RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Improved network sync

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This commit is contained in:
Pascal Serrarens 2025-04-22 17:47:22 +02:00
parent 86b12a7326
commit be167722e7
10 changed files with 121 additions and 85 deletions
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23
Unity/Thing.cs
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@ -17,6 +17,8 @@ namespace RoboidControl.Unity {
[field: SerializeField] [field: SerializeField]
public RoboidControl.Thing core { get; set; } public RoboidControl.Thing core { get; set; }
public SiteServer participant;
private string modelUrl = null; private string modelUrl = null;
/// <summary> /// <summary>
@ -41,18 +43,22 @@ namespace RoboidControl.Unity {
new("Thing") : new("Thing") :
new(core.name); new(core.name);
Thing component = gameObj.AddComponent<Thing>(); Thing component = gameObj.AddComponent<Thing>();
component.Init(core);
return component;
}
component.core = core; protected void Init(RoboidControl.Thing core) {
this.core = core;
this.participant = FindAnyObjectByType<SiteServer>();
if (core.parent != null && core.parent.component != null) if (core.parent != null && core.parent.component != null)
gameObj.transform.SetParent(core.parent.component.transform, false); this.transform.SetParent(core.parent.component.transform, false);
if (core.position != null) if (core.position != null)
gameObj.transform.localPosition = core.position.ToVector3(); this.transform.localPosition = core.position.ToVector3();
if (core.orientation != null) if (core.orientation != null)
gameObj.transform.localRotation = core.orientation.ToQuaternion(); this.transform.localRotation = core.orientation.ToQuaternion();
core.OnPoseChanged += component.PoseChanged; core.OnPoseChanged += this.PoseChanged;
return component;
} }
/// <summary> /// <summary>
@ -70,7 +76,8 @@ namespace RoboidControl.Unity {
// this.transform.localPosition = core.position.ToVector3(); // this.transform.localPosition = core.position.ToVector3();
if (core.angularVelocity != null && core.angularVelocity.distance != 0) { if (core.angularVelocity != null && core.angularVelocity.distance != 0) {
Vector3 angularVelocity = core.angularVelocity.ToVector3(); // Vector3 angularVelocity = core.angularVelocity.ToVector3();
// Debug.Log(angularVelocity);
Vector3 axis = core.angularVelocity.direction.ToVector3(); Vector3 axis = core.angularVelocity.direction.ToVector3();
this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis); this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis);
//this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime); //this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime);
@ -95,7 +102,7 @@ namespace RoboidControl.Unity {
} }
private void PoseChanged() { private void PoseChanged() {
// Debug.Log($"{this} pose changed"); //Debug.Log($"{this} pose changed");
if (core.positionUpdated) if (core.positionUpdated)
this.transform.localPosition = core.position.ToVector3(); this.transform.localPosition = core.position.ToVector3();
if (core.orientationUpdated) if (core.orientationUpdated)

29
Unity/TouchSensor.cs
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@ -8,7 +8,7 @@ namespace RoboidControl.Unity {
/// </summary> /// </summary>
public class TouchSensor : Thing { public class TouchSensor : Thing {
public SiteServer participant; // public SiteServer participant;
/// <summary> /// <summary>
/// The core touch sensor /// The core touch sensor
/// </summary> /// </summary>
@ -24,18 +24,6 @@ namespace RoboidControl.Unity {
participant = FindAnyObjectByType<SiteServer>(); participant = FindAnyObjectByType<SiteServer>();
SetCoreThing(new RoboidControl.TouchSensor(participant.site)); SetCoreThing(new RoboidControl.TouchSensor(participant.site));
} }
// Somehow this does not work.
// Rigidbody rb = GetComponentInParent<Rigidbody>();
// if (rb == null) {
// RoboidControl.Thing thing = core;
// while (thing.parent != null)
// thing = thing.parent;
// Thing unityThing = thing.component;
// rb = unityThing.gameObject.AddComponent<Rigidbody>();
// rb.isKinematic = true;
// }
} }
/// <summary> /// <summary>
@ -48,6 +36,8 @@ namespace RoboidControl.Unity {
new(core.name) : new(core.name) :
new("Touch Sensor"); new("Touch Sensor");
TouchSensor component = gameObj.AddComponent<TouchSensor>(); TouchSensor component = gameObj.AddComponent<TouchSensor>();
component.Init(core);
Rigidbody rb = gameObj.AddComponent<Rigidbody>(); Rigidbody rb = gameObj.AddComponent<Rigidbody>();
rb.isKinematic = true; rb.isKinematic = true;
@ -55,17 +45,6 @@ namespace RoboidControl.Unity {
collider.radius = 0.01f; collider.radius = 0.01f;
collider.isTrigger = true; collider.isTrigger = true;
component.core = core;
component.participant = FindAnyObjectByType<SiteServer>();
core.thisParticipant = component.participant.site;
if (core.parent != null && core.parent.component != null) {
gameObj.transform.SetParent(core.parent.component.transform, false);
}
if (core.position != null)
gameObj.transform.localPosition = core.position.ToVector3();
if (gameObj.transform.parent != null && gameObj.transform.localPosition.magnitude > 0) { if (gameObj.transform.parent != null && gameObj.transform.localPosition.magnitude > 0) {
collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2; collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2;
gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2; gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2;
@ -80,12 +59,14 @@ namespace RoboidControl.Unity {
if (this.transform.root == other.transform.root) if (this.transform.root == other.transform.root)
return; return;
Debug.Log($"*** {this} Touch");
this.coreSensor.touchedSomething = true; this.coreSensor.touchedSomething = true;
} }
private void OnTriggerExit(Collider other) { private void OnTriggerExit(Collider other) {
if (other.isTrigger) if (other.isTrigger)
return; return;
Debug.Log($"*** {this} Touch end");
this.coreSensor.touchedSomething = false; this.coreSensor.touchedSomething = false;
} }
} }

