Merge branch 'main2'

Unity/SiteServer.cs

@@ -6,6 +6,8 @@ using UnityEngine;
 namespace RoboidControl.Unity {
 
     public class SiteServer : MonoBehaviour {
+        public int port = 7681;
+
         public RoboidControl.SiteServer site;
 
         public Queue<RoboidControl.Thing> thingQueue = new();
@@ -13,7 +15,7 @@ namespace RoboidControl.Unity {
         protected virtual void Awake() {
             Console.SetOut(new UnityLogWriter());
 
-            site = new RoboidControl.SiteServer(7681);
+            site = new RoboidControl.SiteServer(port);
             RoboidControl.Thing.OnNewThing += HandleNewThing;
         }
 

Unity/Thing.cs

@@ -1,6 +1,5 @@
 #if UNITY_5_3_OR_NEWER
 using System.Collections;
-using Mono.Cecil.Cil;
 using UnityEngine;
 using UnityEngine.Networking;
 

Unity/TouchSensor.cs

@@ -67,9 +67,9 @@ namespace RoboidControl.Unity {
 		}
 
 		private void OnTriggerEnter(Collider other) {
-			Debug.Log("Touch?");
+			// Debug.Log("Touch?");
 			if (other.isTrigger) {
-				Debug.Log($"   was trigger {other.name}");
+				// Debug.Log($"   was trigger {other.name}");
 				return;
 			}
 			if (this.transform.root == other.transform.root) {

src/Participants/ParticipantUDP.cs

@@ -1,8 +1,8 @@
 using System;
-using System.Collections.Generic;
 using System.Collections.Concurrent;
 using System.Net;
 using System.Net.Sockets;
+using System.Net.NetworkInformation;
 
 namespace RoboidControl {
 
@@ -46,8 +46,35 @@ namespace RoboidControl {
                 this.isIsolated = true;
             else
                 this.remoteSite = new Participant(ipAddress, port);
+
             Participant.AddParticipant(this);
 
+            // Determine local IP address
+            IPAddress localIpAddress = null;
+            IPAddress subnetMask = null;
+            using (Socket socket = new(AddressFamily.InterNetwork, SocketType.Dgram, 0)) {
+                // Connect to a remote endpoint — we won't actually send anything
+                socket.Connect("1.1.1.1", 65530);
+                if (socket.LocalEndPoint is IPEndPoint endPoint) {
+                    localIpAddress = endPoint.Address;
+                    this.ipAddress = localIpAddress.ToString();
+                }
+            }
+            // Find subnet mask
+            foreach (NetworkInterface nwInterface in NetworkInterface.GetAllNetworkInterfaces()) {
+                if (nwInterface.OperationalStatus != OperationalStatus.Up)
+                    continue;
+
+                foreach (UnicastIPAddressInformation unicastAddress in nwInterface.GetIPProperties().UnicastAddresses) {
+                    if (unicastAddress.Address.AddressFamily == AddressFamily.InterNetwork && unicastAddress.Address.Equals(localIpAddress)
+                    ) {
+                        subnetMask = unicastAddress.IPv4Mask;
+                    }
+                }
+            }
+            if (localIpAddress != null && subnetMask != null)
+                GetBroadcastAddress(localIpAddress, subnetMask);
+
             this.endPoint = new IPEndPoint(IPAddress.Any, localPort);
             this.udpClient = new UdpClient(localPort);
             this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
@@ -64,34 +91,31 @@ namespace RoboidControl {
             this.port = port;
         }
 
+        protected void GetBroadcastAddress(IPAddress ip, IPAddress subnetMask) {
+            byte[] ipBytes = ip.GetAddressBytes();
+            byte[] maskBytes = subnetMask.GetAddressBytes();
+
+            if (ipBytes.Length != maskBytes.Length)
+                throw new ArgumentException("IP address and subnet mask lengths do not match");
+
+            byte[] broadcastBytes = new byte[ipBytes.Length];
+            for (int i = 0; i < ipBytes.Length; i++) {
+                broadcastBytes[i] = (byte)(ipBytes[i] | (~maskBytes[i]));
+            }
+
+            IPAddress broadcastAddress = new(broadcastBytes);
+            this.broadcastIpAddress = broadcastAddress.ToString();
+
+            Console.WriteLine($"Subnet mask: {subnetMask.ToString()}");
+            Console.WriteLine($"Broadcast address: {this.broadcastIpAddress}");
+        }
+
         private static ParticipantUDP isolatedParticipant = null;
         public static ParticipantUDP Isolated() {
             if (isolatedParticipant == null)
                 isolatedParticipant = new ParticipantUDP(0);
             return isolatedParticipant;
         }
-
-        // public List<Participant> owners = new List<Participant>();
-
-        // public Participant GetParticipant(string ipAddress, int port) {
-        //     //Console.WriteLine($"Get Participant {ipAddress}:{port}");
-        //     foreach (Participant sender in owners) {
-        //         if (sender.ipAddress == ipAddress && sender.port == port)
-        //             return sender;
-        //     }
-        //     return null;
-        // }
-        // public Participant AddParticipant(string ipAddress, int port) {
-        //     Console.WriteLine($"New Participant {ipAddress}:{port}");
-        //     Participant participant = new(ipAddress, port) {
-        //         networkId = (byte)(this.owners.Count + 1)
-        //     };
-        //     owners.Add(participant);
-        //     return participant;
-        // }
-
-        // protected readonly Dictionary<byte, Func<Participant, byte, byte, Thing>> thingMsgProcessors = new();
-
         #endregion Init
 
