Completed things docs

src/Participants/SiteServer.cs

@@ -109,7 +109,7 @@ namespace RoboidControl {
             if (thing == null) {
                 switch (msg.thingType) {
                     case (byte)Thing.Type.TouchSensor:
-                        new TouchSensor(sender, msg.networkId, msg.thingId);
+                        new TouchSensor(sender, msg.thingId);
                         break;
                 }
             }

src/Thing.cs

@@ -27,9 +27,10 @@ namespace RoboidControl {
             public const byte Servo = 0x08;
             // Other
             public const byte Roboid = 0x09;
-            public const byte HUmanoid = 0x010;
+            public const byte HUmanoid = 0x0A;
-            public const byte ExternalSensor = 0x11;
+            public const byte ExternalSensor = 0x0B;
-            public const byte Animator = 0x40;
+            public const byte Animator = 0x0C;
+            public const byte DifferentialDrive = 0x0D;
         }
 
         #region Init
@@ -67,7 +68,7 @@ namespace RoboidControl {
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
         /// <note>The owner will be the same as the owner of the parent thing</note>
-        public Thing(Thing parent, byte thingType = Type.Undetermined, bool invokeEvent = true) : this(parent.owner, thingType, 0, invokeEvent) {
+        public Thing(Thing parent, byte thingType = Type.Undetermined, byte thingId = 0, bool invokeEvent = true) : this(parent.owner, thingType, thingId, invokeEvent) {
             this.parent = parent;
         }
 
@@ -424,7 +425,7 @@ namespace RoboidControl {
         /// <summary>
         /// Function used to process binary data received for this thing
         /// </summary>
-        /// <param name="bytes">The binary data</param>
+        /// <param name="bytes">The binary data to process</param>
         public virtual void ProcessBinary(byte[] bytes) {
         }
 

src/Things/DifferentialDrive.cs

@@ -1,14 +1,30 @@
+using LinearAlgebra;
+
 namespace RoboidControl {
 
     /// @brief A thing which can move itself using a differential drive system
     ///
     /// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
     public class DifferentialDrive : Thing {
-        /// @brief Create a differential drive without networking support
+        /// <summary>
-        public DifferentialDrive() { }
+        /// Create a differential drive without communication abilities
-        /// @brief Create a differential drive with networking support
+        /// </summary
-        /// @param participant The local participant
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        public DifferentialDrive(ParticipantUDP participant) : base(participant, Type.Undetermined) { }
+        public DifferentialDrive(bool invokeEvent = true) : base(Type.DifferentialDrive, invokeEvent) { }
+        /// <summary>
+        /// Create a differential drive for a participant
+        /// </summary>
+        /// <param name="owner">The owning participant</param>
+        /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public DifferentialDrive(ParticipantUDP participant, byte thingId = 0, bool invokeEvent = true) : base(participant, Type.DifferentialDrive, thingId, invokeEvent) { }
+        /// <summary>
+        /// Create a new child differential drive
+        /// </summary>
+        /// <param name="parent">The parent thing</param>
+        /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public DifferentialDrive(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.DifferentialDrive, thingId, invokeEvent) { }
 
         /// @brief Configures the dimensions of the drive
         /// @param wheelDiameter The diameter of the wheels in meters
@@ -17,21 +33,63 @@ namespace RoboidControl {
         /// These values are used to compute the desired wheel speed from the set
         /// linear and angular velocity.
         /// @sa SetLinearVelocity SetAngularVelocity
-        public void SetDriveDimensions(float wheelDiameter, float wheelSeparation) { }
+        public void SetDriveDimensions(float wheelDiameter, float wheelSeparation) {
+            this.wheelRadius = wheelDiameter > 0 ? wheelDiameter / 2 : -wheelDiameter / 2;
+            this.wheelSeparation = wheelSeparation > 0 ? wheelSeparation : -wheelSeparation;
+            this.rpsToMs = wheelDiameter * Angle.pi;
+
+            float distance = this.wheelSeparation / 2;
+            if (this.leftWheel != null)
+                this.leftWheel.position = new Spherical(distance, Direction.left);
+            if (this.rightWheel != null)
+                this.rightWheel.position = new Spherical(distance, Direction.right);
+        }
+
         /// @brief Congures the motors for the wheels
         /// @param leftWheel The motor for the left wheel
         /// @param rightWheel The motor for the right wheel
-        public void SetMotors(Thing leftWheel, Thing rightWheel) { }
+        public void SetMotors(Thing leftWheel, Thing rightWheel) {
+            float distance = this.wheelSeparation / 2;
+
+            this.leftWheel = leftWheel;
+            if (this.leftWheel != null)
+                this.leftWheel.position = new Spherical(distance, Direction.left);
+
+            this.rightWheel = rightWheel;
+            if (this.rightWheel != null)
+                this.rightWheel.position = new Spherical(distance, Direction.right);
+        }
 
