);
@ -64,15 +71,23 @@ namespace Passer.Control.Core {
#region Update #region Update
protected void ReceiveUDP(IAsyncResult result) { protected async void ReceiveUDP(IAsyncResult result) {
if (udpClient == null || this.endPoint == null) if (udpClient == null || this.endPoint == null)
return; return;
try { try {
// Console.WriteLine($"{this.name} received");
byte[] data = udpClient.EndReceive(result, ref this.endPoint); byte[] data = udpClient.EndReceive(result, ref this.endPoint);
this.dataStream.WriteByte((byte)data.Length); // This does not yet take multi-packet messages into account!
this.dataStream.Write(data, 0, data.Length);
Task task = Task.Run(() => ReceiveData()); Participant remoteParticipant = this.GetParticipant(endPoint.Address.ToString(), endPoint.Port);
if (remoteParticipant == null) {
remoteParticipant = this.AddParticipant(endPoint.Address.ToString(), endPoint.Port);
}
await ReceiveData(data, remoteParticipant);
// this.dataStream.WriteByte((byte)data.Length);
// this.dataStream.Write(data, 0, data.Length);
//Task task = Task.Run(() => ReceiveData());
} }
catch (Exception _) { catch (Exception _) {
Console.WriteLine("connection error"); Console.WriteLine("connection error");
@ -87,7 +102,7 @@ namespace Passer.Control.Core {
public virtual void Update(long currentTimeMs) { public virtual void Update(long currentTimeMs) {
if (currentTimeMs > this.nextPublishMe) { if (currentTimeMs > this.nextPublishMe) {
this.Publish(new ClientMsg(this.networkId)); this.Publish(new ClientMsg(this.networkId));
Console.WriteLine($"Sent ClientMsg {this.networkId}"); Console.WriteLine($"{this.name} Sent ClientMsg {this.networkId}");
this.nextPublishMe = currentTimeMs + Participant.publishInterval; this.nextPublishMe = currentTimeMs + Participant.publishInterval;
} }
@ -96,7 +111,7 @@ namespace Passer.Control.Core {
if (client == null) if (client == null)
continue; continue;
client.ProcessMessages(); this.ProcessMessages(client);
} }
Thing.UpdateAll(currentTimeMs); Thing.UpdateAll(currentTimeMs);
} }
@ -126,7 +141,7 @@ namespace Passer.Control.Core {
if (bufferSize <= 0) if (bufferSize <= 0)
return true; return true;
//Console.WriteLine($"publish to {broadcastIpAddress.ToString()} {this.port}"); // Console.WriteLine($"publish to {broadcastIpAddress.ToString()} {this.port}");
this.udpClient?.Send(this.buffer, bufferSize, this.broadcastIpAddress, this.port); this.udpClient?.Send(this.buffer, bufferSize, this.broadcastIpAddress, this.port);
return true; return true;
} }
@ -153,105 +168,109 @@ namespace Passer.Control.Core {
#region Receive #region Receive
public async Task ReceiveData() { // public async Task ReceiveData_old() {
while (true) { // while (true) {
byte packetSize = (byte)this.dataStream.ReadByte(); // byte packetSize = (byte)this.dataStream.ReadByte();
if (packetSize != 0xFF) // if (packetSize != 0xFF)
await ReceiveData(this.dataStream, this, packetSize); // await ReceiveData(this.dataStream, this, packetSize);
// else timeout // // else timeout
} // }
} // }
public static async Task ReceiveData(Stream dataStream, Participant client, byte packetSize) { // public static async Task ReceiveData(Stream dataStream, Participant client, byte packetSize) {
byte msgId = (byte)dataStream.ReadByte(); public async Task ReceiveData(byte[] data, Participant remoteParticipant) {
// byte msgId = (byte)dataStream.ReadByte();
byte msgId = data[0];
if (msgId == 0xFF) { if (msgId == 0xFF) {
// Timeout // Timeout
return; return;
} }
//UnityEngine.Debug.Log($"R {msgId} from {client.ipAddress}"); // Console.WriteLine($"R {msgId} from {remoteParticipant.ipAddress}");
bool result = false; bool result = false;
switch (msgId) { switch (msgId) {
case ClientMsg.Id: // 0xA0 / 160 case ClientMsg.Id: // 0xA0 / 160
result = await ClientMsg.Receive(dataStream, client, packetSize); //result = await ClientMsg.Receive(dataStream, client, packetSize);
