Simplified constructors

Examples/BB2B/BB2B.cs

@@ -9,7 +9,7 @@ namespace RoboidControl {
         readonly TouchSensor touchRight;
         const float speed = 0.5f;
 
-        public BB2B(Participant owner) : base(owner) {
+        public BB2B(Thing parent = default) : base(parent) {
             this.name = "BB2B";
             this.SetMotors(new Motor(this), new Motor(this));
             this.SetDriveDimensions(0.064f, 0.128f);

Examples/BB2B/BB2B_Encoder.cs

@@ -9,15 +9,15 @@ namespace RoboidControl {
         readonly TouchSensor touchRight;
         const float speed = 180.0f; // wheel rotation speed in degrees
 
-        public BB2B_Encoder(Participant owner) : base(owner) {
+        public BB2B_Encoder(Thing parent) : base(parent) {
             this.name = "BB2B";
             this.SetDriveDimensions(0.064f, 0.128f);
 
             // Update the basic motors to motors with encoder
-            EncoderMotor leftMotor = new(this, new RelativeEncoder()) {
+            ControlledMotor leftMotor = new(this, new RelativeEncoder()) {
                 position = new Spherical(0.064f, Direction.left)
             };
-            EncoderMotor rightMotor = new(this, new RelativeEncoder()) {
+            ControlledMotor rightMotor = new(this, new RelativeEncoder()) {
                 position = new Spherical(0.064f, Direction.right)
             };
             this.SetMotors(leftMotor, rightMotor);

Examples/BB2B/Program.cs

@@ -3,7 +3,7 @@ using RoboidControl;
 
 class Program {
     static void Main() {
-        BB2B bb2b = new(ParticipantUDP.Isolated());
+        BB2B bb2b = new();
 
         while (true) {
             bb2b.Update();

README.md

@@ -11,3 +11,21 @@ The documentation for Roboid Control for C# is found at https://docs.roboidcontr
 
 - RoboidControl::Thing
 - RoboidControl::Participant
+
+# Get Started
+
+## Unity
+
+The Unity environment can use the same RoboidControl code as every other C# code, but needs a *starter* wrapper around it to make the things visibile. For example, to start the BB2B example in Unity one needs to write a BB2B_Starter.cs component as follows:
+```
+using RoboidControl.Unity;
+
+public class BB2B_Starter : SiteServer {
+    void Start() {
+        new RoboidControl.BB2B();    
+    }
+}
+```
+This component then should be attached to a GameObject in the scene.
+
+It is possible to create a Site Server in Unity by just adding the `SiteServer` Component to a GameObject in the scene. When this is run, other roboids will be able to connect to this site then.

src/Participant.cs

@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Collections.Concurrent;
 using System.Net;
 using System.Net.Sockets;
+using System.Reflection.Metadata;
 
 namespace RoboidControl {
 
@@ -14,6 +15,13 @@ namespace RoboidControl {
     /// It also maintains the communcation information to contact the participant.
     /// It is used as a basis for the local participant, but also as a reference to remote participants.
     public class Participant {
+
+        private Participant() {
+            this.root = Thing.CreateRoot(this);
+            this.root.name = "Root";
+            this.Add(this.root);
+        }
+
         /// <summary>
         /// Create a new participant with the given communcation info
         /// </summary>
@@ -26,6 +34,10 @@ namespace RoboidControl {
                 this.udpClient = localParticipant.udpClient;
         }
 
+        public static readonly Participant localParticipant = new();
+
+        public Thing root = null;
+
         /// <summary>
         /// The Ip Address of a participant. When the participant is local, this contains 0.0.0.0
         /// </summary>

src/Participants/SiteServer.cs

@@ -132,9 +132,9 @@ namespace RoboidControl {
 
         protected virtual Thing ProcessNewThing(Participant sender, ThingMsg msg) {
             return msg.thingType switch {
-                Thing.Type.TouchSensor => new TouchSensor(sender, msg.thingId),
+                //Thing.Type.TouchSensor => new TouchSensor(sender, msg.thingId),
-                Thing.Type.DifferentialDrive => new DifferentialDrive(sender, msg.thingId),
+                //Thing.Type.DifferentialDrive => new DifferentialDrive(sender, msg.thingId),
-                _ => new Thing(sender, msg.thingType, msg.thingId),
+                _ => Thing.CreateRemote(sender, msg.thingType, msg.thingId)
             };
 
