NW PoC works

CustomMsg.cs

@@ -0,0 +1,45 @@
+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

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: b9dcd611539afab429456b08500ae152

Messages.cs

@@ -197,52 +197,6 @@ namespace Passer.Control.Core {
 
     #endregion Pose
 
-    #region Custom
-
-    public class CustomMsg : IMessage {
-        public const byte Id = 0xB1;
-        public byte networkId;
-        public byte thingId;
-        public byte[] bytes;
-
-        public CustomMsg(byte[] buffer) {
-            byte ix = 0;
-            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;
-        }
-    }
-
-    #endregion Custom
-
     #region Text
 
     public class TextMsg : IMessage {

Participant.cs

@@ -189,7 +189,7 @@ namespace Passer.Control.Core {
                     // result = await PoseMsg.Receive(dataStream, client, packetSize);
                     break;
                 case CustomMsg.Id: // 0xB1 / 177
-                    // result = await CustomMsg.Receive(dataStream, client, packetSize);
+                    this.Process(new CustomMsg(data));
                     break;
                 case TextMsg.Id: // 0xB0 / 176
                     // result = await TextMsg.Receive(dataStream, client, packetSize);
@@ -224,7 +224,10 @@ namespace Passer.Control.Core {
         }
 
         protected virtual void Process(NameMsg msg) {
-            Console.WriteLine($"received name {msg.name}");
+            //Console.WriteLine($"received name {msg.name}");
+            Thing thing = Thing.Get(msg.networkId, msg.thingId);
+            if (thing != null)
+                thing.name = msg.name;
         }
 
         protected virtual void Process(ModelUrlMsg msg) {
@@ -233,7 +236,10 @@ namespace Passer.Control.Core {
 
         protected virtual void ProcessPoseMsg(PoseMsg msg) { }
 
-        protected virtual void ProcessCustomMsg(CustomMsg msg) { }
+        protected virtual void Process(CustomMsg msg) {
+            Thing thing = Thing.Get(msg.networkId, msg.thingId);
+            thing?.ProcessBytes(msg.bytes);
+        }
 
         protected virtual void ProcessTextMsg(TextMsg temsgxt) { }
 

Sensors.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: a5a7a42365df0d0459195576ad3bb50b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Sensors/TemperatureSensor.cs

@@ -0,0 +1,14 @@
+namespace Passer.Control.Core {
+
+    public class TemperatureSensor : Thing {
+        public TemperatureSensor(byte networkId, byte thingId) : base(null, networkId, thingId, (byte)Type.TemperatureSensor) {
+        }
+
+        public override void ProcessBytes(byte[] bytes) {
+            byte ix = 0;
+            float temp = LowLevelMessages.ReceiveFloat16(bytes, ref ix);
+            UnityEngine.Debug.Log($"temperature {this.name} = {temp} C");
+        }
+    }
+
+}

Sensors/TemperatureSensor.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 5cd9e2534695ec844bd23b7a48ad498a

SiteServer.cs

@@ -16,14 +16,7 @@ namespace Passer.Control.Core {
             this.name = "Site Server";
         }
 
-        public override void Update(long currentTimeMs) {
+        public override void Update(long currentTimeMs) {            
-            // for (int ix = 0; ix < this.others.Count; ix++) {
-            //     Participant client = this.others[ix];
-            //     if (client == null)
-            //         continue;
-
-            //     this.ProcessMessages(client);
-            // }
             Thing.UpdateAll(currentTimeMs);
         }
 
@@ -36,5 +29,20 @@ namespace Passer.Control.Core {
 
         protected override void Process(Participant sender, NetworkIdMsg msg) {
         }
+
+        protected override void Process(ThingMsg msg) {
+            Thing thing = Thing.Get(msg.networkId, msg.thingId);
+            if (thing == null) {
+                switch ((Thing.Type) msg.thingType) {
+                    case Thing.Type.TemperatureSensor:
+                        new TemperatureSensor(msg.networkId, msg.thingId);
+                        break;
+                    default:
+                        new Thing(this, msg.networkId, msg.thingId, msg.thingType);
+                        break;
+                }                
+            }
+        }
+
     }
 }