this.ProcessClientMsg(remoteParticipant, new ClientMsg(data));
break; break;
case NetworkIdMsg.Id: // 0xA1 / 161 case NetworkIdMsg.Id: // 0xA1 / 161
result = await NetworkIdMsg.Receive(dataStream, client, packetSize); //result = await NetworkIdMsg.Receive(dataStream, client, packetSize);
this.ProcessNetworkIdMsg(remoteParticipant, new NetworkIdMsg(data));
break; break;
case InvestigateMsg.Id: // 0x81 case InvestigateMsg.Id: // 0x81
result = await InvestigateMsg.Receive(dataStream, client, packetSize); // result = await InvestigateMsg.Receive(dataStream, client, packetSize);
break; break;
case ThingMsg.id: // 0x80 / 128 case ThingMsg.id: // 0x80 / 128
result = await ThingMsg.Receive(dataStream, client, packetSize); // result = await ThingMsg.Receive(dataStream, client, packetSize);
break; break;
case NameMsg.Id: // 0x91 / 145 case NameMsg.Id: // 0x91 / 145
result = await NameMsg.Receive(dataStream, client, packetSize); // result = await NameMsg.Receive(dataStream, client, packetSize);
break; break;
case ModelUrlMsg.Id: // 0x90 / 144 case ModelUrlMsg.Id: // 0x90 / 144
result = await ModelUrlMsg.Receive(dataStream, client, packetSize); // result = await ModelUrlMsg.Receive(dataStream, client, packetSize);
break; break;
case PoseMsg.Id: // 0x10 / 16 case PoseMsg.Id: // 0x10 / 16
result = await PoseMsg.Receive(dataStream, client, packetSize); // result = await PoseMsg.Receive(dataStream, client, packetSize);
break; break;
case CustomMsg.Id: // 0xB1 / 177 case CustomMsg.Id: // 0xB1 / 177
result = await CustomMsg.Receive(dataStream, client, packetSize); // result = await CustomMsg.Receive(dataStream, client, packetSize);
break; break;
case TextMsg.Id: // 0xB0 / 176 case TextMsg.Id: // 0xB0 / 176
result = await TextMsg.Receive(dataStream, client, packetSize); // result = await TextMsg.Receive(dataStream, client, packetSize);
break; break;
case DestroyMsg.Id: // 0x20 / 32 case DestroyMsg.Id: // 0x20 / 32
result = await DestroyMsg.Receive(dataStream, client, packetSize); // result = await DestroyMsg.Receive(dataStream, client, packetSize);
break; break;
default: default:
break; break;
} }
if (result == false) { // if (result == false) {
packetSize = msgId; // skip 1 byte, msgId is possibly a packet size byte // packetSize = msgId; // skip 1 byte, msgId is possibly a packet size byte
await ReceiveData(dataStream, client, packetSize); // await ReceiveData(dataStream, client, packetSize);
} // }
} }
#endregion #endregion
#region Process #region Process
public virtual void ProcessMessages() { public virtual void ProcessMessages(Participant remoteParticipant) {
while (this.messageQueue.TryDequeue(out IMessage msg)) while (this.messageQueue.TryDequeue(out IMessage msg))
ProcessMessage(msg); ProcessMessage(remoteParticipant, msg);
} }
public void ProcessMessage(IMessage msg) { public void ProcessMessage(Participant remoteParticipant, IMessage msg) {
switch (msg) { switch (msg) {
case ClientMsg clientMsg: case ClientMsg clientMsg:
ProcessClient(clientMsg); ProcessClientMsg(remoteParticipant, clientMsg);
break; break;
case NetworkIdMsg networkId: case NetworkIdMsg networkId:
ProcessNetworkId(networkId); ProcessNetworkIdMsg(remoteParticipant, networkId);
break; break;
case InvestigateMsg investigate: case InvestigateMsg investigate:
ProcessInvestigate(investigate); ProcessInvestigateMsg(investigate);
break; break;
case ThingMsg thing: case ThingMsg thing:
ProcessThing(thing); ProcessThingMsg(thing);
break; break;
case NameMsg name: case NameMsg name:
//UnityEngine.Debug.Log($"Name [{name.networkId}/{name.thingId}] {name.name}"); //UnityEngine.Debug.Log($"Name [{name.networkId}/{name.thingId}] {name.name}");
ProcessName(name); ProcessNameMsg(name);
break; break;
case ModelUrlMsg modelUrl: case ModelUrlMsg modelUrl:
ProcessModelUrl(modelUrl); ProcessModelUrlMsg(modelUrl);
break; break;
case PoseMsg pose: case PoseMsg pose:
ProcessPose(pose); ProcessPoseMsg(pose);
break; break;