         }

src/Thing.cs

@@ -2,6 +2,7 @@ using System;
 using System.Collections.Generic;
 using System.Collections.Concurrent;
 using LinearAlgebra;
+using Microsoft.VisualStudio.TestPlatform.ObjectModel.DataCollection;
 
 namespace RoboidControl {
 
@@ -26,10 +27,11 @@ namespace RoboidControl {
             public const byte ControlledMotor = 0x06;
             public const byte UncontrolledMotor = 0x07;
             public const byte Servo = 0x08;
-            public const byte IncrementalEncoder = 0x19;
+            public const byte RelativeEncoder = 0x19;
             // Other
+            public const byte Root = 0x10;
             public const byte Roboid = 0x09;
-            public const byte HUmanoid = 0x0A;
+            public const byte Humanoid = 0x0A;
             public const byte ExternalSensor = 0x0B;
             public const byte Animator = 0x0C;
             public const byte DifferentialDrive = 0x0D;
@@ -37,6 +39,29 @@ namespace RoboidControl {
 
         #region Init
 
+        private Thing(Participant owner) {
+            this.type = Type.Root;
+
+            this.positionUpdated = true;
+            this.orientationUpdated = true;
+            this.hierarchyChanged = true;
+
+            this.owner = owner;
+            this.parent = null;
+        }
+
+        public static Thing CreateRoot(Participant owner) {
+            return new Thing(owner);
+        }
+
+        static Thing localRoot {
+            get {
+                Participant participant = Participant.localParticipant;
+                return participant.root;
+            }
+        }
+
+        /*
         /// <summary>
         /// Create a new thing without communication abilities
         /// </summary>
@@ -66,6 +91,7 @@ namespace RoboidControl {
                 this.owner.updateQueue.Enqueue(e);
             }
         }
+        */
 
         /// <summary>
         /// Create a new child thing
@@ -75,26 +101,33 @@ namespace RoboidControl {
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
         /// <note>The owner will be the same as the owner of the parent thing</note>
+        /*
         public Thing(Thing parent, byte thingType = Type.Undetermined, byte thingId = 0, bool invokeEvent = true) : this(parent.owner, thingType, thingId, invokeEvent) {
             this.parent = parent;
         }
+        */
+        public Thing(byte thingType = Type.Undetermined, Thing parent = default) {
+            this.type = thingType;
 
-        // /// <summary>
+            this.positionUpdated = true;
-        // /// Create a new thing for the given participant
+            this.orientationUpdated = true;
-        // /// </summary>
+            this.hierarchyChanged = true;
-        // /// <param name="owner">The participant owning the thing</param>
+
-        // /// <param name="networkId">The network ID of the thing</param>
+            if (parent == default)
-        // /// <param name="thingId">The ID of the thing</param>
+                this.parent = Participant.localParticipant.root;
-        // /// <param name="thingType">The type of thing</param>
+            else
-        // public Thing(Participant owner, byte networkId, byte thingId, byte thingType = 0) {
+                this.parent = parent;
-        //     this.owner = owner;
+
-        //     this.id = thingId;
+            this.owner = parent.owner;
-        //     this.type = thingType;
+            this.owner.Add(this, true);
-        //     this.networkId = networkId;
+        }
-        //     // Console.Write($"New thing added to {owner}");
+
-        //     this.owner.Add(this);
+        public static Thing CreateRemote(Participant owner, byte thingType, byte thingId) {
-        //     InvokeNewThing(this);
+            Thing remoteThing = new(thingType, owner.root) {
-        // }
+                id = thingId
+            };
+            return remoteThing;
+        }
 
         /// <summary>
         /// Function which can be used to create components in external engines.

