RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Fixes to pass unit tests

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This commit is contained in:
Pascal Serrarens 2025-05-02 12:34:48 +02:00
parent e7a6d92740
commit 5a3c2f2a2c
3 changed files with 27 additions and 21 deletions
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18
src/Participant.cs
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@ -19,10 +19,11 @@ namespace RoboidControl {
/// </summary> /// </summary>
/// <param name="ipAddress">The IP address of the participant</param> /// <param name="ipAddress">The IP address of the participant</param>
/// <param name="port">The UDP port of the participant</param> /// <param name="port">The UDP port of the participant</param>
public Participant(string ipAddress, int port) { public Participant(string ipAddress, int port, Participant localParticipant = null) {
this.ipAddress = ipAddress; this.ipAddress = ipAddress;
this.port = port; this.port = port;
this.udpClient = new UdpClient(); if (localParticipant != null)
this.udpClient = localParticipant.udpClient;
} }
/// <summary> /// <summary>
@ -34,7 +35,7 @@ namespace RoboidControl {
/// </summary> /// </summary>
public int port = 0; public int port = 0;
private UdpClient udpClient = null; public UdpClient udpClient = null;
/// <summary> /// <summary>
/// he network Id to identify the participant /// he network Id to identify the participant
@ -119,8 +120,11 @@ namespace RoboidControl {
return true; return true;
IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(this.ipAddress), this.port); IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(this.ipAddress), this.port);
Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}"); Console.WriteLine($"msg to remote participant {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint); if (udpClient != null) {
Console.WriteLine("sending...");
this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
}
return true; return true;
} }
@ -165,9 +169,9 @@ namespace RoboidControl {
/// <param name="ipAddress">The IP address of the participant</param> /// <param name="ipAddress">The IP address of the participant</param>
/// <param name="port">The port used to send messages to this participant</param> /// <param name="port">The port used to send messages to this participant</param>
/// <returns>The added participant</returns> /// <returns>The added participant</returns>
public static Participant AddParticipant(string ipAddress, int port) { public static Participant AddParticipant(string ipAddress, int port, Participant localParticipant = null) {
Console.WriteLine($"New Participant {ipAddress}:{port}"); Console.WriteLine($"New Participant {ipAddress}:{port}");
Participant participant = new(ipAddress, port) { Participant participant = new(ipAddress, port, localParticipant) {
networkId = (byte)(Participant.participants.Count + 1) networkId = (byte)(Participant.participants.Count + 1)
}; };
Participant.participants.Add(participant); Participant.participants.Add(participant);

17
src/Participants/ParticipantUDP.cs
View File

@ -43,13 +43,6 @@ namespace RoboidControl {
/// <param name="port">The port number of the site server</param> /// <param name="port">The port number of the site server</param>
/// <param name="localPort">The port used by the local participant</param> /// <param name="localPort">The port used by the local participant</param>
public ParticipantUDP(string ipAddress, int port = 7681, int localPort = 7681) : base("127.0.0.1", localPort) { public ParticipantUDP(string ipAddress, int port = 7681, int localPort = 7681) : base("127.0.0.1", localPort) {
if (this.port == 0)
this.isIsolated = true;
else
this.remoteSite = new Participant(ipAddress, port);
Participant.AddParticipant(this);
// Determine local IP address // Determine local IP address
IPAddress localIpAddress = null; IPAddress localIpAddress = null;
IPAddress subnetMask = null; IPAddress subnetMask = null;
@ -80,6 +73,12 @@ namespace RoboidControl {
this.udpClient = new UdpClient(localPort); this.udpClient = new UdpClient(localPort);
this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null); this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
if (this.port == 0)
this.isIsolated = true;
else
this.remoteSite = new Participant(ipAddress, port, this);
Participant.AddParticipant(this);
} }
private static ParticipantUDP isolatedParticipant = null; private static ParticipantUDP isolatedParticipant = null;
@ -119,7 +118,7 @@ namespace RoboidControl {
//public byte[] buffer = new byte[1024]; //public byte[] buffer = new byte[1024];
public IPEndPoint endPoint = null; public IPEndPoint endPoint = null;
public UdpClient udpClient = null; //public UdpClient udpClient = null;
public string broadcastIpAddress = "255.255.255.255"; public string broadcastIpAddress = "255.255.255.255";
public readonly ConcurrentQueue<IMessage> messageQueue = new ConcurrentQueue<IMessage>(); public readonly ConcurrentQueue<IMessage> messageQueue = new ConcurrentQueue<IMessage>();
@ -298,7 +297,7 @@ namespace RoboidControl {
string ipAddress = endPoint.Address.ToString(); string ipAddress = endPoint.Address.ToString();
if (ipAddress != this.ipAddress) { if (ipAddress != this.ipAddress) {
Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port); Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port); remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port, this);
ReceiveData(data, remoteParticipant); ReceiveData(data, remoteParticipant);
} }

13
src/Participants/SiteServer.cs
View File

@ -82,10 +82,12 @@ namespace RoboidControl {
if (participant == null || participant == this) if (participant == null || participant == this)
continue; continue;
PoseMsg poseMsg = new(thing.owner.networkId, thing); // PoseMsg poseMsg = new(thing.owner.networkId, thing);
this.Send(participant, poseMsg); // this.Send(participant, poseMsg);
BinaryMsg binaryMsg = new(thing.owner.networkId, thing); // BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
this.Send(participant, binaryMsg); // this.Send(participant, binaryMsg);
participant.Send(new PoseMsg(thing.owner.networkId, thing));
participant.Send(new BinaryMsg(thing.owner.networkId, thing));
} }
} }
} }
@ -99,7 +101,8 @@ namespace RoboidControl {
base.Process(sender, msg); base.Process(sender, msg);
if (msg.networkId != sender.networkId) { if (msg.networkId != sender.networkId) {
//Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}"); //Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
this.Send(sender, new NetworkIdMsg(sender.networkId)); // this.Send(sender, new NetworkIdMsg(sender.networkId));
sender.Send(new NetworkIdMsg(sender.networkId));
UpdateEvent e = new() { UpdateEvent e = new() {
messageId = ParticipantMsg.Id, messageId = ParticipantMsg.Id,
participant = sender participant = sender