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Merge commit 'f35d60369daf41a4fcd987ef8b31bd384b9536ba' into V2

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This commit is contained in:
Pascal Serrarens 2024-12-06 17:41:13 +01:00
commit becb194d64
2 changed files with 462 additions and 306 deletions
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2
LowLevelMessages.cs
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@ -3,9 +3,9 @@ using Passer;
public class LowLevelMessages {
public static void SendSpherical(byte[] buffer, ref uint ix, Spherical v) {
SendFloat16(buffer, ref ix, new float16(v.distance));
SendAngle8(buffer, ref ix, v.horizontal);
SendAngle8(buffer, ref ix, v.vertical);
SendFloat16(buffer, ref ix, new float16(v.distance));
}
public static Spherical ReceiveSpherical(byte[] data, ref uint ix) {

766
Messages.cs
View File

@ -3,366 +3,522 @@ using System.Collections.Concurrent;
using System.IO;
using System.Net.Sockets;
using System.Threading.Tasks;
using System;
namespace Passer.Control {
public class Client {
//public ConnectionMethod connection;
public UdpClient udpClient;
public string ipAddress;
public int port;
public class Client {
//public ConnectionMethod connection;
public UdpClient udpClient;
public string ipAddress;
public int port;
public byte networkId;
public byte networkId;
public readonly ConcurrentQueue<IMessage> messageQueue = new();
public readonly ConcurrentQueue<IMessage> messageQueue = new();
public static Client GetClient(string ipAddress, int port) {
foreach (Client c in clients) {
if (c.ipAddress == ipAddress && c.port == port)
return c;
}
return null;
public static Client GetClient(string ipAddress, int port) {
foreach (Client c in clients) {
if (c.ipAddress == ipAddress && c.port == port)
return c;
}
return null;
}
static public List<Client> clients = new List<Client>();
public static Client NewClient() {
Client client = new();
clients.Add(client);
client.networkId = 0;
return client;
}
public static Client NewUDPClient(UdpClient udpClient, string ipAddress, int port) {
Client client = NewClient();
client.ipAddress = null;
client.port = port;
client.udpClient = udpClient;
return client;
}
}
public class IMessage {
public IMessage() { }
public IMessage(byte[] data) {
Deserialize(data);
}
public virtual byte[] Serialize() { return null; }
public virtual void Deserialize(byte[] data) { }
public static bool SendMsg(Client client, IMessage msg) {
return SendMsg(client, msg.Serialize());
}
public static bool SendMsg(Client client, byte[] data) {
if (client == null || client.ipAddress == null)
return false;
client.udpClient.Send(data, data.Length, client.ipAddress, client.port);
return true;
}
public static bool PublishMsg(Client client, IMessage msg) {
return PublishMsg(client, msg.Serialize());
}
static public List<Client> clients = new List<Client>();
public static bool PublishMsg(Client client, byte[] data) {
if (client == null)
return false;
public static Client NewClient() {
Client client = new();
clients.Add(client);
client.networkId = 0;
return client;
client.udpClient.Send(data, data.Length, "127.0.0.1", client.port);
return true;
}
public static Client NewUDPClient(UdpClient udpClient, string ipAddress, int port) {
Client client = NewClient();
client.ipAddress = null;
client.port = port;
client.udpClient = udpClient;
return client;
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 Client
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[] data) : base(data) { }
public override byte[] Serialize() {
byte[] buffer = new byte[ClientMsg.length];
buffer[0] = ClientMsg.Id;
buffer[1] = networkId;
return buffer;
}
}
public class IMessage {
public IMessage() { }
public IMessage(byte[] data) {
Deserialize(data);
}
public virtual byte[] Serialize() { return null; }
public virtual void Deserialize(byte[] data) { }
public static bool SendMsg(Client client, IMessage msg) {
return SendMsg(client, msg.Serialize());
}
public static bool SendMsg(Client client, byte[] data) {
if (client == null || client.ipAddress == null)
return false;
client.udpClient.Send(data, data.Length, client.ipAddress, client.port);
return true;
}
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 Client
public class ClientMsg : IMessage {
public const byte length = 2;
public byte clientId;
public ClientMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
base.Deserialize(data);