src/Things/ControlledMotor.cs

@@ -3,12 +3,12 @@ namespace RoboidControl {
     /// @brief A motor with speed control
     /// It uses a feedback loop from an encoder to regulate the speed
     /// The speed is measured in revolutions per second.
-    class EncoderMotor : Motor {
+    public class ControlledMotor : Motor {
-        public EncoderMotor(Thing parent, RelativeEncoder encoder) : base(parent) {
+        public ControlledMotor(Thing parent, RelativeEncoder encoder) : base(parent) {
             this.encoder = encoder;
          }
         // Upgrade an existing motor with an encoder
-        public EncoderMotor(Motor motor, RelativeEncoder encoder) : base(motor.parent) {
+        public ControlledMotor(Motor motor, RelativeEncoder encoder) : base(motor.parent) {
             this.motor = motor;
             this.encoder = encoder;
          }
@@ -50,7 +50,7 @@ namespace RoboidControl {
 
         float pidP = 0.1F;
         float pidD = 0.0F;
-        float pidI = 0.0F;
+        //float pidI = 0.0F;
 
         public override void Update(ulong currentTimeMs, bool recurse = false) {
             float actualSpeed = this.encoder.angularSpeed;

src/Things/DifferentialDrive.cs

@@ -6,11 +6,13 @@ namespace RoboidControl {
     ///
     /// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
     public class DifferentialDrive : Thing {
+        /*
         /// <summary>
         /// Create a differential drive without communication abilities
         /// </summary
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        public DifferentialDrive(bool invokeEvent = true) : base(Type.DifferentialDrive, invokeEvent) { }
+        public DifferentialDrive() : base(Type.DifferentialDrive) { }
+        
         /// <summary>
         /// Create a differential drive for a participant
         /// </summary>
@@ -28,15 +30,16 @@ namespace RoboidControl {
             // sendBinary = true;
             // owner.Send(new BinaryMsg(owner.networkId, this));
             // this.updateQueue.Enqueue(new UpdateEvent(BinaryMsg.Id));
-
         }
+        */
+
         /// <summary>
         /// Create a new child differential drive
         /// </summary>
         /// <param name="parent">The parent thing</param>
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        public DifferentialDrive(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.DifferentialDrive, thingId, invokeEvent) { }
+        public DifferentialDrive(Thing parent) : base(Type.DifferentialDrive, parent) { }
 
         /// @brief Configures the dimensions of the drive
         /// @param wheelDiameter The diameter of the wheels in meters
@@ -101,9 +104,9 @@ namespace RoboidControl {
         /// Positive moves the robot in the forward direction.
         public void SetWheelAngularVelocity(float angularSpeedLeft, float angularSpeedRight) {
             // This only works when the motor is a motor with encoder
-            if (this.leftWheel is EncoderMotor leftMotor)
+            if (this.leftWheel is ControlledMotor leftMotor)
                 leftMotor.targetAngularSpeed = angularSpeedLeft;
-            if (this.rightWheel is EncoderMotor rightMotor)
+            if (this.rightWheel is ControlledMotor rightMotor)
                 rightMotor.targetAngularSpeed = angularSpeedRight;
         }
 

src/Things/DigitalSensor.cs

@@ -6,6 +6,7 @@ namespace RoboidControl {
     /// A sensor which can detect touches
     /// </summary>
     public class DigitalSensor : Thing {
+        /*
         /// <summary>
         /// Create a digital sensor without communication abilities
         /// </summary>
@@ -18,13 +19,14 @@ namespace RoboidControl {
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
         public DigitalSensor(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.Switch, thingId, invokeEvent) { }
+        */
         /// <summary>
         /// Create a new child digital sensor
         /// </summary>
         /// <param name="parent">The parent thing</param>
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        public DigitalSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.Switch, thingId, invokeEvent) { }
+        public DigitalSensor(Thing parent) : base(Type.Switch, parent) { }
 
         /// <summary>
         /// Value which is true when the sensor is touching something, false otherwise

src/Things/DistanceSensor.cs

@@ -9,19 +9,23 @@ namespace RoboidControl {
         /// </summary>
         public float distance = 0;
 