         /// @brief Directly specify the speeds of the motors
         /// @param speedLeft The speed of the left wheel in degrees per second.
         /// Positive moves the robot in the forward direction.
         /// @param speedRight The speed of the right wheel in degrees per second.
         /// Positive moves the robot in the forward direction.
-        public void SetWheelVelocity(float speedLeft, float speedRight) { }
+        public void SetWheelVelocity(float speedLeft, float speedRight) {
+            if (this.leftWheel != null)
+                this.leftWheel.angularVelocity = new Spherical(speedLeft, Direction.left);
+            if (this.rightWheel != null)
+                this.rightWheel.angularVelocity = new Spherical(speedRight, Direction.right);
+        }
 
         /// @copydoc RoboidControl::Thing::Update(unsigned long)
-        public override void Update(ulong currentMs, bool recursive = true) { }
+        public override void Update(ulong currentMs, bool recursive = true) {
+            if (this.linearVelocityUpdated) {
+                // this assumes forward velocity only....
+                float linearVelocity = this.linearVelocity.distance;
+
+                Spherical angularVelocity = this.angularVelocity;
+                float angularSpeed = angularVelocity.distance * Angle.Deg2Rad;
+                // Determine the rotation direction
+                if (angularVelocity.direction.horizontal < 0)
+                    angularSpeed = -angularSpeed;
+
+                // wheel separation can be replaced by this.leftwheel.position.distance
+                float speedLeft = (linearVelocity + angularSpeed * this.wheelSeparation / 2) / this.wheelRadius * Angle.Rad2Deg;
+                float speedRight = (linearVelocity - angularSpeed * this.wheelSeparation / 2) / this.wheelRadius * Angle.Rad2Deg;
+                this.SetWheelVelocity(speedLeft, speedRight);
+            }
+        }
 
         /// @brief The radius of a wheel in meters
         protected float wheelRadius = 1.0f;

src/Things/DigitalSensor.cs

@@ -0,0 +1,74 @@
+using System;
+
+namespace RoboidControl {
+
+    /// <summary>
+    /// A sensor which can detect touches
+    /// </summary>
+    public class DigitalSensor : Thing {
+        /// <summary>
+        /// Create a digital sensor without communication abilities
+        /// </summary>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public DigitalSensor(bool invokeEvent = true) : base(Type.Switch, invokeEvent) { }
+        /// <summary>
+        /// Create a digital sensor for a participant
+        /// </summary>
+        /// <param name="owner">The owning participant</param>
+        /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public DigitalSensor(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.Switch, thingId, invokeEvent) { }
+        /// <summary>
+        /// Create a new child digital sensor
+        /// </summary>
+        /// <param name="parent">The parent thing</param>
+        /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public DigitalSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.Switch, thingId, invokeEvent) { }
+
+        /// <summary>
+        /// Value which is true when the sensor is touching something, false otherwise
+        /// </summary>
+        private bool _state = false;
+        public bool state {
+            get { return _state; }
+            set {
+                if (_state != value) {
+                    _state = value;
+                }
+                stateUpdated = true;
+            }
+        }
+        private bool stateUpdated = false;
+
+#if UNITY_5_3_OR_NEWER
+        /// @copydoc Passer::RoboidControl::Thing::CreateComponent 
+        public override void CreateComponent() {
+            this.component = Unity.DigitalSensor.Create(this);
+            this.component.core = this;
+        }
+#endif
+        /// <summary>
+        /// Function used to generate binary data for this digital sensor
+        /// </summary>
+        /// <returns>A byte array with the binary data</returns>
+        /// <remark>The byte array will be empty when the digital status has not changed</remark>
+        public override byte[] GenerateBinary() {
+            if (!stateUpdated)
+                return Array.Empty<byte>();
+
+            byte[] bytes = new byte[1];
+            bytes[0] = (byte)(state ? 1 : 0);
+            stateUpdated = false;
+            return bytes;
+        }
+
+        /// <summary>
+        /// Function used to process binary data received for this digital sensor
+        /// </summary>
+        /// <param name="bytes">The binary data to process</param>
+        public override void ProcessBinary(byte[] bytes) {
+            this.state |= (bytes[0] == 1);
+        }
+    }
+}

src/Things/TemperatureSensor.cs

@@ -1,4 +1,4 @@
-//using System;
+using System;
 
 namespace RoboidControl {
 
@@ -6,27 +6,50 @@ namespace RoboidControl {
     /// A temperature sensor
     /// </summary>
     public class TemperatureSensor : Thing {
+        /// <summary>
+        /// Create a temperature sensor without communication abilities
+        /// </summary>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public TemperatureSensor(bool invokeEvent = true) : base(Type.TemperatureSensor, invokeEvent) { }
+        /// <summary>
+        /// Create a temperature sensor for a participant
+        /// </summary>
+        /// <param name="owner">The participant for with the sensor is needed</param>
+        /// <param name="thingId">The ID of the thing</param>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public TemperatureSensor(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.TemperatureSensor, thingId, invokeEvent) { }
+
+        /// <summary>
+        /// Create a new child temperature sensor
+        /// </summary>
+        /// <param name="parent">The parent thing</param>
+        /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+        public TemperatureSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.TemperatureSensor, thingId, invokeEvent) { }
+
         /// <summary>
         /// The measured temperature
         /// </summary>
         public float temperature = 0;
 
