RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Object creatation/destruction works

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This commit is contained in:
Pascal Serrarens 2025-04-23 15:05:56 +02:00
parent 6e85ef163d
commit 1225ee1097
5 changed files with 89 additions and 78 deletions
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15
Unity/Thing.cs
View File

@ -35,7 +35,6 @@ namespace RoboidControl.Unity {
} }
siteServer.site.Add(thing); siteServer.site.Add(thing);
core.OnPoseChanged += PoseChanged; core.OnPoseChanged += PoseChanged;
core.OnHierarchyChanged += ParentChanged;
} }
public static Thing Create(RoboidControl.Thing core) { public static Thing Create(RoboidControl.Thing core) {
@ -60,15 +59,17 @@ namespace RoboidControl.Unity {
this.transform.localRotation = core.orientation.ToQuaternion(); this.transform.localRotation = core.orientation.ToQuaternion();
core.OnPoseChanged += this.PoseChanged; core.OnPoseChanged += this.PoseChanged;
core.OnHierarchyChanged += ParentChanged;
} }
/// <summary> /// <summary>
/// Update the Unity representation /// Update the Unity representation
/// </summary> /// </summary>
protected virtual void Update() { protected virtual void Update() {
if (core == null) if (core == null) {
Debug.Log("Core thing is gone, self destruct in 0 seconds...");
Destroy(this);
return; return;
}
if (core.linearVelocity != null && core.linearVelocity.distance != 0) { if (core.linearVelocity != null && core.linearVelocity.distance != 0) {
Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward; Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
@ -111,14 +112,6 @@ namespace RoboidControl.Unity {
this.transform.localRotation = core.orientation.ToQuaternion(); this.transform.localRotation = core.orientation.ToQuaternion();
} }
private void ParentChanged() {
// if (core.parent == null)
// this.transform.SetParent(null, true);
// else
// this.transform.SetParent(core.parent.component.transform, true);
}
private IEnumerator LoadJPG() { private IEnumerator LoadJPG() {
UnityWebRequest request = UnityWebRequestTexture.GetTexture(core.modelUrl); UnityWebRequest request = UnityWebRequestTexture.GetTexture(core.modelUrl);
yield return request.SendWebRequest(); yield return request.SendWebRequest();

4
src/Messages/DestroyMsg.cs
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@ -26,9 +26,9 @@ namespace RoboidControl {
/// </summary> /// </summary>
/// <param name="networkId">The network ID of the thing</param> /// <param name="networkId">The network ID of the thing</param>
/// <param name="thingId">The ID of the thing</param> /// <param name="thingId">The ID of the thing</param>
public DestroyMsg(byte networkId, byte thingId) { public DestroyMsg(byte networkId, Thing thing) {
this.networkId = networkId; this.networkId = networkId;
this.thingId = thingId; this.thingId = thing.id;
} }
/// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer) /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
public DestroyMsg(byte[] buffer) : base(buffer) { public DestroyMsg(byte[] buffer) : base(buffer) {