case CustomMsg custom: case CustomMsg custom:
ProcessCustom(custom); ProcessCustomMsg(custom);
break; break;
case TextMsg text: case TextMsg text:
ProcessText(text); ProcessTextMsg(text);
break; break;
case DestroyMsg destroy: case DestroyMsg destroy:
ProcessDestroy(destroy); ProcessDestroyMsg(destroy);
break; break;
default: default:
return; return;
@ -259,38 +278,38 @@ namespace Passer.Control.Core {
ForwardMessage(msg); ForwardMessage(msg);
} }
protected virtual void ProcessClient(ClientMsg msg) { } protected virtual void ProcessClientMsg(Participant sender, ClientMsg msg) { }
protected virtual void ProcessNetworkId(NetworkIdMsg msg) { protected virtual void ProcessNetworkIdMsg(Participant sender, NetworkIdMsg msg) {
Console.WriteLine($"{this.name} receive network id {this.networkId} {msg.networkId}");
if (this.networkId != msg.networkId) { if (this.networkId != msg.networkId) {
this.networkId = msg.networkId; this.networkId = msg.networkId;
Console.WriteLine($"receive network id {msg.networkId}");
foreach (Thing thing in Thing.GetAllThings()) foreach (Thing thing in Thing.GetAllThings())
this.SendThingInfo(thing); this.SendThingInfo(thing);
} }
} }
protected virtual void ProcessInvestigate(InvestigateMsg msg) { } protected virtual void ProcessInvestigateMsg(InvestigateMsg msg) { }
protected virtual void ProcessThing(ThingMsg msg) { protected virtual void ProcessThingMsg(ThingMsg msg) {
Console.WriteLine($"received thing {msg.thingId}"); Console.WriteLine($"received thing {msg.thingId}");
} }
protected virtual void ProcessName(NameMsg msg) { protected virtual void ProcessNameMsg(NameMsg msg) {
Console.WriteLine($"received name {msg.name}"); Console.WriteLine($"received name {msg.name}");
} }
protected virtual void ProcessModelUrl(ModelUrlMsg msg) { protected virtual void ProcessModelUrlMsg(ModelUrlMsg msg) {
Console.WriteLine($"received name {msg.url}"); Console.WriteLine($"received name {msg.url}");
} }
protected virtual void ProcessPose(PoseMsg msg) { } protected virtual void ProcessPoseMsg(PoseMsg msg) { }
protected virtual void ProcessCustom(CustomMsg msg) { } protected virtual void ProcessCustomMsg(CustomMsg msg) { }
protected virtual void ProcessText(TextMsg temsgxt) { } protected virtual void ProcessTextMsg(TextMsg temsgxt) { }
protected virtual void ProcessDestroy(DestroyMsg msg) { } protected virtual void ProcessDestroyMsg(DestroyMsg msg) { }
private void ForwardMessage(IMessage msg) { private void ForwardMessage(IMessage msg) {
foreach (Participant client in others) { foreach (Participant client in others) {

83
SiteServer.cs
View File

@ -12,76 +12,25 @@ namespace Passer.Control.Core {
this.udpClient = new UdpClient(); // for receiving this.udpClient = new UdpClient(); // for receiving
this.udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port)); this.udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port));
this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null); this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
this.name = "Site Server";
} }
protected override void ProcessClient(ClientMsg msg) { public override void Update(long currentTimeMs) {
if (msg.networkId == 0) { for (int ix = 0; ix < this.others.Count; ix++) {
this.Send(new NetworkIdMsg(this.networkId)); Participant client = this.others[ix];
Console.WriteLine($"############################ New Client -> {this.networkId}"); if (client == null)
continue;
this.ProcessMessages(client);
}
Thing.UpdateAll(currentTimeMs);
}
protected override void ProcessClientMsg(Participant sender, ClientMsg msg) {
if (msg.networkId == 0) {
Console.WriteLine($"{this.name} received New Client -> {sender.networkId}");
sender.Send(new NetworkIdMsg(sender.networkId));
} }
else
Console.WriteLine($"############################ New Client");
} }
} }
// public static class SiteServer {
// public static async Task ReceiveData(Stream dataStream, Participant client) {
// while (true) {
