Cleanup

ClientMsg.cs

@@ -1,23 +0,0 @@
-namespace Passer.Control.Core {
-
-    public class ClientMsg : IMessage {
-        public const byte Id = 0xA0;
-        public const byte length = 2;
-        public byte networkId;
-
-        public ClientMsg(byte networkId) {
-            this.networkId = networkId;
-        }
-
-        public ClientMsg(byte[] buffer) {
-            this.networkId = buffer[1];
-        }
-
-        public override byte Serialize(ref byte[] buffer) {
-            byte ix = 0;
-            buffer[ix++] = ClientMsg.Id;
-            buffer[ix++] = networkId;
-            return ClientMsg.length;
-        }
-    }
-}

ClientMsg.cs.meta

@@ -1,2 +0,0 @@
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ControlCore.csproj.meta

@@ -1,7 +0,0 @@
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CustomMsg.cs

@@ -1,45 +0,0 @@
-namespace Passer.Control.Core {
-
-    public class CustomMsg : IMessage {
-        public const byte Id = 0xB1;
-        public byte networkId;
-        public byte thingId;
-        public byte[] bytes;
-
-        public CustomMsg(byte[] buffer) {
-            byte ix = 1;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-            byte length = (byte)(buffer.Length - ix);
-            this.bytes = new byte[length];
-            for (uint bytesIx = 0; bytesIx < length; bytesIx++)
-                this.bytes[bytesIx] = buffer[ix++];
-        }
-        public CustomMsg(byte networkId, byte thingId, byte[] bytes) : base() {
-            this.networkId = networkId;
-            this.thingId = thingId;
-            this.bytes = bytes;
-        }
-
-        public override byte Serialize(ref byte[] buffer) {
-            byte ix = 0;
-            buffer[ix++] = CustomMsg.Id;
-            buffer[ix++] = this.networkId;
-            buffer[ix++] = this.thingId;
-            //buffer[ix++] = (byte)bytes.Length;
-            foreach (byte b in bytes)
-                buffer[ix++] = b;
-
-            return ix;
-        }
-
-        //public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-        //    byte[] buffer = await Receive(dataStream, packetSize);
-
-        //    CustomMsg msg = new(buffer);
-        //    client.messageQueue.Enqueue(msg);
-        //    return true;
-        //}
-    }
-
-}

CustomMsg.cs.meta

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DoxyGen.meta

@@ -1,8 +0,0 @@
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EchoStream.cs

@@ -1,3 +1,4 @@
+/*
 using System;
 using System.IO;
 using System.Threading.Tasks;
@@ -171,3 +172,4 @@ public class EchoStream : Stream {
         throw new NotImplementedException();
     }
 }
+*/

EchoStream.cs.meta

@@ -1,2 +0,0 @@
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LinearAlgebra.meta

@@ -1,8 +0,0 @@
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LowLevelMessages.cs

@@ -1,109 +0,0 @@
-using Passer.LinearAlgebra;
-
-namespace Passer.Control.Core
-{
-    public class LowLevelMessages
-    {
-
-        public static void SendSpherical(byte[] buffer, ref byte ix, Spherical v)
-        {
-            SendFloat16(buffer, ref ix, new float16(v.distance));
-            SendAngle8(buffer, ref ix, v.direction.horizontal);
-            SendAngle8(buffer, ref ix, v.direction.horizontal);
-        }
-
-        public static Spherical ReceiveSpherical(byte[] data, ref byte ix)
-        {
-            float distance = ReceiveFloat16(data, ref ix);
-            float horizontal = ReceiveAngle8(data, ref ix);
-            float vertical = ReceiveAngle8(data, ref ix);
-            Spherical v = new(distance, horizontal, vertical);
-            return v;
-        }
-
-        public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s)
-        {
-            Quat32 q32 = Quat32.FromSwingTwist(s);
-            SendQuat32(buffer, ref ix, q32);
-
-        }
-        public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q)
-        {
-            int qx = (int)(q.x * 127 + 128);
-            int qy = (int)(q.y * 127 + 128);
-            int qz = (int)(q.z * 127 + 128);
-            int qw = (int)(q.w * 255);
-            if (q.w < 0)
-            {
-                qx = -qx;
-                qy = -qy;
-                qz = -qz;
-                qw = -qw;
-            }
-
-            buffer[ix++] = (byte)qx;
-            buffer[ix++] = (byte)qy;
-            buffer[ix++] = (byte)qz;
-            buffer[ix++] = (byte)qw;
-        }
-        public static Quat32 ReceiveQuat32(byte[] data, ref byte ix)
-        {
-            Quat32 q = new(
-                (data[ix++] - 128.0F) / 127.0F,
-                (data[ix++] - 128.0F) / 127.0F,
-                (data[ix++] - 128.0F) / 127.0F,
-                data[ix++] / 255.0F);
-            return q;
-        }
-
-        public static SwingTwist ReceiveSwingTwist(byte[] data, ref byte ix)
-        {
-            Quat32 q32 = ReceiveQuat32(data, ref ix);
-            // UnityEngine.Quaternion q = new(q32.x, q32.y, q32.z, q32.w);
-            // SwingTwist r = new(q.eulerAngles.y, q.eulerAngles.x, q.eulerAngles.z);
-
-            SwingTwist r = SwingTwist.FromQuat32(q32);
-            return r;
-        }
-
-        public static void SendAngle8(byte[] buffer, ref byte ix, float angle)
-        {
-            // Normalize angle
-            while (angle >= 180)
-                angle -= 360;
-            while (angle < -180)
-                angle += 360;
-            buffer[ix++] = (byte)((angle / 360.0f) * 256.0f);
-        }
-
-        public static float ReceiveAngle8(byte[] data, ref byte ix)
-        {
-            float value = (data[ix++] * 180) / 128.0F;
-            return value;
-        }
-
-        public static void SendFloat16(byte[] data, ref byte ix, float f)
-        {
-            float16 f16 = new(f);
-            ushort binary = f16.GetBinary();
-            data[ix++] = (byte)(binary >> 8);
-            data[ix++] = (byte)(binary & 255);
-        }
-        public static void SendFloat16(byte[] data, ref byte ix, float16 f)
-        {
-            ushort binary = f.GetBinary();
-            data[ix++] = (byte)(binary >> 8);
-            data[ix++] = (byte)(binary & 255);
-        }
-
-        public static float ReceiveFloat16(byte[] data, ref byte ix)
-        {
-            ushort value = (ushort)(data[ix++] << 8 | data[ix++]);
-            float16 f16 = new();
-            f16.SetBinary(value);
-            float f = f16.toFloat();
-            return f;
-        }
-    }
-
-}

