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

Improved debug logging

Browse Source
This commit is contained in:
Pascal Serrarens 2025-04-11 11:54:54 +02:00
parent 6699200195
commit 8357c5d623
7 changed files with 86 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/Messages/BinaryMsg.cs
View File

@ -60,7 +60,9 @@ namespace RoboidControl {
if (buffer.Length < BinaryMsg.length + this.data.Length || this.data.Length == 0)
return 0;
System.Console.Write($"sending Binary [{this.networkId}/{this.thingId}]");
#if DEBUG
System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}");
#endif
byte ix = 0;
buffer[ix++] = BinaryMsg.Id;
buffer[ix++] = this.networkId;

23
src/Messages/ModelUrlMsg.cs
View File

@ -21,6 +21,10 @@ namespace RoboidControl {
/// </summary>
public byte thingId;
/// <summary>
/// The length of the url string, excluding the null terminator
/// </summary>
public byte urlLength;
/// <summary>
/// The URL of the model
/// </summary>
public string url = null;
@ -33,6 +37,7 @@ namespace RoboidControl {
public ModelUrlMsg(byte networkId, Thing thing) {
this.networkId = networkId;
this.thingId = thing.id;
this.urlLength = (byte)thing.modelUrl.Length;
this.url = thing.modelUrl;
}
/// <summary>
@ -41,19 +46,20 @@ namespace RoboidControl {
/// <param name="networkId">The network ID of the thing</param>
/// <param name="thingId">The ID of the thing</param>
/// <param name="url">The URL to send</param>
public ModelUrlMsg(byte networkId, byte thingId, string url) {
this.networkId = networkId;
this.thingId = thingId;
this.url = url;
}
// public ModelUrlMsg(byte networkId, byte thingId, string url) {
// this.networkId = networkId;
// this.thingId = thingId;
// this.urlLength = (byte)url.Length;
// this.url = url;
// }
/// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
public ModelUrlMsg(byte[] buffer) {
byte ix = 1;
this.networkId = buffer[ix++];
this.thingId = buffer[ix++];
int strlen = buffer[ix++];
url = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
this.urlLength = buffer[ix++];
this.url = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, this.urlLength);
}
/// @copydoc Passer::RoboidControl::IMessage::Serialize
@ -61,6 +67,9 @@ namespace RoboidControl {
if (string.IsNullOrEmpty(this.url))
return 0;
#if DEBUG
System.Console.WriteLine($"Send ModelUrlMsg [{this.networkId}/{this.thingId}] {this.urlLength} {this.url}");
#endif
byte ix = 0;
buffer[ix++] = ModelUrlMsg.Id;
buffer[ix++] = this.networkId;

3
src/Messages/NameMsg.cs
View File

@ -66,6 +66,9 @@ namespace RoboidControl {
if (buffer.Length < NameMsg.length + this.name.Length || string.IsNullOrEmpty(this.name))
return 0;
#if DEBUG
System.Console.WriteLine($"Send NameMsg [{this.networkId}/{this.thingId}] {this.nameLength} {this.name}");
#endif
byte ix = 0;
buffer[ix++] = NameMsg.Id;
buffer[ix++] = this.networkId;

5
src/Messages/NetworkIdMsg.cs
View File

@ -33,7 +33,10 @@ namespace RoboidControl {
public override byte Serialize(ref byte[] buffer) {
if (buffer.Length < NetworkIdMsg.length)
return 0;
#if DEBUG
System.Console.WriteLine($"Send NetworkIdMsg {this.networkId}");
#endif
buffer[0] = NetworkIdMsg.Id;
buffer[1] = this.networkId;
return NetworkIdMsg.length;

15
src/Messages/TextMsg.cs
View File

@ -13,6 +13,10 @@ namespace RoboidControl {
/// </summary>
public const byte length = 2;
/// <summary>
/// The length of the text without the null terminator
/// </summary>
public byte textLength;
/// <summary>
/// The text
/// </summary>
public string text = "";
@ -22,20 +26,27 @@ namespace RoboidControl {
/// </summary>
/// <param name="text">The text to send</param>
public TextMsg(string text) {
this.textLength = (byte)text.Length;
this.text = text;
}
/// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
public TextMsg(byte[] buffer) : base(buffer) { }
public TextMsg(byte[] buffer) : base(buffer) {
this.textLength = buffer[0];
this.text = System.Text.Encoding.UTF8.GetString(buffer, 1, this.textLength);
}
/// @copydoc Passer::RoboidControl::IMessage::Serialize
public override byte Serialize(ref byte[] buffer) {
if (buffer.Length < TextMsg.length + this.text.Length || this.text.Length == 0)
return 0;
#if DEBUG
System.Console.WriteLine($"Send TextMsg {this.textLength} {this.text}");
#endif
byte ix = 0;
buffer[ix++] = TextMsg.Id;
buffer[ix++] = (byte)this.text.Length;
buffer[ix++] = this.textLength;
for (int textIx = 0; textIx < this.text.Length; textIx++)
buffer[ix++] = (byte)this.text[textIx];
return ix;