2
src/Messages/BinaryMsg.cs
View File

@ -61,7 +61,7 @@ namespace RoboidControl {
return 0; return 0;
#if DEBUG #if DEBUG
// System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}"); System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}");
#endif #endif
byte ix = 0; byte ix = 0;
buffer[ix++] = BinaryMsg.Id; buffer[ix++] = BinaryMsg.Id;

5
src/Messages/DestroyMsg.cs
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@ -31,7 +31,10 @@ namespace RoboidControl {
this.thingId = thingId; this.thingId = thingId;
} }
/// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer) /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
public DestroyMsg(byte[] buffer) : base(buffer) { } public DestroyMsg(byte[] buffer) : base(buffer) {
this.networkId = buffer[1];
this.thingId = buffer[2];
}
/// @copydoc Passer::RoboidControl::IMessage::Serialize /// @copydoc Passer::RoboidControl::IMessage::Serialize
public override byte Serialize(ref byte[] buffer) { public override byte Serialize(ref byte[] buffer) {

2
src/Messages/PoseMsg.cs
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@ -96,12 +96,10 @@ namespace RoboidControl {
if (thing.positionUpdated || force) { if (thing.positionUpdated || force) {
this.position = thing.position; this.position = thing.position;
this.poseType |= Pose_Position; this.poseType |= Pose_Position;
//thing.positionUpdated = false; // this is also reset in Thing.update, leave it out here?
} }
if (thing.orientationUpdated || force) { if (thing.orientationUpdated || force) {
this.orientation = thing.orientation; this.orientation = thing.orientation;
this.poseType |= Pose_Orientation; this.poseType |= Pose_Orientation;
//thing.orientationUpdated = false; // this is also reset in Thing.update, leave it out here?
} }
if (thing.linearVelocityUpdated) { if (thing.linearVelocityUpdated) {
this.linearVelocity = thing.linearVelocity; this.linearVelocity = thing.linearVelocity;

2
src/Participant.cs
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@ -42,7 +42,7 @@ namespace RoboidControl {
/// <summary> /// <summary>
/// The things managed by this participant /// The things managed by this participant
/// </summary> /// </summary>
protected readonly List<Thing> things = new List<Thing>(); public readonly List<Thing> things = new List<Thing>();
public virtual void Update(ulong currentTimeMS = 0) { public virtual void Update(ulong currentTimeMS = 0) {
int n = this.things.Count; int n = this.things.Count;

