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