LowLevelMessages.cs.meta

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Messages.cs

@@ -1,253 +0,0 @@
-using System.IO;
-using System.Threading.Tasks;
-
-using Passer.LinearAlgebra;
-namespace Passer.Control.Core {
-
-    public class IMessage {
-        public IMessage() { }
-        public IMessage(byte[] buffer) {
-            Deserialize(buffer);
-        }
-
-        public virtual byte Serialize(ref byte[] buffer) { return 0; }
-        public virtual void Deserialize(byte[] buffer) { }
-
-        public bool SendTo(Participant client) {
-            Serialize(ref client.buffer);
-            return client.SendBuffer(client.buffer.Length);
-        }
-
-        public static bool SendMsg(Participant client, IMessage msg) {
-            msg.Serialize(ref client.buffer);
-            return client.SendBuffer(client.buffer.Length);
-        }
-
-        public static bool PublishMsg(Participant client, IMessage msg) {
-            msg.Serialize(ref client.buffer);
-            return client.PublishBuffer(client.buffer.Length);
-        }
-
-        public static async Task<byte[]> Receive(Stream dataStream, byte packetSize) {
-            byte[] buffer = new byte[packetSize - 1]; //  without msgId
-            int byteCount = dataStream.Read(buffer, 0, packetSize - 1);
-            while (byteCount < packetSize - 1) {
-                // not all bytes have been read, wait and try again
-                await Task.Delay(1);
-                byteCount += dataStream.Read(buffer, byteCount, packetSize - 1 - byteCount);
-            }
-            return buffer;
-        }
-    }
-
-    #region Investigate
-
-    public class InvestigateMsg : IMessage {
-        public const byte Id = 0x81;
-        public const byte length = 3;
-        public byte networkId;
-        public byte thingId;
-
-        public InvestigateMsg(byte networkId, byte thingId) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-        }
-        public InvestigateMsg(byte[] buffer) : base(buffer) { }
-
-        public override byte Serialize(ref byte[] buffer) {
-            byte ix = 0;
-            buffer[ix++] = InvestigateMsg.Id;
-            buffer[ix++] = this.networkId;
-            buffer[ix++] = this.thingId;
-            return ix;
-        }
-        public override void Deserialize(byte[] buffer) {
-            uint ix = 0;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-        }
-
-        //public static bool Send(Participant client, CoreThing thing) {
-        //    InvestigateMsg msg = new(thing.networkId, thing.id);
-        //    return SendMsg(client, msg);
-        //}
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            if (packetSize != length)
-                return false;
-
-            byte[] buffer = await Receive(dataStream, packetSize);
-            InvestigateMsg msg = new(buffer);
-            //UnityEngine.Debug.Log($"Receive investigate [{msg.networkId}/{msg.thingId}]");
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-
-        }
-    }
-
-    #endregion Investigate
-
-    #region Pose
-
-    public class PoseMsg : IMessage {
-        public const byte Id = 0x10;
-        public const byte length = 4 + 4 + 4;
-        public byte networkId;
-        public byte thingId;
-
-        public byte poseType;
-        public const byte Pose_Position = 0x01;
-        public const byte Pose_Orientation = 0x02;
-        public const byte Pose_LinearVelocity = 0x04;
-        public const byte Pose_AngularVelocity = 0x08;
-
-        public Spherical position;
-        public SwingTwist orientation;
-        public Spherical linearVelocity;
-        public Spherical angularVelocity;
-
-        public PoseMsg(byte networkId, byte thingId, Spherical position, SwingTwist orientation) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-            this.position = position;
-            this.orientation = orientation;
-            this.poseType = 0;
-            if (this.position != null)
-                this.poseType |= Pose_Position;
-            else
-                this.position = new Spherical(0, 0, 0);
-            if (this.orientation != null)
-                this.poseType |= Pose_Orientation;
-            else
-                this.orientation = SwingTwist.zero;
-        }
-        public PoseMsg(byte[] buffer) : base(buffer) { }
-
-        public override byte Serialize(ref byte[] buffer) {
-            byte ix = 0;
-            buffer[ix++] = PoseMsg.Id;
-            buffer[ix++] = this.networkId;
-            buffer[ix++] = this.thingId;
