UpdateQueues First steps

Unity/Participant.cs

@@ -0,0 +1,45 @@
+using UnityEngine;
+
+namespace RoboidControl.Unity {
+
+    public class Participant : MonoBehaviour {
+        public string ipAddress;
+        public int port;
+
+        public RoboidControl.Participant coreParticipant;
+
+        protected virtual void Update() {
+            if (coreParticipant == null)
+                return;
+
+            if (coreParticipant.updateQueue.TryDequeue(out RoboidControl.Participant.UpdateEvent e))
+                HandleUpdateEvent(e);
+        }
+
+        private void HandleUpdateEvent(RoboidControl.Participant.UpdateEvent e) {
+            switch (e.messageId) {
+                case ThingMsg.id:
+                    HandleThingEvent(e);
+                    break;
+            }
+        }
+
+        private void HandleThingEvent(RoboidControl.Participant.UpdateEvent e) {
+            switch (e.thing) {
+                case RoboidControl.TouchSensor coreTouchSensor:
+                    GameObject touchObj = new("Touch Sensor");
+                    touchObj.transform.SetParent(this.transform);
+                    TouchSensor touchSensor = touchObj.AddComponent<TouchSensor>();
+                    touchSensor.coreSensor = coreTouchSensor;
+                    break;
+                case RoboidControl.Thing coreThing:
+                    GameObject thingObj = new("Thingg");
+                    thingObj.transform.SetParent(this.transform);
+                    Thing thing = thingObj.AddComponent<Thing>();
+                    thing.core = coreThing;
+                    break;
+            }
+        }
+
+    }
+}

Unity/SiteServer.cs

@@ -5,8 +5,7 @@ using UnityEngine;
 
 namespace RoboidControl.Unity {
 
-    public class SiteServer : MonoBehaviour {
+    public class SiteServer : Participant {
-        public int port = 7681;
 
         public RoboidControl.SiteServer site;
 
@@ -16,7 +15,6 @@ namespace RoboidControl.Unity {
             Console.SetOut(new UnityLogWriter());
 
             site = new RoboidControl.SiteServer(port);
-            RoboidControl.Thing.OnNewThing += HandleNewThing;
         }
 
         void OnApplicationQuit() {
@@ -24,17 +22,30 @@ namespace RoboidControl.Unity {
                 site.Close();
         }
 
-        public void HandleNewThing(RoboidControl.Thing thing) {
+        protected override void Update() {
-            //Debug.Log($"Handle New thing event for {thing}");
+            if (site == null)
-            //site.Add(thing, false);
+                return;
-            thingQueue.Enqueue(thing);
+
-        }
+            if (site.updateQueue.TryDequeue(out RoboidControl.Participant.UpdateEvent e))
+                HandleUpdateEvent(e);
 
-        protected virtual void Update() {
             site.Update((ulong)(Time.time * 1000));
             while (thingQueue.TryDequeue(out RoboidControl.Thing thing))
                 thing.CreateComponent();
         }
+
+        private void HandleUpdateEvent(RoboidControl.Participant.UpdateEvent e) {
+            switch (e.messageId) {
+                case ParticipantMsg.Id:
+                    GameObject remoteParticipant = new GameObject("RemoteParticipant");
+                    Participant participant = remoteParticipant.AddComponent<Participant>();
+                    participant.coreParticipant = e.participant;
+                    break;
+                case ThingMsg.id:
+                    e.thing.CreateComponent();
+                    break;
+            }
+        }
     }
 
 }

Unity/Thing.cs

@@ -70,6 +70,9 @@ namespace RoboidControl.Unity {
                 return;
             }
 
+            if (core.updateQueue.TryDequeue(out RoboidControl.Thing.UpdateEvent e))
+                HandleUpdateEvent(e);            
+
             if (core.linearVelocity != null && core.linearVelocity.distance != 0) {
                 Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
                 this.transform.Translate(core.linearVelocity.distance * Time.deltaTime * direction, Space.Self);
@@ -103,6 +106,17 @@ namespace RoboidControl.Unity {
             }
         }
 
+        private void HandleUpdateEvent(RoboidControl.Thing.UpdateEvent e) {
+            switch(e.messageId) {
+                case ThingMsg.id:                    
+                    break;
+                case PoseMsg.Id:
+                    this.transform.localPosition = core.position.ToVector3();
+                    this.transform.localRotation = core.orientation.ToQuaternion();
+                    break;
+            }
+        }
+
         private void PoseChanged() {
             //Debug.Log($"{this} pose changed");
             if (core.positionUpdated)

Unity/TouchSensor.cs

@@ -14,6 +14,7 @@ namespace RoboidControl.Unity {
 		/// </summary>
 		public RoboidControl.TouchSensor coreSensor {
 			get => (RoboidControl.TouchSensor)base.core;
+			set => base.core = value;
 		}
 
 		SphereCollider collider = null;

src/Participant.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Collections.Concurrent;
 
 namespace RoboidControl {
 
@@ -78,6 +79,8 @@ namespace RoboidControl {
             this.things.Remove(thing);
         }
 
+#region Update
+
         /// <summary>
         /// Update all things for this participant
         /// </summary>
@@ -91,6 +94,15 @@ namespace RoboidControl {
             }
         }
 
+        public class UpdateEvent {
+            public int messageId; // see the communication messages
+            public Thing thing;
+            public Participant participant;
+        }
+        public ConcurrentQueue<UpdateEvent> updateQueue = new();
+
+#endregion Update
+
         /// <summary>
         /// The collection of known participants.
         /// </summary>

src/Participants/SiteServer.cs

@@ -100,6 +100,11 @@ namespace RoboidControl {
             if (msg.networkId != sender.networkId) {
                 //Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
                 this.Send(sender, new NetworkIdMsg(sender.networkId));
+                UpdateEvent e = new() {
+                    messageId = ParticipantMsg.Id,
+                    participant = sender
+                };
+                this.updateQueue.Enqueue(e);
             }
         }
 

src/Thing.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Collections.Concurrent;
 using LinearAlgebra;
 
 namespace RoboidControl {
@@ -56,8 +57,14 @@ namespace RoboidControl {
             this.type = thingType;
             if (this.owner != null)
                 this.owner.Add(this);
-            if (invokeEvent)
+            if (invokeEvent) {
-                InvokeNewThing(this);
+                //InvokeNewThing(this);
+                Participant.UpdateEvent e = new() {
+                    messageId = ThingMsg.id,
+                    thing = this
+                };
+                this.owner.updateQueue.Enqueue(e);
+            }
         }
 
         /// <summary>
@@ -271,6 +278,8 @@ namespace RoboidControl {
                     _position = value;
                     positionUpdated = true;
                     //OnPositionChanged?.Invoke();
+                    UpdateEvent e = new() { messageId = PoseMsg.Id };
+                    updateQueue.Enqueue(e);
                 }
             }
         }
@@ -413,6 +422,11 @@ namespace RoboidControl {
             OnNewThing?.Invoke(thing);
         }
 
+        public class UpdateEvent {
+            public int messageId; // see the communication messages
+        };
+        public ConcurrentQueue<UpdateEvent> updateQueue = new();
+
         #endregion Update
 
         /// <summary>