Merge commit '148ef23664f12f2907d0f1294bab9225d23275d4'

Unity/Participant.cs

@@ -19,6 +19,17 @@ namespace RoboidControl.Unity {
 
         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;
+                    participant.coreParticipant.component = participant;
+                    if (participant.coreParticipant is ParticipantUDP participantUDP) {
+                        participant.ipAddress = participantUDP.ipAddress;
+                        participant.port = participantUDP.port;
+                    }
+
+                    break;
                 case ThingMsg.id:
                     HandleThingEvent(e);
                     break;
@@ -38,7 +49,7 @@ namespace RoboidControl.Unity {
                     DifferentialDrive differentialDrive = DifferentialDrive.Create(coreDrive);
                     coreDrive.component = differentialDrive;
                     break;
-                 case RoboidControl.Motor coreMotor:
+                case RoboidControl.Motor coreMotor:
                     Motor wheel = Motor.Create(coreMotor);
                     coreMotor.component = wheel;
                     // We need to know the details (though a binary msg)
@@ -49,6 +60,7 @@ namespace RoboidControl.Unity {
                         Thing[] things = FindObjectsByType<Thing>(FindObjectsSortMode.None);
                         // Debug.Log(things.Length);
                         Thing thing = things.FirstOrDefault(t =>
+                            t != null &&
                             t.core != null &&
                             t.core.owner.networkId == coreThing.owner.networkId &&
                             t.core.id == coreThing.id

Unity/Resources/DifferentialDrive.prefab

@@ -201,11 +201,11 @@ MonoBehaviour:
   m_GameObject: {fileID: 3377575892836316963}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: ddd5065d5e866894cbcb569c3a898ccb, type: 3}
+  m_Script: {fileID: 11500000, guid: d47256d84ddc6fc4b95bed051f75f267, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   owner: {fileID: 0}
-  wheelRadius: 0.025
+  wheelRadius: 0
 --- !u!135 &3720747953092717687
 SphereCollider:
   m_ObjectHideFlags: 0
@@ -273,15 +273,15 @@ MonoBehaviour:
   m_GameObject: {fileID: 4326386140118987503}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 5c80bc2fd1d8aa14facb1ad4b6ccf7b3, type: 3}
+  m_Script: {fileID: 11500000, guid: d93f04a0dd496484c86f546a73574309, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   owner: {fileID: 0}
   leftMotor: {fileID: 0}
   rightMotor: {fileID: 0}
-  leftWheel: {fileID: 6773972788910618332}
+  leftWheel: {fileID: 0}
-  rightWheel: {fileID: 7425139233737877139}
+  rightWheel: {fileID: 0}
-  casterWheel: {fileID: 894333789048616995}
+  casterWheel: {fileID: 0}
 --- !u!54 &4118868690347991998
 Rigidbody:
   m_ObjectHideFlags: 0
@@ -435,11 +435,11 @@ MonoBehaviour:
   m_GameObject: {fileID: 5122915782100933114}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: ddd5065d5e866894cbcb569c3a898ccb, type: 3}
+  m_Script: {fileID: 11500000, guid: d47256d84ddc6fc4b95bed051f75f267, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   owner: {fileID: 0}
-  wheelRadius: 0.025
+  wheelRadius: 0
 --- !u!135 &8150853676422519226
 SphereCollider:
   m_ObjectHideFlags: 0

Unity/Resources/TouchSensor.prefab

@@ -127,20 +127,11 @@ MonoBehaviour:
   m_GameObject: {fileID: 6521541507066528382}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: ab969221c3007d441b18dd7387cf22d4, type: 3}
+  m_Script: {fileID: 11500000, guid: 74fd22179b1a3ac4186b7dc083d24e06, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  <core>k__BackingField:
+  owner: {fileID: 0}
-    terminate: 0
+  touchedSomething: 0
-    id: 4
-    type: 5
-    nameChanged: 1
-    hierarchyChanged: 1
-    positionUpdated: 0
-    orientationUpdated: 0
-    linearVelocityUpdated: 0
-    angularVelocityUpdated: 0
-  participant: {fileID: 0}
 --- !u!54 &5295705618145761524
 Rigidbody:
   m_ObjectHideFlags: 0

