Implemented updateQueues
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19a6e22b16
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71adf127d9
@ -27,16 +27,12 @@ namespace RoboidControl.Unity {
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private void HandleThingEvent(RoboidControl.Participant.UpdateEvent e) {
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switch (e.thing) {
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case RoboidControl.TouchSensor coreTouchSensor:
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GameObject touchObj = new("Touch Sensor");
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touchObj.transform.SetParent(this.transform);
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TouchSensor touchSensor = touchObj.AddComponent<TouchSensor>();
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touchSensor.coreSensor = coreTouchSensor;
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TouchSensor touchSensor = TouchSensor.Create(coreTouchSensor);
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coreTouchSensor.component = touchSensor;
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break;
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case RoboidControl.Thing coreThing:
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GameObject thingObj = new("Thingg");
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thingObj.transform.SetParent(this.transform);
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Thing thing = thingObj.AddComponent<Thing>();
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thing.core = coreThing;
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Thing thing = Thing.Create(coreThing);
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coreThing.component = thing;
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break;
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}
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}
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@ -33,7 +33,6 @@ namespace RoboidControl.Unity {
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return;
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}
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siteServer.site.Add(thing);
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core.OnPoseChanged += PoseChanged;
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}
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public static Thing Create(RoboidControl.Thing core) {
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@ -56,8 +55,6 @@ namespace RoboidControl.Unity {
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this.transform.localPosition = core.position.ToVector3();
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if (core.orientation != null)
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this.transform.localRotation = core.orientation.ToQuaternion();
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core.OnPoseChanged += this.PoseChanged;
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}
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/// <summary>
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@ -71,7 +68,7 @@ namespace RoboidControl.Unity {
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}
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if (core.updateQueue.TryDequeue(out RoboidControl.Thing.UpdateEvent e))
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HandleUpdateEvent(e);
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HandleUpdateEvent(e);
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if (core.linearVelocity != null && core.linearVelocity.distance != 0) {
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Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
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@ -82,37 +79,31 @@ namespace RoboidControl.Unity {
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Vector3 axis = core.angularVelocity.direction.ToVector3();
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this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis);
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}
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if (!string.IsNullOrEmpty(core.modelUrl) && this.modelUrl == null) {
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string extension = core.modelUrl.Substring(core.modelUrl.LastIndexOf("."));
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if (extension == ".jpg" || extension == ".png") {
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StartCoroutine(LoadJPG());
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}
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this.modelUrl = core.modelUrl;
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}
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if (core.nameChanged) {
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if (this.gameObject.name != core.name)
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this.gameObject.name = core.name;
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core.nameChanged = false;
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}
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if (core.hierarchyChanged) {
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// Debug.Log("Parent changed");
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if (core.parent == null)
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this.transform.SetParent(null, true);
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else
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this.transform.SetParent(core.parent.component.transform, true);
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core.hierarchyChanged = false;
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}
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}
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private void HandleUpdateEvent(RoboidControl.Thing.UpdateEvent e) {
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switch(e.messageId) {
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case ThingMsg.id:
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switch (e.messageId) {
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case ThingMsg.id:
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if (core.parent == null)
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this.transform.SetParent(null, true);
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else if (core.parent.component != null)
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this.transform.SetParent(core.parent.component.transform, true);
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break;
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case NameMsg.Id:
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this.gameObject.name = core.name;
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break;
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case ModelUrlMsg.Id:
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string extension = core.modelUrl[core.modelUrl.LastIndexOf(".")..];
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if (extension == ".jpg" || extension == ".png")
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StartCoroutine(LoadJPG());
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this.modelUrl = core.modelUrl;
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break;
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case PoseMsg.Id:
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this.transform.localPosition = core.position.ToVector3();
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this.transform.localRotation = core.orientation.ToQuaternion();
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if (core.linearVelocity.distance == 0)
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this.transform.localPosition = core.position.ToVector3();
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if (core.angularVelocity.distance == 0)
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this.transform.localRotation = core.orientation.ToQuaternion();
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break;
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}
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}
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@ -17,7 +17,7 @@ namespace RoboidControl.Unity {
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set => base.core = value;
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}
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SphereCollider collider = null;
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SphereCollider touchCollider = null;
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/// <summary>
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/// Start the Unity represention
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@ -27,7 +27,7 @@ namespace RoboidControl.Unity {
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participant = FindAnyObjectByType<SiteServer>();
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SetCoreThing(new RoboidControl.TouchSensor(participant.site));
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}
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collider = GetComponent<SphereCollider>();
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touchCollider = GetComponent<SphereCollider>();
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}
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/// <summary>
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@ -59,10 +59,10 @@ namespace RoboidControl.Unity {
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protected override void Update() {
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base.Update();
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if (collider.radius == 0.01f &&
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if (touchCollider.radius == 0.01f &&
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this.transform.parent != null && this.transform.localPosition.magnitude > 0
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) {
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collider.radius = Vector3.Distance(this.transform.position, this.transform.parent.position) / 2;
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touchCollider.radius = Vector3.Distance(this.transform.position, this.transform.parent.position) / 2;
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this.transform.position = (this.transform.position + this.transform.parent.position) / 2;
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}