-            buffer[ix++] = this.poseType;
-
-            if ((poseType & Pose_Position) != 0)
-                LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
-            if ((poseType & Pose_Orientation) != 0)
-                LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
-            if ((poseType & Pose_LinearVelocity) != 0)
-                LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);
-            if ((poseType & Pose_AngularVelocity) != 0)
-                LowLevelMessages.SendSpherical(buffer, ref ix, this.angularVelocity);
-            return ix;
-        }
-        public override void Deserialize(byte[] buffer) {
-            byte ix = 0;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-            this.poseType = buffer[ix++];
-
-            if ((poseType & Pose_Position) != 0)
-                this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-            if ((poseType & Pose_Orientation) != 0)
-                this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
-            if ((poseType & Pose_LinearVelocity) != 0)
-                this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-            if ((poseType & Pose_AngularVelocity) != 0)
-                this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
-        }
-
-        public static bool Send(Participant client, byte thingId, Spherical position, SwingTwist orientation) {
-            PoseMsg msg = new(client.networkId, thingId, position, orientation);
-            return SendMsg(client, msg);
-        }
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            byte[] buffer = await Receive(dataStream, packetSize);
-            PoseMsg msg = new(buffer);
-
-            // Do no process poses with nwid == 0 (== local)
-            if (msg.networkId == 0)
-                return true;
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
-
-        public static bool SendTo(Participant participant, Thing thing) {
-            if (participant == null || thing == null)
-                return false;
-
-            byte ix = 0;
-            participant.buffer[ix++] = PoseMsg.Id;
-            participant.buffer[ix++] = participant.networkId;
-            participant.buffer[ix++] = thing.id;
-            participant.buffer[ix++] = thing.poseUpdated;
-
-            if ((thing.poseUpdated & Pose_Position) != 0 && thing.position != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.position);
-            if ((thing.poseUpdated & Pose_Orientation) != 0 && thing.orientation != null)
-                LowLevelMessages.SendQuat32(participant.buffer, ref ix, thing.orientation);
-            if ((thing.poseUpdated & Pose_LinearVelocity) != 0 && thing.linearVelocity != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.linearVelocity);
-            if ((thing.poseUpdated & Pose_AngularVelocity) != 0 && thing.angularVelocity != null)
-                LowLevelMessages.SendSpherical(participant.buffer, ref ix, thing.angularVelocity);
-
-            return participant.SendBuffer(ix);
-        }
-    }
-
-    #endregion Pose
-
-    #region Text
-
-    public class TextMsg : IMessage {
-        public const byte Id = 0xB0;
-        public string text;
-
-        public TextMsg(byte[] buffer) : base(buffer) { }
-        public override void Deserialize(byte[] buffer) {
-            uint ix = 0;
-            uint strlen = buffer[ix++];
-            this.text = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, (int)strlen);
-        }
-
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            byte[] buffer = await Receive(dataStream, packetSize);
-            TextMsg msg = new(buffer);
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
-    }
-
-    #endregion
-
-    #region Destroy
-
-    public class DestroyMsg : IMessage {
-        public const byte Id = 0x20;
-        public const byte length = 3;
-        public byte networkId;
-        public byte thingId;
-
-        public DestroyMsg(byte[] buffer) : base(buffer) { }
-
-        public override void Deserialize(byte[] buffer) {
-            this.networkId = buffer[0];
-            this.thingId = buffer[1];
-        }
-
-        public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize) {
-            if (packetSize != length)
-                return false;
-
-            byte[] buffer = await Receive(dataStream, packetSize);
-            DestroyMsg msg = new(buffer);
-
-            client.messageQueue.Enqueue(msg);
-            return true;
-        }
-    }
-
-
-    #endregion Destroy
-}