+        /*
         /// <summary>
         /// Constructor for a new distance sensor
         /// </summary>
         /// <param name="participant">The participant for which the sensor is needed</param>
         public DistanceSensor(Participant participant) : base(participant, Type.Undetermined) { }
+        
         /// <summary>
         /// Create a distance sensor with the given ID
         /// </summary>
         /// <param name="owner">The participant for with the sensor is needed</param>
         /// <param name="networkId">The network ID of the sensor</param>
         /// <param name="thingId">The ID of the thing</param>
-        public DistanceSensor(Participant owner, byte thingId) : base(owner, Type.TemperatureSensor, thingId) {
+        public DistanceSensor(Participant owner, byte thingId) : base(owner, Type.TemperatureSensor, thingId) {}
-        }
+        */
+        public DistanceSensor(Thing parent): base(Type.DistanceSensor, parent) {}
+        
 
 #if UNITY_5_3_OR_NEWER
         /// @copydoc Passer::RoboidControl::Thing::CreateComponent              

src/Things/Motor.cs

@@ -3,8 +3,8 @@ using LinearAlgebra;
 namespace RoboidControl {
 
     public class Motor : Thing {
-        public Motor(bool invokeEvent = true) : base(Type.UncontrolledMotor, invokeEvent) { }
+        //public Motor(bool invokeEvent = true) : base(Type.UncontrolledMotor, invokeEvent) { }
-        public Motor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.UncontrolledMotor, thingId, invokeEvent) { }
+        public Motor(Thing parent) : base(Type.UncontrolledMotor, parent) { }
 
         /// @brief Motor turning direction
         public enum Direction {

src/Things/RelativeEncoder.cs

@@ -1,4 +1,6 @@
 
+using NUnit.Framework;
+
 namespace RoboidControl {
 
     /// @brief An Incremental Encoder measures the rotations of an axle using a rotary
@@ -9,7 +11,12 @@ namespace RoboidControl {
         /// full rotation
         /// @param distancePerRevolution The distance a wheel travels per full
         /// rotation
+        /*
         public RelativeEncoder(bool invokeEvent = true) : base(Type.IncrementalEncoder, invokeEvent) { }
+        */
+        public RelativeEncoder(Thing parent = default) : base(Type.RelativeEncoder, parent) {
+            
+        }
 
         protected float _rotationSpeed = 0;
         /// @brief Get the rotation speed since the previous call

src/Things/TemperatureSensor.cs

@@ -6,6 +6,7 @@ namespace RoboidControl {
     /// A temperature sensor
     /// </summary>
     public class TemperatureSensor : Thing {
+        /*
         /// <summary>
         /// Create a temperature sensor without communication abilities
         /// </summary>
@@ -18,14 +19,14 @@ namespace RoboidControl {
         /// <param name="thingId">The ID of the thing</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
         public TemperatureSensor(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.TemperatureSensor, thingId, invokeEvent) { }
-
+        */
         /// <summary>
         /// Create a new child temperature sensor
         /// </summary>
         /// <param name="parent">The parent thing</param>
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        public TemperatureSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.TemperatureSensor, thingId, invokeEvent) { }
+        public TemperatureSensor(Thing parent) : base(Type.TemperatureSensor, parent) { }
 
         /// <summary>
         /// The measured temperature

src/Things/TouchSensor.cs

@@ -6,6 +6,7 @@ namespace RoboidControl {
     /// A sensor which can detect touches
     /// </summary>
     public class TouchSensor : Thing {
+        /*
         /// <summary>
         /// Create a touch sensor without communication abilities
         /// </summary>
@@ -18,13 +19,14 @@ namespace RoboidControl {
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
         public TouchSensor(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.TouchSensor, thingId, invokeEvent) { }
+        */
         /// <summary>
         /// Create a new child touch sensor
         /// </summary>
         /// <param name="parent">The parent thing</param>
         /// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
         /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
-        public TouchSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.TouchSensor, thingId, invokeEvent) {
+        public TouchSensor(Thing parent) : base(Type.TouchSensor, parent) {
             this.name = "TouchSensor";
          }
 

test/UnitTest1.cs

@@ -65,7 +65,7 @@ namespace RoboidControl.test {
         public void Test_ThingMsg() {
             SiteServer siteServer = new(7681);
             ParticipantUDP participant = new("127.0.0.1", 7681, 7682);
-            Thing thing = new(participant) {
+            Thing thing = new() {
                 name = "First Thing",
                 modelUrl = "https://passer.life/extras/ant.jpg"
             };