Unity/Wheel.cs

@@ -51,7 +51,8 @@ namespace RoboidControl.Unity {
                 gameObj.transform.parent = parent;
                 Wheel component = gameObj.AddComponent<Wheel>();
                 SiteServer participant = FindAnyObjectByType<SiteServer>();
-                RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
+                RoboidControl.Participant owner = participant.coreParticipant;
+                RoboidControl.Thing core = owner.Get(owner.networkId, thingId);
                 if (core == null) {
                     core = new(participant.coreParticipant.root) {
                         id = thingId,

src/Participant.cs

@@ -20,7 +20,7 @@ namespace RoboidControl {
         /// <summary>
         /// Create a generic participant
         /// </summary>
-        private Participant() {
+        public Participant() {
             Thing.CreateRoot(this);
         }
 
@@ -80,8 +80,8 @@ namespace RoboidControl {
         /// </summary>
         public byte networkId = 0;
 
-        public bool isRemote = false;        
+        public bool isRemote = false;
-        
+
         /// <summary>
         /// The root thing for this participant
         /// </summary>
@@ -97,6 +97,7 @@ namespace RoboidControl {
         /// </summary>
         /// <param name="thingId">The ID of the thing</param>
         /// <returns>The thing when it is found, null in other cases.</returns>
+        /*
         public Thing Get(byte thingId) {
             Thing thing = things.Find(aThing => aThing.id == thingId);
             //Thing thing = things.Find(aThing => Thing.IsThing(aThing, networkId, thingId));
@@ -104,6 +105,17 @@ namespace RoboidControl {
             //     Console.WriteLine($"Could not find thing {ipAddress}:{port}[{networkId}/{thingId}]");
             return thing;
         }
+        */
+        public Thing Get(byte networkId, byte thingId) {
+            Thing thing = things.Find(aThing =>
+             aThing.owner.networkId == networkId &&
+             aThing.id == thingId
+             );
+            //Thing thing = things.Find(aThing => Thing.IsThing(aThing, networkId, thingId));
+            if (thing == null)
+                Console.WriteLine($"Could not find thing {this.networkId} [{networkId}/{thingId}]");
+            return thing;
+        }
 
         /// <summary>
         /// Add a new thing for this participant
@@ -111,14 +123,17 @@ namespace RoboidControl {
         /// <param name="thing">The thing to add</param>
         /// <param name="checkId">If true, the thing.id is regenerated if it is zero
         public void Add(Thing thing, bool checkId = true) {
+            Console.WriteLine("Add Thing to participant");
             if (checkId && thing.id == 0) {
                 thing.id = (byte)(this.things.Count + 1);
                 this.things.Add(thing);
             }
             else {
-                Thing foundThing = Get(thing.id);
+                Thing foundThing = Get(thing.owner.networkId, thing.id);
-                if (foundThing == null)
+                if (foundThing == null) {
+                    Console.WriteLine($"Added Thing to participant {this.networkId} [{thing.owner.networkId}/{thing.id}]");
                     this.things.Add(thing);
+                }
             }
         }
 

src/Participants/ParticipantUDP.cs

@@ -447,11 +447,24 @@ namespace RoboidControl {
 #if DEBUG            
             Console.WriteLine($"{this.name}: Process ThingMsg [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId}");
 #endif            
-            Thing thing = sender.Get(msg.thingId);
+            Participant owner = GetParticipant(msg.networkId);
-            thing ??= ProcessNewThing(sender, msg);
+            if (owner == null) {
+                owner = new() {
+                    networkId = msg.networkId
+                };
+                AddParticipant(owner);
+                UpdateEvent e = new() {
+                    messageId = ParticipantMsg.Id,
+                    participant = owner
+                };
+                this.updateQueue.Enqueue(e);
+                Console.WriteLine("Added Participant");
+            }
+            Thing thing = owner.Get(msg.networkId, msg.thingId);
+            thing ??= ProcessNewThing(owner, msg);
 
             if (msg.parentId != 0) {
-                thing.parent = sender.Get(msg.parentId);
+                thing.parent = owner.Get(msg.networkId, msg.parentId);
                 if (thing.parent == null)
                     Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
             }
@@ -463,11 +476,12 @@ namespace RoboidControl {
             ForwardMessage(sender, msg);
         }
 