70
src/ParticipantUDP.cs
View File

@ -95,7 +95,7 @@ namespace RoboidControl {
#region Update #region Update
protected void ReceiveUDP(IAsyncResult result) { protected void ReceiveUDP(IAsyncResult result) {
// UnityEngine.Debug.Log("received"); // UnityEngine.Debug.Log("received");
if (this.udpClient == null) // || this.endPoint == null) if (this.udpClient == null) // || this.endPoint == null)
return; return;
@ -129,24 +129,47 @@ namespace RoboidControl {
this.nextPublishMe = currentTimeMS + this.publishInterval; this.nextPublishMe = currentTimeMS + this.publishInterval;
} }
UpdateMyThings(currentTimeMS);
UpdateOtherThings(currentTimeMS);
}
protected virtual void UpdateMyThings(ulong currentTimeMS) {
int n = this.things.Count; int n = this.things.Count;
for (int ix = 0; ix < n; ix++) { for (int ix = 0; ix < n; ix++) {
Thing thing = this.things[ix]; Thing thing = this.things[ix];
if (thing != null && thing.parent == null) { if (thing == null || thing.parent != null)
thing.Update(currentTimeMS, true); continue;
// if (this.isIsolated == false) {
if (thing.owner != this) { // should not happen.... thing.Update(currentTimeMS, true);
PoseMsg poseMsg = new(thing.owner.networkId, thing); if (this.isIsolated || this.networkId == 0)
this.Send(thing.owner, poseMsg); continue;
BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
this.Send(thing.owner, binaryMsg); // Send to remote site
} PoseMsg poseMsg = new(thing.owner.networkId, thing);
this.Send(this.remoteSite, poseMsg);
BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
this.Send(this.remoteSite, binaryMsg);
}
}
protected virtual void UpdateOtherThings(ulong currentTimeMS) {
for (int ownerIx = 0; ownerIx < Participant.participants.Count; ownerIx++) {
Participant participant = Participant.participants[ownerIx];
if (participant == null || participant == this)
continue;
participant.Update(currentTimeMS);
if (this.isIsolated)
continue;
foreach (Thing thing in participant.things) {
PoseMsg poseMsg = new(thing.owner.networkId, thing);
this.Send(participant, poseMsg);
BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
this.Send(participant, binaryMsg);
} }
} }
for (int ownerIx = 0; ownerIx < Participant.participants.Count; ownerIx++) {
Participant owner = Participant.participants[ownerIx];
owner.Update(currentTimeMS);
}
} }
public virtual void Publish() { public virtual void Publish() {
@ -253,7 +276,8 @@ namespace RoboidControl {
// result = await TextMsg.Receive(dataStream, client, packetSize); // result = await TextMsg.Receive(dataStream, client, packetSize);
break; break;
case DestroyMsg.Id: // 0x20 / 32 case DestroyMsg.Id: // 0x20 / 32
// result = await DestroyMsg.Receive(dataStream, client, packetSize); this.Process(sender, new DestroyMsg(data));
// result = await DestroyMsg.Receive(dataStream, client, packetSize);
break; break;
default: default:
break; break;
@ -324,17 +348,21 @@ namespace RoboidControl {
thing.position = msg.position; thing.position = msg.position;
if ((msg.poseType & PoseMsg.Pose_Orientation) != 0) if ((msg.poseType & PoseMsg.Pose_Orientation) != 0)
thing.orientation = msg.orientation; thing.orientation = msg.orientation;
if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0) if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0) {
thing.linearVelocity = msg.linearVelocity; thing.linearVelocity = msg.linearVelocity;
if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0) //Console.Write($"linear velocity = {thing.linearVelocity.ToVector3()}");
}
if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0) {
thing.angularVelocity = msg.angularVelocity; thing.angularVelocity = msg.angularVelocity;
//Console.Write($"angular velocity = {thing.angularVelocity.ToVector3()}");
}
} }
} }
protected virtual void Process(Participant sender, BinaryMsg msg) { protected virtual void Process(Participant sender, BinaryMsg msg) {
// #if DEBUG // #if DEBUG
// Console.WriteLine($"Participant: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}"); // Console.WriteLine($"Participant: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
// #endif // #endif
Thing thing = sender.Get(msg.networkId, msg.thingId); Thing thing = sender.Get(msg.networkId, msg.thingId);
thing?.ProcessBinary(msg.data); thing?.ProcessBinary(msg.data);
} }
@ -348,7 +376,7 @@ namespace RoboidControl {
protected virtual void Process(Participant sender, DestroyMsg msg) { protected virtual void Process(Participant sender, DestroyMsg msg) {
#if DEBUG #if DEBUG
Console.WriteLine($"Participant: Process ThingMsg [{msg.networkId}/{msg.thingId}]"); Console.WriteLine($"Participant: Process Destroy Msg [{msg.networkId}/{msg.thingId}]");
#endif #endif
} }

