RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Merge commit '148ef23664f12f2907d0f1294bab9225d23275d4'

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This commit is contained in:
Pascal Serrarens 2025-06-10 17:14:46 +02:00
commit 432f5b0b6e
7 changed files with 76 additions and 42 deletions
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12
Unity/Participant.cs
View File

@ -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;
@ -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

16
Unity/Resources/DifferentialDrive.prefab
View File

@ -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}
rightWheel: {fileID: 7425139233737877139}
casterWheel: {fileID: 894333789048616995}
leftWheel: {fileID: 0}
rightWheel: {fileID: 0}
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

15
Unity/Resources/TouchSensor.prefab
View File

@ -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:
terminate: 0
id: 4
type: 5
nameChanged: 1
hierarchyChanged: 1
positionUpdated: 0
orientationUpdated: 0
linearVelocityUpdated: 0
angularVelocityUpdated: 0
participant: {fileID: 0}
owner: {fileID: 0}
touchedSomething: 0
--- !u!54 &5295705618145761524
Rigidbody:
m_ObjectHideFlags: 0

3
Unity/Wheel.cs
View File

@ -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,

21
src/Participant.cs
View File

@ -20,7 +20,7 @@ namespace RoboidControl {
/// <summary>
/// Create a generic participant
/// </summary>
private Participant() {
public Participant() {
Thing.CreateRoot(this);
}
@ -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
@ -111,16 +123,19 @@ 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);
if (foundThing == null)
Thing foundThing = Get(thing.owner.networkId, thing.id);
if (foundThing == null) {
Console.WriteLine($"Added Thing to participant {this.networkId} [{thing.owner.networkId}/{thing.id}]");
this.things.Add(thing);
}
}
}
/// <summary>
/// Remove a thing for this participant

41
src/Participants/ParticipantUDP.cs
View File

@ -447,11 +447,24 @@ namespace RoboidControl {
#if DEBUG
Console.WriteLine($"{this.name}: Process ThingMsg [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId}");
#endif
Thing thing = sender.Get(msg.thingId);
thing ??= ProcessNewThing(sender, msg);
Participant owner = GetParticipant(msg.networkId);
if (owner == null) {
owner = new() {
networkId = msg.networkId
};
AddParticipant(owner);
UpdateEvent e = new() {
messageId = ParticipantMsg.Id,
participant = owner
};
this.updateQueue.Enqueue(e);
Console.WriteLine("Added Participant");
}
Thing thing = owner.Get(msg.networkId, msg.thingId);
thing ??= ProcessNewThing(owner, msg);
if (msg.parentId != 0) {
thing.parent = sender.Get(msg.parentId);
thing.parent = owner.Get(msg.networkId, msg.parentId);
if (thing.parent == null)
Console.WriteLine($"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.DifferentialDrive => new DifferentialDrive(sender.root),
_ => new Thing(sender.root)
Thing.Type.TouchSensor => new TouchSensor(owner.root),
Thing.Type.DifferentialDrive => new DifferentialDrive(owner.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);
}
}

4
src/Things/DifferentialDrive.cs
View File

@ -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);