75
src/ParticipantUDP.cs → src/Participants/ParticipantUDP.cs
View File

@ -95,17 +95,21 @@ namespace RoboidControl {
#region Update #region Update
protected ulong nextPublishMe = 0; protected ulong nextPublishMe = 0;
public override void Update(ulong currentTimeMS = 0) {
if (currentTimeMS == 0) {
#if UNITY_5_3_OR_NEWER
currentTimeMS = (ulong)(UnityEngine.Time.time * 1000);
#endif
}
if (this.publishInterval > 0 && currentTimeMS > this.nextPublishMe) { public override void Update(ulong currentTimeMS = 0) {
Publish(); if (currentTimeMS == 0)
// Console.WriteLine($"{this.name} Publish ClientMsg {this.networkId}"); currentTimeMS = Thing.GetTimeMs();
this.nextPublishMe = currentTimeMS + this.publishInterval;
if (this.isIsolated == false) {
if (this.publishInterval > 0 && currentTimeMS > this.nextPublishMe) {
ParticipantMsg msg = new ParticipantMsg(this.networkId);
if (this.remoteSite == null)
this.Publish(msg);
else
this.Send(this.remoteSite, msg);
this.nextPublishMe = currentTimeMS + this.publishInterval;
}
} }
UpdateMyThings(currentTimeMS); UpdateMyThings(currentTimeMS);
@ -113,26 +117,35 @@ namespace RoboidControl {
} }
protected virtual void UpdateMyThings(ulong currentTimeMS) { protected virtual void UpdateMyThings(ulong currentTimeMS) {
int n = this.things.Count; foreach (Thing thing in this.things) {
for (int ix = 0; ix < n; ix++) { if (thing == null)
Thing thing = this.things[ix];
if (thing == null || thing.parent != null)
continue; continue;
if (thing.hierarchyChanged && !(this.isIsolated || this.networkId == 0)) { if (thing.hierarchyChanged && !(this.isIsolated || this.networkId == 0)) {
ThingMsg thingMsg = new(this.networkId, thing); ThingMsg thingMsg = new(this.networkId, thing);
this.Send(this.remoteSite, thingMsg); this.Send(this.remoteSite, thingMsg);
} }
thing.Update(currentTimeMS, true); // Why don't we do recursive?
if (this.isIsolated || this.networkId == 0) // Because when a thing creates a thing in the update,
continue; // that new thing is not sent out (because of hierarchyChanged)
// before it is updated itself: it is immediatedly updated!
// Send to remote site thing.Update(currentTimeMS, false);
PoseMsg poseMsg = new(thing.owner.networkId, thing); if (!(this.isIsolated || this.networkId == 0)) {
this.Send(this.remoteSite, poseMsg); if (thing.terminate) {
BinaryMsg binaryMsg = new(thing.owner.networkId, thing); DestroyMsg destroyMsg = new(this.networkId, thing);
this.Send(this.remoteSite, binaryMsg); this.Send(this.remoteSite, destroyMsg);
}
else {
// Send to remote site
PoseMsg poseMsg = new(thing.owner.networkId, thing);
this.Send(this.remoteSite, poseMsg);
BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
this.Send(this.remoteSite, binaryMsg);
}
}
if (thing.terminate)
this.Remove(thing);
} }
} }
@ -147,6 +160,9 @@ namespace RoboidControl {
continue; continue;
foreach (Thing thing in participant.things) { foreach (Thing thing in participant.things) {
if (thing == null)
continue;
PoseMsg poseMsg = new(thing.owner.networkId, thing); PoseMsg poseMsg = new(thing.owner.networkId, thing);
this.Send(participant, poseMsg); this.Send(participant, poseMsg);
BinaryMsg binaryMsg = new(thing.owner.networkId, thing); BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
@ -179,10 +195,6 @@ namespace RoboidControl {
return true; return true;
} }
public virtual void Publish() {
this.Publish(new ParticipantMsg(this.networkId));
}
public void PublishThingInfo(Thing thing) { public void PublishThingInfo(Thing thing) {
// Console.WriteLine("Publish thing info"); // Console.WriteLine("Publish thing info");
this.Publish(new ThingMsg(this.networkId, thing)); this.Publish(new ThingMsg(this.networkId, thing));
@ -282,7 +294,7 @@ namespace RoboidControl {
break; break;
case DestroyMsg.Id: // 0x20 / 32 case DestroyMsg.Id: // 0x20 / 32
this.Process(sender, new DestroyMsg(data)); this.Process(sender, new DestroyMsg(data));
// result = await DestroyMsg.Receive(dataStream, client, packetSize); // result = await DestroyMsg.Receive(dataStream, client, packetSize);
break; break;
default: default:
break; break;
@ -383,7 +395,10 @@ namespace RoboidControl {
#if DEBUG #if DEBUG
Console.WriteLine($"Participant: Process Destroy Msg [{msg.networkId}/{msg.thingId}]"); Console.WriteLine($"Participant: Process Destroy Msg [{msg.networkId}/{msg.thingId}]");
#endif #endif
Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing != null)
this.Remove(thing);
thing.component.core = null;
} }
private void ForwardMessage(IMessage msg) { private void ForwardMessage(IMessage msg) {