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}
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@ -111,7 +111,7 @@ namespace RoboidControl {
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protected override void Process(Participant sender, NetworkIdMsg msg) { }
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protected override void Process(Participant sender, ThingMsg msg) {
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Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
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Console.WriteLine($"{this.name}: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
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Thing thing = sender.Get(msg.thingId);
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if (thing == null) {
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60
src/Thing.cs
60
src/Thing.cs
@ -58,7 +58,6 @@ namespace RoboidControl {
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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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Participant.UpdateEvent e = new() {
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messageId = ThingMsg.id,
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thing = this
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@ -138,20 +137,25 @@ namespace RoboidControl {
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if (_name != value) {
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_name = value;
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nameChanged = true;
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OnNameChanged?.Invoke();
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this.updateQueue.Enqueue(new UpdateEvent(NameMsg.Id));
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}
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}
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}
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/// <summary>
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/// Event which is triggered when the name changes
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/// </summary>
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public event ChangeHandler OnNameChanged = delegate { };
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public bool nameChanged = false;
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private string _modelUrl = "";
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/// <summary>
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/// An URL pointing to the location where a model of the thing can be found
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/// </summary>
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public string modelUrl = "";
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public string modelUrl {
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get => _modelUrl;
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set {
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if (_modelUrl != value) {
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_modelUrl = value;
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this.updateQueue.Enqueue(new UpdateEvent(ModelUrlMsg.Id));
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}
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}
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}
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#if UNITY_5_3_OR_NEWER
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/// <summary>
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@ -183,6 +187,7 @@ namespace RoboidControl {
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value.AddChild(this);
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}
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this.hierarchyChanged = true;
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this.updateQueue.Enqueue(new UpdateEvent(ThingMsg.id));
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}
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}
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@ -277,17 +282,11 @@ namespace RoboidControl {
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if (_position != value) {
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_position = value;
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positionUpdated = true;
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//OnPositionChanged?.Invoke();
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UpdateEvent e = new() { messageId = PoseMsg.Id };
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updateQueue.Enqueue(e);
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updateQueue.Enqueue(new UpdateEvent(PoseMsg.Id));
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}
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}
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}
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/// <summary>
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/// Event triggered when the pose has changed
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/// </summary>
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public event ChangeHandler OnPoseChanged = delegate { };
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/// <summary>
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/// Boolean indicating that the thing has an updated position
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/// </summary>
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public bool positionUpdated = false;
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@ -321,15 +320,11 @@ namespace RoboidControl {
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if (_linearVelocity != value) {
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_linearVelocity = value;
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linearVelocityUpdated = true;
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OnLinearVelocityChanged?.Invoke(_linearVelocity);
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updateQueue.Enqueue(new UpdateEvent(PoseMsg.Id));
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}
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}
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}
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/// <summary>
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/// Event triggered when the linear velocity has changed
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/// </summary>
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public event SphericalHandler OnLinearVelocityChanged = delegate { };
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/// <summary>
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/// Boolean indicating the thing has an updated linear velocity
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/// </summary>
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public bool linearVelocityUpdated = false;
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@ -344,15 +339,11 @@ namespace RoboidControl {
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if (_angularVelocity != value) {
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_angularVelocity = value;
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angularVelocityUpdated = true;
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OnAngularVelocityChanged?.Invoke(_angularVelocity);
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updateQueue.Enqueue(new UpdateEvent(PoseMsg.Id));
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}
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}
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}
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/// <summary>
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/// Event triggered when the angular velocity has changed
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/// </summary>
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public event SphericalHandler OnAngularVelocityChanged = delegate { };
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/// <summary>
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/// Boolean indicating the thing has an updated angular velocity
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/// </summary>
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public bool angularVelocityUpdated = false;
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@ -387,8 +378,6 @@ namespace RoboidControl {
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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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this.orientationUpdated = false;
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this.linearVelocityUpdated = false;
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@ -406,23 +395,10 @@ namespace RoboidControl {
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}
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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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/// <summary>
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/// Event triggered when a new thing has been created
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/// </summary>
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public static event ThingHandler OnNewThing = delegate { };
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/// <summary>
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/// Trigger the creation for the given thing
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/// </summary>
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/// <param name="thing">The created thing</param>
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public static void InvokeNewThing(Thing thing) {
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OnNewThing?.Invoke(thing);
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}
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public class UpdateEvent {
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public UpdateEvent(int messageId) {
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this.messageId = messageId;
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}
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public int messageId; // see the communication messages
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};
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public ConcurrentQueue<UpdateEvent> updateQueue = new();
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