Messages.cs.meta

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ModelUrlMsg.cs.meta

@@ -1,2 +0,0 @@
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NameMsg.cs

@@ -1,49 +0,0 @@
-#nullable enable
-
-namespace Passer.Control.Core {
-
-    public class NameMsg : IMessage {
-        public const byte Id = 0x91; // 145
-        public const byte length = 4;
-        public byte networkId;
-        public byte thingId;
-        public byte len;
-        public string? name = null;
-
-        public NameMsg(byte networkId, Thing thing) {
-            this.networkId = networkId;
-            this.thingId = thing.id;
-            this.name = thing.name;
-        }
-        public NameMsg(byte networkId, byte thingId, string name) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-            this.name = name;
-        }
-        public NameMsg(byte[] buffer) {
-            byte ix = 1;
-            this.networkId = buffer[ix++];
-            this.thingId = buffer[ix++];
-            int strlen = buffer[ix++];
-            this.name = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
-        }
-
-        public override byte Serialize(ref byte[] buffer) {
-            if (this.name == null)
-                return 0;
-
-            byte ix = 0;
-            buffer[ix++] = NameMsg.Id;
-            buffer[ix++] = this.networkId;
-            buffer[ix++] = this.thingId;
-
-            int nameLength = this.name.Length;
-
-            buffer[ix++] = (byte)nameLength;
-            for (int nameIx = 0; nameIx < nameLength; nameIx++)
-                buffer[ix++] = (byte)this.name[nameIx];
-            return ix;
-        }
-    }
-
-}

NameMsg.cs.meta

@@ -1,2 +0,0 @@
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NetworkIdMsg.cs

@@ -1,22 +0,0 @@
-namespace Passer.Control.Core {
-
-    public class NetworkIdMsg : IMessage {
-        public const byte Id = 0xA1;
-        public const byte length = 2;
-        public byte networkId;
-
-        public NetworkIdMsg(byte networkId) {
-            this.networkId = networkId;
-        }
-        public NetworkIdMsg(byte[] buffer) {
-            this.networkId = buffer[1];
-        }
-
-        public override byte Serialize(ref byte[] buffer) {
-            buffer[0] = NetworkIdMsg.Id;
-            buffer[1] = this.networkId;
-            return NetworkIdMsg.length;
-        }
-    }
-
-}

NetworkIdMsg.cs.meta

@@ -1,2 +0,0 @@
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Participant.cs.meta

@@ -1,11 +0,0 @@
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README.md.meta

@@ -1,7 +0,0 @@
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Sensors.meta

@@ -1,8 +0,0 @@
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SiteServer.cs

@@ -1,4 +1,3 @@
-using System;
 using System.Net;
 using System.Net.Sockets;
 
@@ -14,6 +13,8 @@ namespace Passer.Control.Core {
             this.udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port));
             this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
             this.name = "Site Server";
+
+            Register<TemperatureSensor>((byte)Thing.Type.TemperatureSensor);
         }
 
         public override void Update(long currentTimeMs) {
@@ -30,16 +31,27 @@ namespace Passer.Control.Core {
         protected override void Process(Participant sender, NetworkIdMsg msg) {
         }
 
+
+        delegate Thing ThingConstructor(byte networkId, byte thingId);
+        readonly Dictionary<byte, ThingConstructor> thingMsgProcessors = [];
+
+        public void Register<ThingClass>(byte thingType) where ThingClass : Thing {
+            thingMsgProcessors[thingType] = (byte networkId, byte thingId) => {
+                if (Activator.CreateInstance(typeof(Thing), networkId, thingId) is not ThingClass instance)
+                    throw new InvalidOperationException($"Could not created an instance of {(typeof(ThingClass))}.");
+                return instance;
+            };
+            Console.WriteLine($"Registering {typeof(ThingClass)} for thing type {thingType}");
+        }
+
         protected override void Process(ThingMsg msg) {
             Thing thing = Thing.Get(msg.networkId, msg.thingId);
             if (thing == null) {
-                switch ((Thing.Type) msg.thingType) {
+                if (thingMsgProcessors.TryGetValue(msg.thingType, out ThingConstructor? thingConstructor)) {
-                    case Thing.Type.TemperatureSensor:
+                    thingConstructor(msg.networkId, msg.thingId);
-                        new TemperatureSensor(msg.networkId, msg.thingId);
+                }
-                        break;
+                else {
-                    default:
                     new Thing(this, msg.networkId, msg.thingId, msg.thingType);
-                        break;
                 }
             }
         }

SiteServer.cs.meta

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Thing.cs.meta

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ThingMsg.cs.meta

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float16.cs.meta

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test.meta

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