initial ESP32 tracker support

src/ParticipantUDP.cs

@@ -9,7 +9,7 @@ namespace RoboidControl {
     /// <summary>
     /// A participant is used for communcation between things
     /// </summary>
-    public class LocalParticipant : Participant {
+    public class ParticipantUDP : Participant {
         public byte[] buffer = new byte[1024];
         public ulong publishInterval = 3000; // = 3 seconds
 
@@ -26,7 +26,7 @@ namespace RoboidControl {
         /// <summary>
         /// Create a porticiapnt
         /// </summary>
-        public LocalParticipant() {
+        public ParticipantUDP() {
             //senders.Add(this);
         }
 
@@ -34,7 +34,7 @@ namespace RoboidControl {
         /// Create a participant with the give UDP port
         /// </summary>
         /// <param name="port">The port number on which to communicate</param>
-        public LocalParticipant(int port) : this() {
+        public ParticipantUDP(int port) : this() {
             this.port = port;
         }
 
@@ -43,7 +43,7 @@ namespace RoboidControl {
         /// </summary>
         /// <param name="ipAddress">The ip address of the site server</param>
         /// <param name="port">The port number of the site server</param>
-        public LocalParticipant(string ipAddress = "0.0.0.0", int port = 7681) : this() {
+        public ParticipantUDP(string ipAddress = "0.0.0.0", int port = 7681) : this() {
             this.ipAddress = ipAddress;
             this.port = port;
 
@@ -61,15 +61,15 @@ namespace RoboidControl {
         /// </summary>
         /// <param name="udpClient">UDP client to use for communication</param>
         /// <param name="port">The port number on which to communicate</param>
-        public LocalParticipant(UdpClient udpClient, int port) : this() {
+        public ParticipantUDP(UdpClient udpClient, int port) : this() {
             this.udpClient = udpClient;
             this.port = port;
         }
 
-        private static LocalParticipant isolatedParticipant = null;
+        private static ParticipantUDP isolatedParticipant = null;
-        public static LocalParticipant Isolated() {
+        public static ParticipantUDP Isolated() {
             if (isolatedParticipant == null)
-                isolatedParticipant = new LocalParticipant(0);
+                isolatedParticipant = new ParticipantUDP(0);
             return isolatedParticipant;
         }
 
@@ -182,13 +182,13 @@ namespace RoboidControl {
                 return true;
 
             IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(owner.ipAddress), owner.port);
-            // Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
+            Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
             this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
             return true;
         }
 
         public void PublishThingInfo(Thing thing) {
-            //Console.WriteLine("Publish thing info");
+            Console.WriteLine("Publish thing info");
             this.Publish(new ThingMsg(this.networkId, thing));
             this.Publish(new NameMsg(this.networkId, thing));
             this.Publish(new ModelUrlMsg(this.networkId, thing));
@@ -275,10 +275,12 @@ namespace RoboidControl {
 
         #region Process
 
-        protected virtual void Process(Participant sender, ParticipantMsg msg) { }
+        protected virtual void Process(Participant sender, ParticipantMsg msg) {
+            Console.WriteLine($"{this.name} Process participant {msg.networkId}");
+        }
 
         protected virtual void Process(Participant sender, NetworkIdMsg msg) {
-            Console.WriteLine($"{this.name} receive network id {this.networkId} {msg.networkId}");
+            Console.WriteLine($"{this.name} Process network id {this.networkId} {msg.networkId}");
             if (this.networkId != msg.networkId) {
                 this.networkId = msg.networkId;
                 foreach (Thing thing in this.things) //Thing.GetAllThings())
@@ -289,7 +291,7 @@ namespace RoboidControl {
         protected virtual void Process(Participant sender, InvestigateMsg msg) { }
 
         protected virtual void Process(Participant sender, ThingMsg msg) {
-            //Console.WriteLine($"Participant: Process thing [{msg.networkId}/{msg.thingId}]");
+            Console.WriteLine($"Participant: Process thing [{msg.networkId}/{msg.thingId}]");
         }
 
         protected virtual void Process(Participant sender, NameMsg msg) {

src/SiteServer.cs

@@ -7,7 +7,7 @@ namespace RoboidControl {
     /// <summary>
     /// A site server is a participant which provides a shared simulated environment 
     /// </summary>
-    public class SiteServer : LocalParticipant {
+    public class SiteServer : ParticipantUDP {
 
         public SiteServer(int port = 7681) : this("0.0.0.0", port) { }
 
@@ -42,11 +42,12 @@ namespace RoboidControl {
         public override void Publish() {
         }
 
-        protected override void Process(Participant remoteParticipant, ParticipantMsg msg) {
+        protected override void Process(Participant sender, ParticipantMsg msg) {
-            if (msg.networkId == 0) {
+            base.Process(sender, msg);
-                Console.WriteLine($"{this.name} received New Participant -> {remoteParticipant.networkId}");
+            //if (msg.networkId == 0) {
-                this.Send(remoteParticipant, new NetworkIdMsg(remoteParticipant.networkId));
+                Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
-            }
+                this.Send(sender, new NetworkIdMsg(sender.networkId));
+            //}
         }
 
         protected override void Process(Participant sender, NetworkIdMsg msg) { }

src/Thing.cs

@@ -65,7 +65,7 @@ namespace RoboidControl {
         /// Create a new thing without communication abilities
         /// </summary>
         /// <param name="thingType">The type of thing</param>
-        public Thing(byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) : this(LocalParticipant.Isolated(), thingType, invokeEvent) {
+        public Thing(byte thingType = (byte)Type.Undetermined, bool invokeEvent = true) : this(ParticipantUDP.Isolated(), thingType, invokeEvent) {
         }
 
         /// <summary>

src/Things/DifferentialDrive.cs

@@ -8,7 +8,7 @@ namespace RoboidControl {
         public DifferentialDrive() { }
         /// @brief Create a differential drive with networking support
         /// @param participant The local participant
-        public DifferentialDrive(LocalParticipant participant) : base(participant, Type.Undetermined) { }
+        public DifferentialDrive(ParticipantUDP participant) : base(participant, Type.Undetermined) { }
 
         /// @brief Configures the dimensions of the drive
         /// @param wheelDiameter The diameter of the wheels in meters

src/Things/TouchSensor.cs

@@ -26,7 +26,7 @@ namespace RoboidControl {
 
         public TouchSensor(Thing parent) : base(parent) { }
 
-        public LocalParticipant thisParticipant;
+        public ParticipantUDP thisParticipant;
 
         /// <summary>
         /// Value which is true when the sensor is touching something, false otherwise