Aligned Thing implementation
This commit is contained in:
parent
052620c0f0
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346263d311
@ -115,7 +115,7 @@ namespace RoboidControl {
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}
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if (thing == null)
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thing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
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thing = new Thing(sender, msg.thingType, msg.thingId);
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if (msg.parentId != 0) {
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thing.parent = sender.Get(msg.parentId);
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406
src/Thing.cs
406
src/Thing.cs
@ -10,90 +10,83 @@ namespace RoboidControl {
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[Serializable]
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public class Thing {
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#region Types
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/// <summary>
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/// Predefined thing types
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/// </summary>
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public enum Type {
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Undetermined,
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// Sensor
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Switch,
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DistanceSensor,
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DirectionalSensor,
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TemperatureSensor,
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TouchSensor,
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public static class Type {
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public const byte Undetermined = 0x00;
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// sensor
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public const byte Switch = 0x01;
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public const byte DistanceSensor = 0x02;
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public const byte DirectionalSensor = 0x03;
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public const byte TemperatureSensor = 0x04;
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public const byte TouchSensor = 0x05;
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// Motor
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ControlledMotor,
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UncontrolledMotor,
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Servo,
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public const byte ControlledMotor = 0x06;
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public const byte UncontrolledMotor = 0x07;
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public const byte Servo = 0x08;
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// Other
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Roboid,
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Humanoid,
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ExternalSensor
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};
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public delegate void ChangeHandler();
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public delegate void SphericalHandler(Spherical v);
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public delegate void ThingHandler(Thing t);
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#endregion Types
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public const byte Roboid = 0x09;
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public const byte HUmanoid = 0x010;
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public const byte ExternalSensor = 0x11;
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public const byte Animator = 0x40;
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}
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#region Init
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/// <summary>
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/// Create a new thing without communication abilities
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/// </summary>
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/// <param name="thingType">The type of thing (can use \ref RoboidControl::Thing::Type "Thing.Type")</param>
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/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
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public Thing(byte thingType = Type.Undetermined, bool invokeEvent = true) : this(ParticipantUDP.Isolated(), thingType, 0, invokeEvent) {
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}
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/// <summary>
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/// Create a new thing for a participant
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/// </summary>
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/// <param name="owner">The participant owning the thing</param>
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/// <param name="thingType">The type of thing</param>
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public Thing(Participant owner, byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) {
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/// <param name="owner">The owning participant</param>
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/// <param name="thingType">The type of thing (can use \ref RoboidControl::Thing::Type "Thing.Type")</param>
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/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
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/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
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public Thing(Participant owner, byte thingType = Type.Undetermined, byte thingId = 0, bool invokeEvent = true) {
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this.owner = owner;
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this.id = thingId;
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this.type = thingType;
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if (this.owner != null)
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this.owner.Add(this);
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if (invokeEvent)
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InvokeNewThing(this);
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}
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public Thing(Participant owner) : this(owner, Type.Undetermined) { }
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/// <summary>
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/// Create a new thing for a participant
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/// </summary>
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/// <param name="owner">The participant owning the thing</param>
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/// <param name="thingType">The type of thing</param>
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public Thing(Participant owner, Type thingType = Type.Undetermined, bool invokeEvent = true) : this(owner, (byte)thingType, invokeEvent) {
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}
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/// <summary>
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/// Create a new thing without communication abilities
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/// </summary>
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/// <param name="thingType">The type of thing</param>
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public Thing(byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) : this(ParticipantUDP.Isolated(), thingType, invokeEvent) {
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}
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/// <summary>
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/// Create a new thing as a child of another thing
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/// Create a new child thing
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/// </summary>
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/// <param name="parent">The parent thing</param>
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/// <param name="thingType">The type of thing</param>
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public Thing(Thing parent, byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) : this(parent.owner, thingType, invokeEvent) {
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/// <param name="thingType">The type of thing (can use \ref RoboidControl::Thing::Type "Thing.Type")</param>
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/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
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/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
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/// <note>The owner will be the same as the owner of the parent thing</note>
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public Thing(Thing parent, byte thingType = Type.Undetermined, bool invokeEvent = true) : this(parent.owner, thingType, 0, invokeEvent) {
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this.parent = parent;
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}
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/// <summary>
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/// Create a new thing for the given participant
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/// </summary>
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/// <param name="owner">The participant owning the thing</param>
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/// <param name="networkId">The network ID of the thing</param>
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/// <param name="thingId">The ID of the thing</param>
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/// <param name="thingType">The type of thing</param>
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public Thing(Participant owner, byte networkId, byte thingId, byte thingType = 0) {
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this.owner = owner;
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this.id = thingId;
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this.type = thingType;
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this.networkId = networkId;
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// Console.Write($"New thing added to {owner}");
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this.owner.Add(this);
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InvokeNewThing(this);
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}
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// /// <summary>
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// /// Create a new thing for the given participant
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// /// </summary>
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// /// <param name="owner">The participant owning the thing</param>
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// /// <param name="networkId">The network ID of the thing</param>
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// /// <param name="thingId">The ID of the thing</param>
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// /// <param name="thingType">The type of thing</param>
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// public Thing(Participant owner, byte networkId, byte thingId, byte thingType = 0) {
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// this.owner = owner;
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// this.id = thingId;
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// this.type = thingType;
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// this.networkId = networkId;
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// // Console.Write($"New thing added to {owner}");
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// this.owner.Add(this);
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// InvokeNewThing(this);
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// }
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/// <summary>
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/// Function which can be used to create components in external engines.