Thing.cs

@@ -1,14 +1,36 @@
 using System.Collections.Generic;
 using Passer.LinearAlgebra;
 
-namespace Passer.Control.Core
+namespace Passer.Control.Core {
-{
 
     /// <summary>
     /// A thing is the basic building block
     /// </summary>
-    public class Thing
+    public class Thing {
-    {
+
+        #region Types
+
+        public enum Type {
+            Undeterment,
+            // Sensor
+            Switch,
+            DistanceSensor,
+            DirectionalSensor,
+            TemperatureSensor,
+            // Motor
+            ControlledMotor,
+            UncontrolledMotor,
+            Servo,
+            // Other
+            Roboid,
+            Humanoid,
+            ExternalSensor
+        };
+
+        #endregion Types
+
+        #region Properties
+
         public Participant participant;
 
         public delegate void ChangeHandler();
@@ -19,36 +41,30 @@ namespace Passer.Control.Core
 
         public event ChangeHandler OnParentChanged;
         private Thing _parent;
-        public Thing parent
+        public Thing parent {
-        {
             get => _parent;
-            set
+            set {
-            {
                 if (_parent == value)
                     return;
 
-                if (value == null)
+                if (value == null) {
-                {
                     _parent.RemoveChild(this);
                     _parent = null;
                 }
-                else
+                else {
-                {
                     value.AddChild(this);
                     OnParentChanged?.Invoke();
                 }
             }
         }
 
-        public void AddChild(Thing child)
+        public void AddChild(Thing child) {
-        {
             if (children.Find(thing => thing == child) != null)
                 return;
             child._parent = this;
             children.Add(child);
         }
-        public void RemoveChild(Thing child)
+        public void RemoveChild(Thing child) {
-        {
             children.Remove(child);
         }
 
@@ -58,13 +74,10 @@ namespace Passer.Control.Core
 
         public event ChangeHandler OnNameChanged;
         private string _name;
-        public string name
+        public string name {
-        {
             get => _name;
-            set
+            set {
-            {
+                if (_name != value) {
-                if (_name != value)
-                {
                     _name = value;
                     OnNameChanged?.Invoke();
                 }
@@ -76,13 +89,10 @@ namespace Passer.Control.Core
         public byte poseUpdated = 0x00;
         public event ChangeHandler OnPositionChanged;
         private Spherical _position;
-        public Spherical position
+        public Spherical position {
-        {
             get { return _position; }
-            set
+            set {
-            {
+                if (_position != value) {
-                if (_position != value)
-                {
                     _position = value;
                     OnPositionChanged?.Invoke();
                 }
@@ -91,13 +101,10 @@ namespace Passer.Control.Core
 
         public event ChangeHandler OnOrientationChanged;
         private SwingTwist _orientation;
-        public SwingTwist orientation
+        public SwingTwist orientation {
-        {
             get { return _orientation; }
-            set
+            set {
-            {
+                if (_orientation != value) {
-                if (_orientation != value)
-                {
                     _orientation = value;
                     OnOrientationChanged?.Invoke();
                 }
@@ -106,13 +113,10 @@ namespace Passer.Control.Core
 
         public event SphericalHandler OnLinearVelocityChanged;
         private Spherical _linearVelocity;
-        public Spherical linearVelocity
+        public Spherical linearVelocity {
-        {
             get => _linearVelocity;
-            set
+            set {
-            {
+                if (_linearVelocity != value) {
-                if (_linearVelocity != value)
-                {
                     _linearVelocity = value;
                     OnLinearVelocityChanged?.Invoke(_linearVelocity);
                 }
@@ -120,21 +124,21 @@ namespace Passer.Control.Core
         }
         public Spherical angularVelocity;
 