-        protected virtual Thing ProcessNewThing(Participant sender, ThingMsg msg) {
+        protected virtual Thing ProcessNewThing(Participant owner, ThingMsg msg) {
+            Console.WriteLine("--- New Thing");
             Thing newThing = msg.thingType switch {
-                Thing.Type.TouchSensor => new TouchSensor(sender.root),
+                Thing.Type.TouchSensor => new TouchSensor(owner.root),
-                Thing.Type.DifferentialDrive => new DifferentialDrive(sender.root),
+                Thing.Type.DifferentialDrive => new DifferentialDrive(owner.root),
-                _ => new Thing(sender.root)
+                _ => new Thing(owner.root)
             };
             newThing.id = msg.thingId;
             newThing.type = msg.thingType;
@@ -479,7 +493,8 @@ namespace RoboidControl {
             Console.WriteLine($"{this.name}: Process NameMsg [{msg.networkId}/{msg.thingId}] {msg.nameLength} {msg.name}");
 #endif
 
-            Thing thing = sender.Get(msg.thingId);
+            Participant owner = GetParticipant(msg.networkId);
+            Thing thing = owner.Get(msg.networkId, msg.thingId);
             if (thing != null)
                 thing.name = msg.name;
 
@@ -491,7 +506,7 @@ namespace RoboidControl {
             Console.WriteLine($"{this.name}: Process ModelUrlMsg [{msg.networkId}/{msg.thingId}] {msg.urlLength} {msg.url}");
 #endif
 
-            Thing thing = sender.Get(msg.thingId);
+            Thing thing = sender.Get(msg.networkId, msg.thingId);
             if (thing != null)
                 thing.modelUrl = msg.url;
 
@@ -506,7 +521,7 @@ namespace RoboidControl {
             if (owner == null)
                 return;
 
-            Thing thing = owner.Get(msg.thingId);
+            Thing thing = owner.Get(msg.networkId, msg.thingId);
             if (thing == null)
                 return;
 
@@ -526,7 +541,7 @@ namespace RoboidControl {
 #if DEBUG
             //            Console.WriteLine($"{this.name}: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
 #endif
-            Thing thing = sender.Get(msg.thingId);
+            Thing thing = sender.Get(msg.networkId, msg.thingId);
             thing?.ProcessBinary(msg.data);
         }
 
@@ -541,7 +556,7 @@ namespace RoboidControl {
 #if DEBUG
             Console.WriteLine($"Participant: Process Destroy Msg [{msg.networkId}/{msg.thingId}]");
 #endif            
-            Thing thing = sender.Get(msg.thingId);
+            Thing thing = sender.Get(msg.networkId, msg.thingId);
             if (thing != null)
                 this.Remove(thing);
 #if UNITY_5_3_OR_NEWER
@@ -554,7 +569,7 @@ namespace RoboidControl {
                 if (participant == this || participant == sender)
                     continue;
 
-                Console.WriteLine($"---> {participant.networkId}");
+                // Console.WriteLine($"---> {participant.networkId}");
                 participant.Send(msg);
             }
         }

src/Things/DifferentialDrive.cs

@@ -138,11 +138,11 @@ namespace RoboidControl {
         public override void ProcessBinary(byte[] data) {
             byte ix = 0;
             byte leftWheelId = data[ix++];
-            this.leftWheel = this.owner.Get(leftWheelId) as Motor;
+            this.leftWheel = this.owner.Get(this.owner.networkId, leftWheelId) as Motor;
             this.leftWheel ??= new Motor(this) { id = leftWheelId };
 
             byte rightWheelId = data[ix++];
-            this.rightWheel = this.owner.Get(rightWheelId) as Motor;
+            this.rightWheel = this.owner.Get(this.owner.networkId, rightWheelId) as Motor;
             this.rightWheel ??= new Motor(this) { id = rightWheelId };
 
             this._wheelRadius = LowLevelMessages.ReceiveFloat16(data, ref ix);