// byte packetSize = (byte)dataStream.ReadByte();
// if (packetSize != 0xFF)
// await ReceiveData(dataStream, client, packetSize);
// // else timeout
// }
// }
// public static async Task ReceiveData(Stream dataStream, Participant client, byte packetSize) {
// byte msgId = (byte)dataStream.ReadByte();
// if (msgId == 0xFF) {
// // Timeout
// return;
// }
// //UnityEngine.Debug.Log($"R {msgId} from {client.ipAddress}");
// bool result = false;
// switch (msgId) {
// case ClientMsg.Id: // 0xA0 / 160
// result = await ClientMsg.Receive(dataStream, client, packetSize);
// break;
// case NetworkIdMsg.Id: // 0xA1 / 161
// result = await NetworkIdMsg.Receive(dataStream, client, packetSize);
// break;
// case InvestigateMsg.Id: // 0x81
// result = await InvestigateMsg.Receive(dataStream, client, packetSize);
// break;
// case ThingMsg.id: // 0x80 / 128
// result = await ThingMsg.Receive(dataStream, client, packetSize);
// break;
// case NameMsg.Id: // 0x91 / 145
// result = await NameMsg.Receive(dataStream, client, packetSize);
// break;
// case ModelUrlMsg.Id: // 0x90 / 144
// result = await ModelUrlMsg.Receive(dataStream, client, packetSize);
// break;
// case PoseMsg.Id: // 0x10 / 16
// result = await PoseMsg.Receive(dataStream, client, packetSize);
// break;
// case CustomMsg.Id: // 0xB1 / 177
// result = await CustomMsg.Receive(dataStream, client, packetSize);
// break;
// case TextMsg.Id: // 0xB0 / 176
// result = await TextMsg.Receive(dataStream, client, packetSize);
// break;
// case DestroyMsg.Id: // 0x20 / 32
// result = await DestroyMsg.Receive(dataStream, client, packetSize);
// break;
// default:
// break;
// }
// if (result == false) {
// packetSize = msgId; // skip 1 byte, msgId is possibly a packet size byte
// await ReceiveData(dataStream, client, packetSize);
// }
// }
// }
} }

29
test/UnitTest1.cs
View File

@ -8,15 +8,16 @@ public class Tests {
} }
[Test] [Test]
public void Test_Client() { public void Test_Participant() {
Participant participant = new("127.0.0.1", 7681); Participant participant = new("127.0.0.1", 7681);
long milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds(); long milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
long startTime = milliseconds; long startTime = milliseconds;
while (milliseconds < startTime + 7000) { while (milliseconds < startTime + 7000) {
participant.Update(milliseconds); participant.Update(milliseconds);
milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
Thread.Sleep(100); Thread.Sleep(100);
milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
} }
Assert.Pass(); Assert.Pass();
@ -30,8 +31,27 @@ public class Tests {
long startTime = milliseconds; long startTime = milliseconds;
while (milliseconds < startTime + 7000) { while (milliseconds < startTime + 7000) {
siteServer.Update(milliseconds); siteServer.Update(milliseconds);
milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
Thread.Sleep(100); Thread.Sleep(100);
milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
}
Assert.Pass();
}
[Test]
public void Test_SiteParticipant() {
SiteServer siteServer = new(7681);
Participant participant = new("127.0.0.1", 7681);
long milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
long startTime = milliseconds;
while (milliseconds < startTime + 7000) {
siteServer.Update(milliseconds);
participant.Update(milliseconds);
Thread.Sleep(100);
milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
} }
Assert.Pass(); Assert.Pass();
@ -49,8 +69,9 @@ public class Tests {
long startTime = milliseconds; long startTime = milliseconds;
while (milliseconds < startTime + 7000) { while (milliseconds < startTime + 7000) {
participant.Update(milliseconds); participant.Update(milliseconds);
milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
Thread.Sleep(100); Thread.Sleep(100);
milliseconds = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
} }
Assert.Pass(); Assert.Pass();