         /// <summary>
-        /// Create a temperature sensor with the given ID
+        /// Function used to generate binary data for this temperature sensor
         /// </summary>
-        /// <param name="participant">The participant for with the sensor is needed</param>
+        /// <returns>A byte array with the binary data</returns>
-        /// <param name="networkId">The network ID of the sensor</param>
+        public override byte[] GenerateBinary() {
-        /// <param name="thingId">The ID of the thing</param>
+            byte[] bytes = new byte[2];
-        public TemperatureSensor(Participant participant, byte thingId) : base(participant, Type.TemperatureSensor, thingId) { }
+            byte ix = 0;
+            LowLevelMessages.SendFloat16(bytes, ref ix, this.temperature);
+            return bytes;
+        }
 
         /// <summary>
-        /// Function to extract the temperature received in the binary message
+        /// Function to process the temperature from the binary data
         /// </summary>
-        /// <param name="bytes">The byte array</param>
+        /// <param name="bytes">The binary data to process</param>
         public override void ProcessBinary(byte[] bytes) {
             byte ix = 0;
             this.temperature = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
-            //Console.WriteLine($"temperature {this.name} = {this.temperature} C");
         }
     }
 

src/Things/TouchSensor.cs

@@ -6,32 +6,29 @@ namespace RoboidControl {
     /// A sensor which can detect touches
     /// </summary>
     public class TouchSensor : Thing {
-
         /// <summary>
-        /// Create a touch sensor
+        /// Create a touch sensor without communication abilities
         /// </summary>
-        /// <param name="owner">The participant for with the sensor is needed</param>
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        /// <param name="invokeEvent">True when the creation should trigger an event</param>
+        public TouchSensor(bool invokeEvent = true) : base(Type.TouchSensor, invokeEvent) { }
-        public TouchSensor(Participant owner) : base(owner, Type.TouchSensor) {
+        /// <summary>
-            Console.Write("TouchSensor constructor");
+        /// Create a touch sensor for a participant
-            //touchedSomething = false;
+        /// </summary>
-            //thisParticipant = owner;
+        /// <param name="owner">The owning participant</param>
-        }
+        /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
-
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        public TouchSensor(Participant owner, byte networkId, byte thingId) : base(owner, networkId, thingId) {
+        public TouchSensor(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.TouchSensor, thingId, invokeEvent) { }
-            // Console.Write("TouchSensor constructor");
+        /// <summary>
-            //touchedSomething = false;
+        /// Create a new child touch sensor
-            //thisParticipant = participant;
+        /// </summary>
-        }
+        /// <param name="parent">The parent thing</param>
-
+        /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
-        public TouchSensor(Thing parent, bool invokeEvent = true) : base(parent, (byte)Type.TouchSensor, invokeEvent) { }
+        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-
+        public TouchSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.TouchSensor, thingId, invokeEvent) { }
-        public ParticipantUDP thisParticipant;
 
         /// <summary>
         /// Value which is true when the sensor is touching something, false otherwise
         /// </summary>
-        //public bool touchedSomething = false;
         private bool _touchedSomething = false;
         public bool touchedSomething {
             get { return _touchedSomething; }
@@ -52,14 +49,27 @@ namespace RoboidControl {
             this.component.core = this;
         }
 #endif
+        /// <summary>
+        /// Function used to generate binary data for this touch sensor
+        /// </summary>
+        /// <returns>A byte array with the binary data</returns>
+        /// <remark>The byte array will be empty when the touch status has not changed</remark>
         public override byte[] GenerateBinary() {
             if (!touchUpdated)
-                return new byte[0];
+                return Array.Empty<byte>();
 
-            byte[] buffer = new byte[1];
+            byte[] bytes = new byte[1];
-            buffer[0] = (byte)(touchedSomething ? 1 : 0);
+            bytes[0] = (byte)(touchedSomething ? 1 : 0);
             touchUpdated = false;
-            return buffer;
+            return bytes;
+        }
+
+        /// <summary>
+        /// Function used to process binary data received for this touch sensor
+        /// </summary>
+        /// <param name="bytes">The binary data to process</param>
+        public override void ProcessBinary(byte[] bytes) {
+            this.touchedSomething |= (bytes[0] == 1);
         }
     }
 }