3
src/Messages/ThingMsg.cs
View File

@ -77,6 +77,9 @@ namespace RoboidControl {
if (buffer.Length < ThingMsg.length)
return 0;
#if DEBUG
System.Console.WriteLine($"Send ThingMsg [{this.networkId}/{this.thingId}] {this.thingType} {this.parentId}");
#endif
byte ix = 0;
buffer[ix++] = ThingMsg.id;
buffer[ix++] = this.networkId;

58
src/ParticipantUDP.cs
View File

@ -189,7 +189,7 @@ namespace RoboidControl {
return true;
IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(owner.ipAddress), owner.port);
Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
// Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
return true;
}
@ -241,7 +241,6 @@ namespace RoboidControl {
return;
}
System.Console.Write($"Receive msg {msgId}");
switch (msgId) {
case ParticipantMsg.Id: // 0xA0 / 160
this.Process(sender, new ParticipantMsg(data));
@ -284,11 +283,16 @@ namespace RoboidControl {
#region Process
protected virtual void Process(Participant sender, ParticipantMsg msg) {
Console.WriteLine($"{this.name} Process participant {msg.networkId}");
#if DEBUG
Console.WriteLine($"{this.name} Process participantMsg {msg.networkId}");
#endif
}
protected virtual void Process(Participant sender, NetworkIdMsg msg) {
Console.WriteLine($"{this.name} Process network id {this.networkId} {msg.networkId}");
#if DEBUG
Console.WriteLine($"{this.name} Process SiteMsg {this.networkId} -> {msg.networkId}");
#endif
if (this.networkId != msg.networkId) {
this.networkId = msg.networkId;
foreach (Thing thing in this.things) //Thing.GetAllThings())
@ -296,34 +300,48 @@ namespace RoboidControl {
}
}
protected virtual void Process(Participant sender, InvestigateMsg msg) { }
protected virtual void Process(Participant sender, InvestigateMsg msg) {
#if DEBUG
Console.WriteLine($"Participant: InvestigateMsg [{msg.networkId}/{msg.thingId}]");
#endif
}
protected virtual void Process(Participant sender, ThingMsg msg) {
Console.WriteLine($"Participant: Process thing [{msg.networkId}/{msg.thingId}]");
#if DEBUG
Console.WriteLine($"Participant: Process ThingMsg [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId}");
#endif
}
protected virtual void Process(Participant sender, NameMsg msg) {
Console.WriteLine($"Participant: Process name [{msg.networkId}/{msg.thingId}] {msg.name}");
#if DEBUG
Console.WriteLine($"Participant: Process NameMsg [{msg.networkId}/{msg.thingId}] {msg.nameLength} {msg.name}");
#endif
Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing != null)
thing.name = msg.name;
}
protected virtual void Process(Participant sender, ModelUrlMsg msg) {
Console.WriteLine($"Participant: Process model [{msg.networkId}/{msg.thingId}] {msg.url}");
#if DEBUG
Console.WriteLine($"Participant: Process ModelUrlMsg [{msg.networkId}/{msg.thingId}] {msg.urlLength} {msg.url}");
#endif
Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing != null)
thing.modelUrl = msg.url;
}
protected virtual void Process(Participant sender, PoseMsg msg) {
// Console.WriteLine($"Participant: Process pose [{msg.networkId}/{msg.thingId}] {msg.poseType}");
#if DEBUG
Console.WriteLine($"Participant: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}");
#endif
Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing != null) {
if ((msg.poseType & PoseMsg.Pose_Position) != 0)
thing.position = msg.position;
thing.position = msg.position;
if ((msg.poseType & PoseMsg.Pose_Orientation) != 0)
thing.orientation = msg.orientation;
thing.orientation = msg.orientation;
if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0)
thing.linearVelocity = msg.linearVelocity;
if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0)
@ -332,14 +350,26 @@ namespace RoboidControl {
}
protected virtual void Process(Participant sender, BinaryMsg msg) {
Console.WriteLine($"Participant: Process binary [{msg.networkId}/{msg.thingId}]");
#if DEBUG
Console.WriteLine($"Participant: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
#endif
Thing thing = sender.Get(msg.networkId, msg.thingId);
thing?.ProcessBinary(msg.data);
}
protected virtual void Process(Participant sender, TextMsg temsgxt) { }
protected virtual void Process(Participant sender, TextMsg msg) {
#if DEBUG
Console.WriteLine($"Participant: Process TextMsg {msg.textLength} {msg.text}");
#endif
protected virtual void Process(Participant sender, DestroyMsg msg) { }
}
protected virtual void Process(Participant sender, DestroyMsg msg) {
#if DEBUG
Console.WriteLine($"Participant: Process ThingMsg [{msg.networkId}/{msg.thingId}]");
#endif
}
private void ForwardMessage(IMessage msg) {
// foreach (Participant client in senders) {