60
src/SiteServer.cs → src/Participants/SiteServer.cs
View File

@ -30,39 +30,40 @@ namespace RoboidControl {
this.udpClient?.Close(); this.udpClient?.Close();
} }
#region Update
protected override void UpdateMyThings(ulong currentTimeMS) { protected override void UpdateMyThings(ulong currentTimeMS) {
int n = this.things.Count; foreach (Thing thing in this.things) {
for (int ix = 0; ix < n; ix++) { if (thing == null)
Thing thing = this.things[ix];
if (thing == null || thing.parent != null)
continue; continue;
thing.Update(currentTimeMS, true); thing.Update(currentTimeMS, false);
if (this.isIsolated || this.networkId == 0)
continue;
// Send to all other participants if (this.isIsolated == false) {
foreach (Participant participant in Participant.participants) { // Send to all other participants
if (participant == null || participant == this) foreach (Participant participant in Participant.participants) {
continue; if (participant == null || participant == this)
continue;
PoseMsg poseMsg = new(thing.owner.networkId, thing); PoseMsg poseMsg = new(thing.owner.networkId, thing);
this.Send(participant, poseMsg); this.Send(participant, poseMsg);
BinaryMsg binaryMsg = new(thing.owner.networkId, thing); BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
this.Send(participant, binaryMsg); this.Send(participant, binaryMsg);
}
} }
} }
} }
public override void Publish() { #endregion Update
}
#region Receive
protected override void Process(Participant sender, ParticipantMsg msg) { protected override void Process(Participant sender, ParticipantMsg msg) {
base.Process(sender, msg); base.Process(sender, msg);
//if (msg.networkId == 0) { if (msg.networkId != sender.networkId) {
//Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}"); //Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
this.Send(sender, new NetworkIdMsg(sender.networkId)); this.Send(sender, new NetworkIdMsg(sender.networkId));
//} }
} }
protected override void Process(Participant sender, NetworkIdMsg msg) { } protected override void Process(Participant sender, NetworkIdMsg msg) { }
@ -70,23 +71,22 @@ namespace RoboidControl {
protected override void Process(Participant sender, ThingMsg msg) { protected override void Process(Participant sender, ThingMsg msg) {
Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} "); Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
Thing thing = sender.Get(msg.networkId, msg.thingId); Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing == null) { if (thing == null)
thing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType); thing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
// Console.WriteLine("Created generic new core thing");
// }
}
if (msg.parentId != 0) { if (msg.parentId != 0) {
Thing parentThing = Get(msg.networkId, msg.parentId); thing.parent = Get(msg.networkId, msg.parentId);
if (parentThing == null) if (thing.parent == null)
Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]"); Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
else
thing.parent = parentThing;
} }
else { else {
Console.Write($"Dropped {thing.id}"); Console.Write($"Dropped {thing.id}");
thing.parent = null; thing.parent = null;
} }
} }
#endregion Receive
} }
} }

13
src/Thing.cs
View File

@ -146,14 +146,9 @@ namespace RoboidControl {
else { else {
value.AddChild(this); value.AddChild(this);
} }
OnHierarchyChanged?.Invoke();
this.hierarchyChanged = true; this.hierarchyChanged = true;
} }
} }
/// <summary>
/// Event which is triggered when the parent changes
/// </summary>
public event ChangeHandler OnHierarchyChanged = delegate { };
/// <summary> /// <summary>
/// Add a child Thing to this Thing /// Add a child Thing to this Thing
@ -352,10 +347,18 @@ namespace RoboidControl {
public Unity.Thing component = null; public Unity.Thing component = null;
#endif #endif
public bool terminate = false;
#endregion Properties #endregion Properties
#region Methods #region Methods
public static ulong GetTimeMs() {
#if UNITY_5_3_OR_NEWER
return (ulong)(UnityEngine.Time.time * 1000);
#endif
}
/// <summary> /// <summary>
/// Update de state of the thing /// Update de state of the thing
/// </summary> /// </summary>