         #region Update
@@ -161,7 +185,6 @@ namespace RoboidControl {
                 if (this.isIsolated)
                     continue;
 
-                //foreach (Thing thing in participant.things) {
                 for (int thingIx = 0; thingIx < participant.things.Count; thingIx++) {
                     Thing thing = participant.things[thingIx];
                     if (thing == null)
@@ -212,7 +235,7 @@ namespace RoboidControl {
             if (bufferSize <= 0)
                 return true;
 
-            Console.WriteLine($"publish to {broadcastIpAddress.ToString()} {this.port}");
+            // Console.WriteLine($"publish to {broadcastIpAddress.ToString()} {this.port}");
             this.udpClient?.Send(this.buffer, bufferSize, this.broadcastIpAddress, this.port);
             return true;
         }
@@ -252,10 +275,12 @@ namespace RoboidControl {
             // We can receive our own publish (broadcast) packages. How do we recognize them????
             // It is hard to determine our source port
             string ipAddress = endPoint.Address.ToString();
+            if (ipAddress != this.ipAddress) {
                 Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
                 remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port);
 
                 ReceiveData(data, remoteParticipant);
+            }
 
             udpClient.BeginReceive(new AsyncCallback(callbackResult => ReceiveUDP(callbackResult)), null);
         }

src/Participants/SiteServer.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Net;
 using System.Net.Sockets;
+using System.Net.NetworkInformation;
 
 namespace RoboidControl {
 
@@ -17,6 +18,32 @@ namespace RoboidControl {
             this.name = "Site Server";
             Participant.AddParticipant(this);
 
+            // Determine local IP address
+            IPAddress localIpAddress = null;
+            IPAddress subnetMask = null;
+            using (Socket socket = new(AddressFamily.InterNetwork, SocketType.Dgram, 0)) {
+                // Connect to a remote endpoint — we won't actually send anything
+                socket.Connect("1.1.1.1", 65530);
+                if (socket.LocalEndPoint is IPEndPoint endPoint) {
+                    localIpAddress = endPoint.Address;
+                    this.ipAddress = localIpAddress.ToString();
+                }
+            }
+            // Find subnet mask
+            foreach (NetworkInterface nwInterface in NetworkInterface.GetAllNetworkInterfaces()) {
+                if (nwInterface.OperationalStatus != OperationalStatus.Up)
+                    continue;
+
+                foreach (UnicastIPAddressInformation unicastAddress in nwInterface.GetIPProperties().UnicastAddresses) {
+                    if (unicastAddress.Address.AddressFamily == AddressFamily.InterNetwork && unicastAddress.Address.Equals(localIpAddress)
+                    ) {
+                        subnetMask = unicastAddress.IPv4Mask;
+                    }
+                }
+            }
+            if (localIpAddress != null && subnetMask != null)
+                GetBroadcastAddress(localIpAddress, subnetMask);
+
             Console.Write($"Prepare receive on port {port}");
             this.endPoint = new IPEndPoint(IPAddress.Any, port);
             this.udpClient = new UdpClient(port);
@@ -77,7 +104,16 @@ namespace RoboidControl {
 
         protected override void Process(Participant sender, ThingMsg msg) {
             Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
+
             Thing thing = sender.Get(msg.networkId, msg.thingId);
+            if (thing == null) {
+                switch (msg.thingType) {
+                    case (byte)Thing.Type.TouchSensor:
+                        new TouchSensor(sender, msg.networkId, msg.thingId);
+                        break;
+                }
+            }
+
             if (thing == null)
                 thing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
 
@@ -92,6 +128,7 @@ namespace RoboidControl {
             }
         }
 
+
         #endregion Receive
 
     }