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@ -108,6 +101,8 @@ namespace RoboidControl {
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#endregion Init
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public bool terminate = false;
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#region Properties
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/// <summary>
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@ -115,11 +110,6 @@ namespace RoboidControl {
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/// </summary>
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public Participant owner = null;
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/// <summary>
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/// The network ID of this thing.
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/// </summary>
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/// @note This field will likely disappear in future versions
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public byte networkId = 0;
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/// <summary>
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/// The ID of this thing
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/// </summary>
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public byte id = 0;
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@ -127,105 +117,8 @@ namespace RoboidControl {
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/// <summary>
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/// The type of this thing.
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/// </summary>
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/// This can be either a Thing::Type (needs casting) or a byte value for custom types.
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public byte type = (byte)Type.Undetermined;
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private Thing _parent;
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/// <summary>
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/// The parent of this thing
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/// </summary>
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public Thing parent {
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get => _parent;
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set {
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if (_parent == value)
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return;
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if (value == null) {
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_parent?.RemoveChild(this);
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_parent = null;
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}
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else {
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value.AddChild(this);
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}
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this.hierarchyChanged = true;
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}
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}
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/// <summary>
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/// Add a child Thing to this Thing
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/// </summary>
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/// <param name="child">The Thing which should become a child</param>
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/// @remark When the Thing is already a child, it will not be added again
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public void AddChild(Thing child) {
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if (children.Find(thing => thing == child) != null)
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return;
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child._parent = this;
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children.Add(child);
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}
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/// <summary>
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/// Remove the given thing as a child of this thing
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/// </summary>
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/// <param name="child">The child to remove</param>
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/// <returns>True when the child was present or false when it was not found</returns>
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public bool RemoveChild(Thing child) {
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return children.Remove(child);
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}
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/// <summary>
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/// Get a child by thing Id
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/// </summary>
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/// <param name="thingId"></param>
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/// <param name="recursively"></param>
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/// <returns></returns>
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Thing GetChild(byte thingId, bool recursively = false) {
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foreach (Thing child in this.children) {
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if (child == null)
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continue;
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if (child.id == thingId)
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return child;
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if (recursively) {
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Thing foundChild = child.GetChild(thingId, recursively);
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if (foundChild != null)
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return foundChild;
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}
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}
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return null;
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}
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/// <summary>
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/// Find a child by name
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/// </summary>
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/// <param name="name">The name of the child thing</param>
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/// <param name="recursively">If true, the name will be searched through descendants recursively</param>
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/// <returns>The found thing or null when nothing is found</returns>
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Thing FindChild(string name, bool recursively = true) {
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foreach (Thing child in this.children) {
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if (child == null)
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continue;
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if (child.name == name)
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return child;
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if (recursively) {
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Thing foundChild = child.FindChild(name, recursively);
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if (foundChild != null)
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return foundChild;
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}
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}
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return null;
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}
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/// <summary>
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/// Indicator that the hierarchy of the thing has changed
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/// </summary>
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public bool hierarchyChanged = true;
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/// <summary>
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/// The children of this thing
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/// </summary>
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[NonSerialized]
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protected List<Thing> children = new();
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/// This can be either a \ref RoboidControl::Thing::Type "Thing.Type" or a byte value for custom types.