uint ix = 0;
clientId = data[ix++];
base.Deserialize(data);
uint ix = 0;
networkId = data[ix];
}
public static bool Send(Client client, byte networkId) {
ClientMsg msg = new(networkId);
return SendMsg(client, msg);
}
public static bool Publish(Client client, byte networkId) {
ClientMsg msg = new(networkId);
return PublishMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
ClientMsg msg = new(buffer);
if (client.networkId == 0) {
client.networkId = (byte)(Client.clients.Count);
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
else if (msg.networkId == 0) {
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
return true;
}
}
#endregion Client
#region Network Id
public class NetworkIdMsg : IMessage {
public const byte Id = 0xA1;
public const byte length = 2;
public byte networkId;
NetworkIdMsg(byte networkId) {
this.networkId = networkId;
}
NetworkIdMsg(byte[] data) : base(data) { }
public override byte[] Serialize() {
byte[] data = new byte[NetworkIdMsg.length];
data[0] = NetworkIdMsg.Id;
data[1] = this.networkId;
return data;
}
public override void Deserialize(byte[] data) {
uint ix = 0;
this.networkId = data[ix];
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
public static bool Send(Client client, byte networkId) {
NetworkIdMsg msg = new(networkId);
return SendMsg(client, msg);
//byte[] data = new byte[NetworkIdMsg.length];
//data[0] = NetworkIdMsg.Id;
//data[1] = client.networkId;
//return SendMsg(client, data);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
ClientMsg msg = new(buffer);
if (client.networkId == 0) {
client.networkId = (byte)(Client.clients.Count);
NetworkIdMsg.Send(client);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
else if (msg.clientId == 0) {
NetworkIdMsg.Send(client);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
}
return true;
NetworkIdMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Client
#region Network Id
public class NetworkIdMsg : IMessage {
public const byte Id = 0xA1;
public const byte length = 2;
public static bool Send(Client client) {
byte[] data = new byte[NetworkIdMsg.length];
data[0] = NetworkIdMsg.Id;
data[1] = client.networkId;
return SendMsg(client, data);
}
}
}
#endregion Network Id
#region Investigate
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[] data) : base(data) { }
public override byte[] Serialize() {
byte[] buffer = new byte[InvestigateMsg.length];
buffer[0] = InvestigateMsg.Id;
buffer[1] = this.networkId;
buffer[2] = this.thingId;
return buffer;
}
public override void Deserialize(byte[] data) {
uint ix = 0;
this.networkId = data[ix++];
this.thingId = data[ix++];
}
public static bool Send(Client client, byte thingId) {
InvestigateMsg msg = new(client.networkId, thingId);
return SendMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
InvestigateMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Investigate
#region Thing
public class ThingMsg : IMessage {
public const byte length = 4;
public const byte Id = 0x80;
public byte objectId;
public byte objectType;
public byte parentId;
public const byte length = 5;
public const byte Id = 0x80;
public byte objectId;
public byte objectType;
public byte parentId;
public ThingMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
uint ix = 0;
objectId = data[ix++];
objectType = data[ix++];
parentId = data[ix];
}
public ThingMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
uint ix = 0;
objectId = data[ix++];
objectType = data[ix++];
parentId = data[ix];
}
public static bool Send(Client client, Thing obj) {
if (obj == null)
return false;
public static bool Send(Client client, byte thingId, byte thingType, byte parentId) {
byte[] data = new byte[ThingMsg.length];
data[0] = ThingMsg.Id;
data[1] = client.networkId;
data[2] = thingId;
data[3] = thingType;
data[4] = parentId;
return SendMsg(client, data);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] data = new byte[4];
data[0] = ThingMsg.Id;
data[1] = obj.networkId;
data[2] = obj.thingId;
data[3] = obj.objectType;
data[4] = 0x00; // not supported yet
return SendMsg(client, data);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
ThingMsg msg = new(buffer);
byte[] buffer = await Receive(dataStream, packetSize);
ThingMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Thing
#endregion Thing
#region Name
#region Name
public class NameMsg : IMessage {
public const byte Id = 0x91; // 145
public const byte length = 3;