-        public virtual void Init(bool invokeEvent = true)
+        #endregion Properties
-        {
+
+        #region Init
+
+        public virtual void Init(bool invokeEvent = true) {
             Thing.Add(this, invokeEvent);
         }
 
-        public Thing(bool initialize = true)
+        public Thing(bool initialize = true) {
-        {
+            if (initialize) {
-            if (initialize)
-            {
                 //this.Init();
                 Thing.Add(this);
             }
         }
-        public Thing(Participant client, byte networkId, byte thingId, byte thingType = 0)
+        public Thing(Participant client, byte networkId, byte thingId, byte thingType = 0) {
-        {
             this.participant = client;
             this.id = thingId;
             this.type = thingType;
@@ -143,17 +147,21 @@ namespace Passer.Control.Core
             Thing.Add(this);
         }
 
-        public virtual void Update(float currentTime)
+        #endregion Init
-        {
+
+        #region Update
+
+        public virtual void Update(float currentTime) {
             // should recurse over children...
         }
 
-        public virtual void ProcessBytes(byte[] bytes)
+        public virtual void ProcessBytes(byte[] bytes) {
-        {
             //if (sensor != null)
             //    sensor.ProcessBytes(bytes);
         }
 
+        #endregion Update
+
         // Experimental
 
         // public float stressLevel = 0;
@@ -176,48 +184,40 @@ namespace Passer.Control.Core
         public delegate void ThingHandler(Thing t);
         public static event ThingHandler OnNewThing;
 
-        public static void Add(Thing thing, bool invokeEvent = true)
+        public static void Add(Thing thing, bool invokeEvent = true) {
-        {
             Thing foundThing = Get(thing.networkId, thing.id);
 
-            if (foundThing == null)
+            if (foundThing == null) {
-            {
                 if (thing.id == 0)
                     thing.id = (byte)(allThings.Count + 1);
                 allThings.Add(thing);
                 if (invokeEvent)
                     OnNewThing?.Invoke(thing);
-                // UnityEngine.Debug.Log($"Add thing [{thing.networkId}/{thing.id}] {thing.name}");
+                UnityEngine.Debug.Log($"Add thing [{thing.networkId}/{thing.id}] {thing.name}");
             }
         }
 
-        public static Thing Get(byte networkId, byte thingId)
+        public static Thing Get(byte networkId, byte thingId) {
-        {
             Thing thing = allThings.Find(aThing => IsThing(aThing, networkId, thingId));
             return thing;
         }
 
-        private static bool IsThing(Thing thing, byte networkId, byte thingId)
+        private static bool IsThing(Thing thing, byte networkId, byte thingId) {
-        {
             if (thing == null)
                 return false;
             return (thing.networkId == networkId) && (thing.id == thingId);
         }
 
-        public static void Remove(byte networkId, byte thingId)
+        public static void Remove(byte networkId, byte thingId) {
-        {
             allThings.RemoveAll(t => t.networkId == networkId && t.id == thingId);
         }
 
-        public static Thing[] GetAllThings()
+        public static Thing[] GetAllThings() {
-        {
             return allThings.ToArray();
         }
 
-        public static void UpdateAll(float currentTime)
+        public static void UpdateAll(float currentTime) {
-        {
+            foreach (Thing thing in allThings) {
-            foreach (Thing thing in allThings)
-            {
                 if (thing.parent == null) // update only root things
                     thing.Update(currentTime);
             }

ThingMsg.cs

@@ -24,7 +24,7 @@ namespace Passer.Control.Core {
             this.parentId = parentId;
         }
         public ThingMsg(byte[] buffer) {
-            uint ix = 0;
+            uint ix = 1;
             this.networkId = buffer[ix++];
             this.thingId = buffer[ix++];
             this.thingType = buffer[ix++];