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public byte type = Type.Undetermined;
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private string _name = "";
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/// <summary>
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@ -252,6 +145,120 @@ namespace RoboidControl {
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/// </summary>
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public string modelUrl = "";
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#if UNITY_5_3_OR_NEWER
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/// <summary>
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/// A reference to the representation of the thing in Unity
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/// </summary>
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[NonSerialized]
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public Unity.Thing component = null;
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#endif
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#endregion Properties
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#region Hierarchy
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private Thing _parent;
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/// <summary>
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/// The parent of this thing
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/// </summary>
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public Thing parent {
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get => _parent;
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set {
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if (_parent == value)
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return;
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if (value == null) {
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_parent?.RemoveChild(this);
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_parent = null;
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}
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else {
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value.AddChild(this);
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}
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this.hierarchyChanged = true;
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}
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}
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/// <summary>
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/// The children of this thing
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/// </summary>
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[NonSerialized]
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protected List<Thing> children = new();
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/// <summary>
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/// Add a child Thing to this Thing
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/// </summary>
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/// <param name="child">The Thing which should become a child</param>
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/// @remark When the Thing is already a child, it will not be added again
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public void AddChild(Thing child) {
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if (children.Find(thing => thing == child) != null)
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return;
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child._parent = this;
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children.Add(child);
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}
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/// <summary>
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/// Remove the given thing as a child of this thing
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/// </summary>
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/// <param name="child">The child to remove</param>
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/// <returns>True when the child was present or false when it was not found</returns>
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public bool RemoveChild(Thing child) {
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return children.Remove(child);
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}
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/// <summary>
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/// Get a child by thing Id
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/// </summary>
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/// <param name="thingId">The thing ID to find</param>
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/// <param name="recurse">Look recursively through all descendants</param>
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/// <returns></returns>
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Thing GetChild(byte thingId, bool recurse = false) {
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foreach (Thing child in this.children) {
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if (child == null)
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continue;
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if (child.id == thingId)
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return child;
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if (recurse) {
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Thing foundChild = child.GetChild(thingId, recurse);
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if (foundChild != null)
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return foundChild;
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}
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}
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return null;
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}
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/// <summary>
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/// Find a child by name
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/// </summary>
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/// <param name="name">The name of the child thing</param>
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/// <param name="recurse">Look recursively through all descendants</param>
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/// <returns>The found thing or null when nothing is found</returns>
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Thing FindChild(string name, bool recurse = true) {
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foreach (Thing child in this.children) {
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if (child == null)
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continue;
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if (child.name == name)
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return child;
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if (recurse) {
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Thing foundChild = child.FindChild(name, recurse);
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if (foundChild != null)
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return foundChild;
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}
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}
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return null;
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}
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/// <summary>
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/// Indicator that the hierarchy of the thing has changed
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/// </summary>
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public bool hierarchyChanged = true;
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#endregion Hierarchy
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#region Pose
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private Spherical _position = Spherical.zero;
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/// <summary>
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/// The position of the thing in local space, in meters.
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@ -340,20 +347,14 @@ namespace RoboidControl {
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/// </summary>
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public bool angularVelocityUpdated = false;
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#if UNITY_5_3_OR_NEWER
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#endregion Pose
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#region Update
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/// <summary>
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/// A reference to the representation of the thing in Unity
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/// Get the current time in milliseconds
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/// </summary>
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[NonSerialized]
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public Unity.Thing component = null;
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#endif
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public bool terminate = false;
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#endregion Properties
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#region Methods
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/// <returns>The current time in milliseconds</returns>
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public static ulong GetTimeMs() {
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#if UNITY_5_3_OR_NEWER
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return (ulong)(UnityEngine.Time.time * 1000);
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@ -365,16 +366,17 @@ namespace RoboidControl {
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/// <summary>
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/// Update de state of the thing
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/// </summary>
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/// <param name="recursively">When true, this will Update the descendants recursively</param>
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public void Update(bool recursively = false) {
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Update(GetTimeMs(), recursively);
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/// <param name="recurse">When true, this will Update the descendants recursively</param>
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public void Update(bool recurse = false) {
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Update(GetTimeMs(), recurse);
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}
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// #endif
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/// <summary>
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/// Update this thing
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/// </summary>
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/// <param name="currentTime">The current time in milliseconds</param>
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public virtual void Update(ulong currentTimeMs, bool recursively = false) {
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/// <param name="currentTime">he current clock time in milliseconds; if this is zero, the current time is retrieved automatically</param>
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/// <param name="recurse">When true, this will Update the descendants recursively</param>
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public virtual void Update(ulong currentTimeMs, bool recurse = false) {
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if (this.positionUpdated || this.orientationUpdated)
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OnPoseChanged?.Invoke();
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this.positionUpdated = false;
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@ -384,31 +386,19 @@ namespace RoboidControl {
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//this.hierarchyChanged = false;
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// should recurse over children...
