Merge commit '371e5b724c421a694ed9faef482a71471f01597e'

Unity/Thing.cs

@@ -128,7 +128,7 @@ namespace RoboidControl.Unity {
                     this.gameObject.name = core.name;
                     break;
                 case ModelUrlMsg.Id:
-                    Debug.Log("{this.id} Handle Model URL");
+                    Debug.Log($"{this.core.id} Handle Model URL");
                     string extension = core.modelUrl[core.modelUrl.LastIndexOf(".")..];
                     if (extension == ".jpg" || extension == ".png")
                         StartCoroutine(LoadJPG());

src/Participant.cs

@@ -244,6 +244,7 @@ namespace RoboidControl {
         /// <returns>The added participant</returns>
         public static Participant AddParticipant(string ipAddress, int port, Participant localParticipant = null) {
             Console.WriteLine($"New Participant {ipAddress}:{port}");
+            // This code is only valid for site, because those can distribute networkIds.....
             Participant participant = new(ipAddress, port, localParticipant) {
                 networkId = (byte)(Participant.participants.Count + 1)
             };

src/Participants/ParticipantUDP.cs

@@ -97,7 +97,7 @@ namespace RoboidControl {
         /// </summary>
         /// Isolated participants do not communicate with other participants
         public bool isIsolated = false;
-        
+
         /// <summary>
         /// The remote site when this participant is connected to a site
         /// </summary>
@@ -379,6 +379,16 @@ namespace RoboidControl {
                 this.networkId = msg.networkId;
                 foreach (Thing thing in this.things) //Thing.GetAllThings())
                     sender.SendThingInfo(thing);
+
+                // HACK to get the networkId for sites corrected to 0.
+                // This is needed because AddParticipant assigns a networkId for non-sites
+                sender.networkId = 0;
+                UpdateEvent e = new() {
+                    messageId = NetworkIdMsg.Id,
+                    participant = sender
+                };
+                this.updateQueue.Enqueue(e);
+
             }
         }
 
@@ -392,6 +402,29 @@ namespace RoboidControl {
 #if DEBUG            
             Console.WriteLine($"{this.name}: Process ThingMsg [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId}");
 #endif            
+            Thing thing = sender.Get(msg.thingId);
+            thing ??= ProcessNewThing(sender, msg);
+
+            if (msg.parentId != 0) {
+                thing.parent = sender.Get(msg.parentId);
+                if (thing.parent == null)
+                    Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
+            }
+            else {
+                // Console.Write($"Dropped {thing.id}");
+                thing.parent = null;
+            }
+        }
+
+        protected virtual Thing ProcessNewThing(Participant sender, ThingMsg msg) {
+            Thing newThing = msg.thingType switch {
+                Thing.Type.TouchSensor => new TouchSensor(sender.root),
+                Thing.Type.DifferentialDrive => new DifferentialDrive(sender.root),
+                _ => new Thing(sender.root)
+            };
+            newThing.id = msg.thingId;
+            newThing.type = msg.thingType;
+            return newThing;
         }
 
         protected virtual void Process(Participant sender, NameMsg msg) {

src/Participants/SiteServer.cs

@@ -76,16 +76,11 @@ namespace RoboidControl {
 
                 if (this.isIsolated == false) {
                     // Send to all other participants
-                    //foreach (Participant participant in Participant.participants) {
                     for (int participantIx = 0; participantIx < Participant.participants.Count; participantIx++) {
                         Participant participant = Participant.participants[participantIx];
                         if (participant == null || participant == this)
                             continue;
 
-                        // PoseMsg poseMsg = new(thing.owner.networkId, thing);
-                        // this.Send(participant, poseMsg);
-                        // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
-                        // this.Send(participant, binaryMsg);
                         participant.Send(new PoseMsg(thing.owner.networkId, thing));
                         participant.Send(new BinaryMsg(thing.owner.networkId, thing));
                     }
@@ -101,7 +96,6 @@ namespace RoboidControl {
             base.Process(sender, msg);
             if (msg.networkId != sender.networkId) {
                 //Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
-                // this.Send(sender, new NetworkIdMsg(sender.networkId));
                 sender.Send(new NetworkIdMsg(sender.networkId));
                 UpdateEvent e = new() {
                     messageId = ParticipantMsg.Id,
@@ -113,34 +107,6 @@ namespace RoboidControl {
 
         protected override void Process(Participant sender, NetworkIdMsg msg) { }
 
-        protected override void Process(Participant sender, ThingMsg msg) {
-            Console.WriteLine($"{this.name}: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
-
-            Thing thing = sender.Get(msg.thingId);
-            thing ??= ProcessNewThing(sender, msg);
-
-            if (msg.parentId != 0) {
-                thing.parent = sender.Get(msg.parentId);
-                if (thing.parent == null)
-                    Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
-            }
-            else {
-                // Console.Write($"Dropped {thing.id}");
-                thing.parent = null;
-            }
-        }
-
-        protected virtual Thing ProcessNewThing(Participant sender, ThingMsg msg) {
-            Thing newThing = msg.thingType switch {
-                Thing.Type.TouchSensor => new TouchSensor(sender.root),
-                Thing.Type.DifferentialDrive => new DifferentialDrive(sender.root),
-                _ => new Thing(sender.root)
-            };
-            newThing.id = msg.thingId;
-            newThing.type = msg.thingType;
-            return newThing;
-        }
-
         #endregion Receive
 
     }