53
src/SiteServer.cs
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@ -30,6 +30,30 @@ namespace RoboidControl {
this.udpClient?.Close(); this.udpClient?.Close();
} }
protected override void UpdateMyThings(ulong currentTimeMS) {
int n = this.things.Count;
for (int ix = 0; ix < n; ix++) {
Thing thing = this.things[ix];
if (thing == null || thing.parent != null)
continue;
thing.Update(currentTimeMS, true);
if (this.isIsolated || this.networkId == 0)
continue;
// Send to all other participants
foreach (Participant participant in Participant.participants) {
if (participant == null || participant == this)
continue;
PoseMsg poseMsg = new(thing.owner.networkId, thing);
this.Send(participant, poseMsg);
BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
this.Send(participant, binaryMsg);
}
}
}
public override void Publish() { public override void Publish() {
} }
@ -44,30 +68,21 @@ namespace RoboidControl {
protected override void Process(Participant sender, NetworkIdMsg msg) { } protected override void Process(Participant sender, NetworkIdMsg msg) { }
protected override void Process(Participant sender, ThingMsg msg) { protected override void Process(Participant sender, ThingMsg msg) {
Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]"); Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
Thing thing = sender.Get(msg.networkId, msg.thingId); Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing == null) { if (thing == null) {
Thing newThing = null; thing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
// if (thingMsgProcessors.TryGetValue(msg.thingType, out Func<Participant, byte, byte, Thing> msgProcessor)) {
// //Console.WriteLine("Found thing message processor");
// if (msgProcessor != null)
// newThing = msgProcessor(sender, msg.networkId, msg.thingId);
// }
// if (newThing == null) {
newThing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
// Console.WriteLine("Created generic new core thing"); // Console.WriteLine("Created generic new core thing");
// } // }
if (msg.parentId != 0) { }
Thing parentThing = Get(msg.networkId, msg.parentId);
if (parentThing == null) if (msg.parentId != 0) {
Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]"); Thing parentThing = Get(msg.networkId, msg.parentId);
else if (parentThing == null)
newThing.parent = parentThing; Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
} else
//Console.WriteLine("Adding to remote sender"); thing.parent = parentThing;
//sender.Add(newThing, false, true);
} }
} }
} }
} }

2
src/Thing.cs
View File

@ -367,6 +367,8 @@ namespace RoboidControl {
OnPoseChanged?.Invoke(); OnPoseChanged?.Invoke();
this.positionUpdated = false; this.positionUpdated = false;
this.orientationUpdated = false; this.orientationUpdated = false;
this.linearVelocityUpdated = false;
this.angularVelocityUpdated = false;
// should recurse over children... // should recurse over children...
if (recursively) { if (recursively) {

16
src/Things/TouchSensor.cs
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@ -19,7 +19,7 @@ namespace RoboidControl {
} }
public TouchSensor(Participant owner, byte networkId, byte thingId) : base(owner, networkId, thingId) { public TouchSensor(Participant owner, byte networkId, byte thingId) : base(owner, networkId, thingId) {
Console.Write("TouchSensor constructor"); // Console.Write("TouchSensor constructor");
//touchedSomething = false; //touchedSomething = false;
//thisParticipant = participant; //thisParticipant = participant;
} }
@ -36,15 +36,13 @@ namespace RoboidControl {
public bool touchedSomething { public bool touchedSomething {
get { return _touchedSomething; } get { return _touchedSomething; }
set { set {
_touchedSomething = value; if (_touchedSomething != value) {
if (thisParticipant != null && this.owner != thisParticipant) { touchUpdated = true;
BinaryMsg msg = new(networkId, this); _touchedSomething = value;
this.thisParticipant.Send(this.owner, msg);
// foreach (Participant remoteParticipant in thisParticipant.participants)
// thisParticipant.Send(remoteParticipant, msg);
} }
} }
} }
private bool touchUpdated = false;
#if UNITY_5_3_OR_NEWER #if UNITY_5_3_OR_NEWER
/// @copydoc Passer::RoboidControl::Thing::CreateComponent /// @copydoc Passer::RoboidControl::Thing::CreateComponent
@ -55,8 +53,12 @@ namespace RoboidControl {
} }
#endif #endif
public override byte[] GenerateBinary() { public override byte[] GenerateBinary() {
if (!touchUpdated)
return new byte[0];
byte[] buffer = new byte[1]; byte[] buffer = new byte[1];
buffer[0] = (byte)(touchedSomething ? 1 : 0); buffer[0] = (byte)(touchedSomething ? 1 : 0);
touchUpdated = false;
return buffer; return buffer;
} }
} }