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if (recursively) {
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if (recurse) {
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for (byte childIx = 0; childIx < this.children.Count; childIx++) {
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Thing child = this.children[childIx];
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if (child == null)
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continue;
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child.Update(currentTimeMs, recursively);
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child.Update(currentTimeMs, recurse);
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}
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}
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}
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/// <summary>
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/// Function used to generate binary data for this thing
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/// </summary>
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/// <returns>a byte array with the binary data</returns>
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/// @sa Passer::RoboidControl::BinaryMsg
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public virtual byte[] GenerateBinary() { return Array.Empty<byte>(); }
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/// <summary>
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/// Function used to process binary data received for this thing
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/// </summary>
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/// <param name="bytes">The binary data</param>
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public virtual void ProcessBinary(byte[] bytes) {
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}
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#endregion Methods
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public delegate void ChangeHandler();
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public delegate void SphericalHandler(Spherical v);
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public delegate void ThingHandler(Thing t);
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/// <summary>
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/// Event triggered when a new thing has been created
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@ -422,18 +412,20 @@ namespace RoboidControl {
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OnNewThing?.Invoke(thing);
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}
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#endregion Update
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/// <summary>
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/// Check if the thing has the given properaties
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/// Function used to generate binary data for this thing
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/// </summary>
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/// <param name="thing">The thing to check</param>
|
||||
/// <param name="networkId">The network ID to compare to</param>
|
||||
/// <param name="thingId">The thing ID to compare to</param>
|
||||
/// <returns>True when the thing has the given properties</returns>
|
||||
public static bool IsThing(Thing thing, byte networkId, byte thingId) {
|
||||
if (thing == null)
|
||||
return false;
|
||||
return (thing.networkId == networkId) && (thing.id == thingId);
|
||||
//return (thing.id == thingId);
|
||||
/// <returns>A byte array with the binary data</returns>
|
||||
/// @sa Passer::RoboidControl::BinaryMsg
|
||||
public virtual byte[] GenerateBinary() { return Array.Empty<byte>(); }
|
||||
|
||||
/// <summary>
|
||||
/// Function used to process binary data received for this thing
|
||||
/// </summary>
|
||||
/// <param name="bytes">The binary data</param>
|
||||
public virtual void ProcessBinary(byte[] bytes) {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -17,10 +17,10 @@ namespace RoboidControl {
|
||||
/// <summary>
|
||||
/// Create a distance sensor with the given ID
|
||||
/// </summary>
|
||||
/// <param name="participant">The participant for with the sensor is needed</param>
|
||||
/// <param name="owner">The participant for with the sensor is needed</param>
|
||||
/// <param name="networkId">The network ID of the sensor</param>
|
||||
/// <param name="thingId">The ID of the thing</param>
|
||||
public DistanceSensor(Participant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) {
|
||||
public DistanceSensor(Participant owner, byte thingId) : base(owner, Type.TemperatureSensor, thingId) {
|
||||
}
|
||||
|
||||
#if UNITY_5_3_OR_NEWER
|
||||
|
||||
@ -17,7 +17,7 @@ namespace RoboidControl {
|
||||
/// <param name="participant">The participant for with the sensor is needed</param>
|
||||
/// <param name="networkId">The network ID of the sensor</param>
|
||||
/// <param name="thingId">The ID of the thing</param>
|
||||
public TemperatureSensor(Participant participant, byte networkId, byte thingId) : base(participant, networkId, thingId, (byte)Type.TemperatureSensor) { }
|
||||
public TemperatureSensor(Participant participant, byte thingId) : base(participant, Type.TemperatureSensor, thingId) { }
|
||||
|
||||
/// <summary>
|
||||
/// Function to extract the temperature received in the binary message
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user