RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
1
0
Fork 0
Code Issues 1 Pull Requests Actions Packages Releases Activity

Merge branch 'main2'

Browse Source
This commit is contained in:
Pascal Serrarens 2025-04-24 17:35:23 +02:00
commit 76f28e10b7
5 changed files with 97 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Unity/SiteServer.cs
View File

@ -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;
}

1
Unity/Thing.cs
View File

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

4
Unity/TouchSensor.cs
View File

@ -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) {

75
src/Participants/ParticipantUDP.cs
View File

@ -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);
}

37
src/Participants/SiteServer.cs
View File

@ -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
}