public byte networkId = 0;
public byte thingId;
public byte len;
public string name;
public class NameMsg : IMessage {
public byte networkId = 0;
public byte objectId;
public byte len;
public string name;
public NameMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
uint ix = 0;
this.objectId = data[ix++];
int strlen = data[ix++];
this.name = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
NameMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion
#region Model URL
public class ModelUrlMsg : IMessage {
public const byte Id = 0x90; // (144) Model URL
public byte objectId;
public Spherical position;
public float scale;
public string url;
public ModelUrlMsg(string url, float scale = 1) {
this.url = url;
this.scale = scale;
this.position = Spherical.zero;
}
public ModelUrlMsg(byte[] data) : base(data) { }
public NameMsg(byte thingId, string name) {
this.thingId = thingId;
this.name = name;
}
public NameMsg(byte[] data) : base(data) { }
public override byte[] Serialize() {
byte[] data = new byte[this.url.Length + 9];
data[0] = ModelUrlMsg.Id;
data[1] = 0x00; // Thing Id
// data[2]..[5] == position 0, 0, 0
data[6] = 0x3C; // Dummy float16 value 1
data[7] = 0x00;
data[8] = (byte)url.Length;
for (int ix = 0; ix < this.url.Length; ix++)
data[9 + ix] = (byte)url[ix];
return data;
byte[] buffer = new byte[length + this.name.Length];
buffer[0] = NameMsg.Id;
buffer[1] = this.thingId;
buffer[2] = (byte)this.name.Length;
for (int ix = 0; ix < this.name.Length; ix++)
buffer[3 + ix] = (byte)this.name[ix];
return buffer;
}
public override void Deserialize(byte[] data) {
uint ix = 0;
this.objectId = data[ix++];
this.position = LowLevelMessages.ReceiveSpherical(data, ref ix);
this.scale = LowLevelMessages.ReceiveFloat16(data, ref ix);
int strlen = data[ix++];
url = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
uint ix = 0;
this.thingId = data[ix++];
int strlen = data[ix++];
this.name = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
}
public static bool Send(Client client, byte thingId, string name) {
NameMsg msg = new(thingId, name);
return SendMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
NameMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion
#region Model URL
public class ModelUrlMsg : IMessage {
public const byte Id = 0x90; // (144) Model URL
public byte thingId;
public Spherical position;
public float scale;
public string url;
public ModelUrlMsg(byte thingId, string url, float scale = 1) {
this.thingId = thingId;
this.url = url;
this.scale = scale;
this.position = Spherical.zero;
}
public ModelUrlMsg(byte[] data) : base(data) { }
public override byte[] Serialize() {
byte[] data = new byte[this.url.Length + 9];
data[0] = ModelUrlMsg.Id;
data[1] = this.thingId; // Thing Id
// data[2]..[5] == position 0, 0, 0
data[6] = 0x3C; // Dummy float16 value 1
data[7] = 0x00;
data[8] = (byte)url.Length;
for (int ix = 0; ix < this.url.Length; ix++)
data[9 + ix] = (byte)url[ix];
return data;
}
public override void Deserialize(byte[] data) {
uint ix = 0;
this.thingId = data[ix++];
this.position = LowLevelMessages.ReceiveSpherical(data, ref ix);
this.scale = LowLevelMessages.ReceiveFloat16(data, ref ix);
int strlen = data[ix++];
url = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
}
public static bool Send(Client client, byte thingId, string modelUrl) {
ModelUrlMsg msg = new(thingId, modelUrl);
return SendMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
ModelUrlMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Model URL
#region Pose
public class PoseMsg : IMessage {
public const byte Id = 0x10;
public const byte length = 3 + 4 + 4;
public byte thingId;
public byte poseType;
public const byte Pose_Position = 0x01;
public const byte Pose_Orientation = 0x02;
public Spherical position;
public Quat32 orientation;
public PoseMsg(byte thingId, Spherical position, Quat32 orientation) {
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 = new Quat32(0, 0, 0, 1);
}
public static bool Send(Client client, string modelUrl) {
ModelUrlMsg msg = new(modelUrl);
return SendMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
ModelUrlMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Model URL
#region Pose
public class PoseMsg : IMessage {
public const byte length = 3 + 4 + 4;
public byte thingId;
public byte poseType;
public Spherical position;
public Quat32 orientation;
public PoseMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
uint ix = 0;
thingId = data[ix++];
poseType = data[ix++];
//if ((poseType & Pose_Position) != 0)
position = LowLevelMessages.ReceiveSpherical(data, ref ix);
//if ((poseType & Pose_Orientation) != 0) {
orientation = LowLevelMessages.ReceiveQuat32(data, ref ix);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
PoseMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Pose
#region Bytes
public class BytesMsg : IMessage {
public const byte Id = 0xB1;
public byte networkId;
public byte thingId;
public byte[] bytes;
public BytesMsg(byte[] data) : base(data) { }
public BytesMsg(byte networkId, byte thingId, byte[] bytes) : base() {
this.networkId = networkId;
this.thingId = thingId;
this.bytes = bytes;
}
public override byte[] Serialize() {
byte[] buffer = new byte[4 + this.bytes.Length];
int ix = 0;
buffer[ix++] = BytesMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = (byte)bytes.Length;
foreach (byte b in bytes)
buffer[ix++] = b;
byte[] buffer = new byte[PoseMsg.length];
uint ix = 0;
buffer[ix++] = PoseMsg.Id;
buffer[ix++] = this.thingId;
buffer[ix++] = this.poseType;
return buffer;
LowLevelMessages.SendSpherical(buffer, ref ix, position);
LowLevelMessages.SendQuat32(buffer, ref ix, orientation);
return buffer;
}
public override void Deserialize(byte[] data) {
//this.bytes = data;
uint ix = 0;
this.thingId = data[ix++];
this.bytes = new byte[data.Length - ix];
for (uint bytesIx = 0; ix < data.Length; ix++, bytesIx++)
this.bytes[bytesIx] = data[ix];
}
uint ix = 0;
thingId = data[ix++];
poseType = data[ix++];
//if ((poseType & Pose_Position) != 0)
position = LowLevelMessages.ReceiveSpherical(data, ref ix);
//if ((poseType & Pose_Orientation) != 0) {
orientation = LowLevelMessages.ReceiveQuat32(data, ref ix);
}
public static bool Send(Client client, byte thingId, Spherical position, Quat32 orientation) {
PoseMsg msg = new(thingId, position, orientation);
return SendMsg(client, msg);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
PoseMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Pose
#region Bytes
public class BytesMsg : IMessage {
public const byte Id = 0xB1;
public byte networkId;
public byte thingId;
public byte[] bytes;
public BytesMsg(byte[] data) : base(data) { }
public BytesMsg(byte networkId, byte thingId, byte[] bytes) : base() {
this.networkId = networkId;
this.thingId = thingId;
this.bytes = bytes;
}
public override byte[] Serialize() {
byte[] buffer = new byte[4 + this.bytes.Length];
int ix = 0;
buffer[ix++] = BytesMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = (byte)bytes.Length;
foreach (byte b in bytes)
buffer[ix++] = b;
return buffer;
}
public override void Deserialize(byte[] data) {
//this.bytes = data;
uint ix = 0;
this.thingId = data[ix++];
this.bytes = new byte[data.Length - ix];
for (uint bytesIx = 0; ix < data.Length; ix++, bytesIx++)
this.bytes[bytesIx] = data[ix];
}
public static void Send(Client client, byte thingId, byte[] bytes) {
BytesMsg msg = new(client.networkId, thingId, bytes);
SendMsg(client, msg);
}
public static void Send(Client client, byte thingId, byte[] bytes) {
BytesMsg msg = new(client.networkId, thingId, bytes);
SendMsg(client, msg);
}
// received bytes
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
BytesMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
// received bytes
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
byte[] buffer = await Receive(dataStream, packetSize);
BytesMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Bytes
#endregion Bytes
#region Destroy
#region Destroy
public class DestroyMsg : IMessage {
public const byte length = 2;
public byte objectId;
public class DestroyMsg : IMessage {
public const byte Id = 0x20;
public const byte length = 2;
public byte objectId;
public DestroyMsg(byte[] data) : base(data) { }
public DestroyMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
objectId = data[0];
}
public override void Deserialize(byte[] data) {
objectId = data[0];
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
if (packetSize != length)
return false;
byte[] buffer = await Receive(dataStream, packetSize);
DestroyMsg msg = new(buffer);
byte[] buffer = await Receive(dataStream, packetSize);
DestroyMsg msg = new(buffer);
client.messageQueue.Enqueue(msg);
return true;
}
}
client.messageQueue.Enqueue(msg);
return true;
}
}
#endregion Destroy
#endregion Destroy
}