RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Static participant list

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This commit is contained in:
Pascal Serrarens 2025-04-22 12:00:27 +02:00
parent 97fdd74950
commit 86b12a7326
5 changed files with 60 additions and 34 deletions
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8
Unity/Thing.cs
View File

@ -33,7 +33,6 @@ namespace RoboidControl.Unity {
} }
siteServer.site.Add(thing); siteServer.site.Add(thing);
core.OnPoseChanged += PoseChanged; core.OnPoseChanged += PoseChanged;
//core.OnNameChanged += NameChanged;
} }
public static Thing Create(RoboidControl.Thing core) { public static Thing Create(RoboidControl.Thing core) {
@ -53,7 +52,6 @@ namespace RoboidControl.Unity {
gameObj.transform.localRotation = core.orientation.ToQuaternion(); gameObj.transform.localRotation = core.orientation.ToQuaternion();
core.OnPoseChanged += component.PoseChanged; core.OnPoseChanged += component.PoseChanged;
//core.OnNameChanged += component.NameChanged;
return component; return component;
} }
@ -104,12 +102,6 @@ namespace RoboidControl.Unity {
this.transform.localRotation = core.orientation.ToQuaternion(); this.transform.localRotation = core.orientation.ToQuaternion();
} }
private void NameChanged() {
Debug.Log($"{this} name changed");
if (this.gameObject.name != core.name)
this.gameObject.name = core.name;
}
private IEnumerator LoadJPG() { private IEnumerator LoadJPG() {
UnityWebRequest request = UnityWebRequestTexture.GetTexture(core.modelUrl); UnityWebRequest request = UnityWebRequestTexture.GetTexture(core.modelUrl);
yield return request.SendWebRequest(); yield return request.SendWebRequest();

5
src/Messages/PoseMsg.cs
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@ -139,9 +139,10 @@ namespace RoboidControl {
/// @copydoc Passer::RoboidControl::IMessage::Serialize /// @copydoc Passer::RoboidControl::IMessage::Serialize
public override byte Serialize(ref byte[] buffer) { public override byte Serialize(ref byte[] buffer) {
if (poseType == 0)
return 0;
#if DEBUG #if DEBUG
// System.Console.WriteLine($"Send PoseMsg [{this.networkId}/{this.thingId}] {this.poseType}"); System.Console.WriteLine($"Send PoseMsg [{this.networkId}/{this.thingId}] {this.poseType}");
#endif #endif
byte ix = 0; byte ix = 0;

32
src/Participant.cs
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@ -54,6 +54,38 @@ namespace RoboidControl {
} }
public static List<Participant> participants = new List<Participant>();
public static Participant GetParticipant(string ipAddress, int port) {
//Console.WriteLine($"Get Participant {ipAddress}:{port}");
foreach (Participant participant in Participant.participants) {
if (participant.ipAddress == ipAddress && participant.port == port)
return participant;
}
return null;
}
public static Participant GetParticipant(int participantId) {
//Console.WriteLine($"Get Participant [participantId]");
foreach (Participant participant in Participant.participants) {
if (participant.networkId == participantId)
return participant;
}
return null;
}
public static Participant AddParticipant(string ipAddress, int port) {
Console.WriteLine($"New Participant {ipAddress}:{port}");
Participant participant = new(ipAddress, port) {
networkId = (byte)(Participant.participants.Count + 1)
};
Participant.participants.Add(participant);
return participant;
}
public static void AddParticipant(Participant participant) {
Participant foundParticipant = Participant.GetParticipant(participant.networkId);
if (foundParticipant == null)
Participant.participants.Add(participant);
}
/// <summary> /// <summary>
/// Get a thing with the given ids /// Get a thing with the given ids
/// </summary> /// </summary>

44
src/ParticipantUDP.cs
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@ -69,24 +69,24 @@ namespace RoboidControl {
return isolatedParticipant; return isolatedParticipant;
} }
public List<Participant> owners = new List<Participant>(); // public List<Participant> owners = new List<Participant>();
public Participant GetParticipant(string ipAddress, int port) { // public Participant GetParticipant(string ipAddress, int port) {
//Console.WriteLine($"Get Participant {ipAddress}:{port}"); // //Console.WriteLine($"Get Participant {ipAddress}:{port}");
foreach (Participant sender in owners) { // foreach (Participant sender in owners) {
if (sender.ipAddress == ipAddress && sender.port == port) // if (sender.ipAddress == ipAddress && sender.port == port)
return sender; // return sender;
} // }
return null; // return null;
} // }
public Participant AddParticipant(string ipAddress, int port) { // public Participant AddParticipant(string ipAddress, int port) {
Console.WriteLine($"New Participant {ipAddress}:{port}"); // Console.WriteLine($"New Participant {ipAddress}:{port}");
Participant participant = new(ipAddress, port) { // Participant participant = new(ipAddress, port) {
networkId = (byte)(this.owners.Count + 1) // networkId = (byte)(this.owners.Count + 1)
}; // };
owners.Add(participant); // owners.Add(participant);
return participant; // return participant;
} // }
// protected readonly Dictionary<byte, Func<Participant, byte, byte, Thing>> thingMsgProcessors = new(); // protected readonly Dictionary<byte, Func<Participant, byte, byte, Thing>> thingMsgProcessors = new();
@ -143,8 +143,8 @@ namespace RoboidControl {
} }
} }
} }
for (int ownerIx = 0; ownerIx < this.owners.Count; ownerIx++) { for (int ownerIx = 0; ownerIx < Participant.participants.Count; ownerIx++) {
Participant owner = this.owners[ownerIx]; Participant owner = Participant.participants[ownerIx];
owner.Update(currentTimeMS); owner.Update(currentTimeMS);
} }
} }
@ -315,9 +315,9 @@ namespace RoboidControl {
} }
protected virtual void Process(Participant sender, PoseMsg msg) { protected virtual void Process(Participant sender, PoseMsg msg) {
// #if DEBUG #if DEBUG
// Console.WriteLine($"Participant: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}"); Console.WriteLine($"Participant: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}");
// #endif #endif
Thing thing = sender.Get(msg.networkId, msg.thingId); Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing != null) { if (thing != null) {
if ((msg.poseType & PoseMsg.Pose_Position) != 0) if ((msg.poseType & PoseMsg.Pose_Position) != 0)

5
src/Things/TouchSensor.cs
View File

@ -39,8 +39,9 @@ namespace RoboidControl {
_touchedSomething = value; _touchedSomething = value;
if (thisParticipant != null && this.owner != thisParticipant) { if (thisParticipant != null && this.owner != thisParticipant) {
BinaryMsg msg = new(networkId, this); BinaryMsg msg = new(networkId, this);
foreach (Participant remoteParticipant in thisParticipant.owners) this.thisParticipant.Send(this.owner, msg);
thisParticipant.Send(remoteParticipant, msg); // foreach (Participant remoteParticipant in thisParticipant.participants)
// thisParticipant.Send(remoteParticipant, msg);
} }
} }
} }