RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added networkId to all relevant messages

Browse Source
This commit is contained in:
Pascal Serrarens 2024-12-09 16:59:26 +01:00
parent 2e4e4c4693
commit e9a29f253c
4 changed files with 124 additions and 145 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
Client.cs
View File

@ -25,27 +25,6 @@ namespace Passer.Control {
}
static public List<Client> clients = new List<Client>();
//// These static functions are deprecated
//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 Client() {
//}
public Client(UdpClient udpClient, int port) {
this.udpClient = udpClient;
this.ipAddress = null;
@ -56,7 +35,7 @@ namespace Passer.Control {
public virtual void ProcessMessages() {
while (this.messageQueue.TryDequeue(out IMessage msg))
ProcessMessage(msg);
ProcessMessage(msg);
}
public void ProcessMessage(IMessage msg) {
@ -91,7 +70,10 @@ namespace Passer.Control {
case DestroyMsg destroy:
ProcessDestroy(destroy);
break;
default:
return;
}
ForwardMessage(msg);
}
protected virtual void ProcessClient(ClientMsg client) { }
@ -113,5 +95,13 @@ namespace Passer.Control {
protected virtual void ProcessText(TextMsg text) { }
protected virtual void ProcessDestroy(DestroyMsg destroy) { }
private void ForwardMessage(IMessage thing) {
foreach (Client client in Client.clients) {
if (client == this)
continue;
IMessage.SendMsg(client, thing);
}
}
}
}

16
LowLevelMessages.cs
View File

@ -2,13 +2,13 @@ using Passer;
public class LowLevelMessages {
public static void SendSpherical(byte[] buffer, ref uint ix, Spherical v) {
public static void SendSpherical(byte[] buffer, ref byte ix, Spherical v) {
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) {
public static Spherical ReceiveSpherical(byte[] data, ref byte ix) {
float horizontal = ReceiveAngle8(data, ref ix);
float vertical = ReceiveAngle8(data, ref ix);
float distance = ReceiveFloat16(data, ref ix);
@ -16,7 +16,7 @@ public class LowLevelMessages {
return v;
}
public static void SendQuat32(byte[] buffer, ref uint ix, Quat32 q) {
public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q) {
int qx = (int)(q.x * 127 + 128);
int qy = (int)(q.y * 127 + 128);
int qz = (int)(q.z * 127 + 128);
@ -33,7 +33,7 @@ public class LowLevelMessages {
buffer[ix++] = (byte)qz;
buffer[ix++] = (byte)qw;
}
public static Quat32 ReceiveQuat32(byte[] data, ref uint ix) {
public static Quat32 ReceiveQuat32(byte[] data, ref byte ix) {
Quat32 q = new(
(data[ix++] - 128.0F) / 127.0F,
(data[ix++] - 128.0F) / 127.0F,
@ -42,7 +42,7 @@ public class LowLevelMessages {
return q;
}
public static void SendAngle8(byte[] buffer, ref uint ix, float angle) {
public static void SendAngle8(byte[] buffer, ref byte ix, float angle) {
// Normalize angle
while (angle >= 180)
angle -= 360;
@ -51,18 +51,18 @@ public class LowLevelMessages {
buffer[ix++] = (byte)((angle / 360.0f) * 256.0f);
}
public static float ReceiveAngle8(byte[] data, ref uint ix) {
public static float ReceiveAngle8(byte[] data, ref byte ix) {
float value = (data[ix++] * 180) / 128.0F;
return value;
}
public static void SendFloat16(byte[] data, ref uint ix, float16 f) {
public static void SendFloat16(byte[] data, ref byte ix, float16 f) {
ushort binary = f.GetBinary();
data[ix++] = (byte)(binary >> 8);
data[ix++] = (byte)(binary & 255);
}
public static float ReceiveFloat16(byte[] data, ref uint ix) {
public static float ReceiveFloat16(byte[] data, ref byte ix) {
ushort value = (ushort)(data[ix++] << 8 | data[ix++]);
float16 f16 = new();
f16.SetBinary(value);

200
Messages.cs
View File

@ -5,32 +5,32 @@ namespace Passer.Control {
public class IMessage {
public IMessage() { }
public IMessage(byte[] data) {
Deserialize(data);
public IMessage(byte[] buffer) {
Deserialize(buffer);
}
public virtual byte[] Serialize() { return null; }
public virtual void Deserialize(byte[] data) { }
public virtual void Deserialize(byte[] buffer) { }
public static bool SendMsg(Client client, IMessage msg) {
return SendMsg(client, msg.Serialize());
}
public static bool SendMsg(Client client, byte[] data) {
public static bool SendMsg(Client client, byte[] buffer) {
if (client == null || client.ipAddress == null)
return false;
client.udpClient.Send(data, data.Length, client.ipAddress, client.port);
client.udpClient.Send(buffer, buffer.Length, client.ipAddress, client.port);
return true;
}
public static bool PublishMsg(Client client, IMessage msg) {
return PublishMsg(client, msg.Serialize());
}
public static bool PublishMsg(Client client, byte[] data) {
public static bool PublishMsg(Client client, byte[] buffer) {
if (client == null)
return false;
client.udpClient.Send(data, data.Length, "127.0.0.1", client.port);
client.udpClient.Send(buffer, buffer.Length, "127.0.0.1", client.port);
return true;
}
@ -56,7 +56,7 @@ namespace Passer.Control {
public ClientMsg(byte networkId) {
this.networkId = networkId;
}
public ClientMsg(byte[] data) : base(data) { }
public ClientMsg(byte[] buffer) : base(buffer) { }
public override byte[] Serialize() {
byte[] buffer = new byte[ClientMsg.length];
@ -64,10 +64,10 @@ namespace Passer.Control {
buffer[1] = networkId;
return buffer;
}
public override void Deserialize(byte[] data) {
base.Deserialize(data);
public override void Deserialize(byte[] buffer) {
base.Deserialize(buffer);
uint ix = 0;
networkId = data[ix];
networkId = buffer[ix];
}
public static bool Send(Client client, byte networkId) {
@ -88,13 +88,11 @@ namespace Passer.Control {
if (client.networkId == 0) {
client.networkId = (byte)(Client.clients.Count);
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
client.messageQueue.Enqueue(msg);
}
else if (msg.networkId == 0) {
NetworkIdMsg.Send(client, client.networkId);
//if (string.IsNullOrEmpty(sceneUrl) == false)
//SendModelUrl(client, sceneUrl);
client.messageQueue.Enqueue(msg);
}
return true;
@ -113,26 +111,22 @@ namespace Passer.Control {
NetworkIdMsg(byte networkId) {
this.networkId = networkId;
}
NetworkIdMsg(byte[] data) : base(data) { }
NetworkIdMsg(byte[] buffer) : base(buffer) { }
public override byte[] Serialize() {
byte[] data = new byte[NetworkIdMsg.length];
data[0] = NetworkIdMsg.Id;
data[1] = this.networkId;
return data;
byte[] buffer = new byte[NetworkIdMsg.length];
buffer[0] = NetworkIdMsg.Id;
buffer[1] = this.networkId;
return buffer;
}
public override void Deserialize(byte[] data) {
public override void Deserialize(byte[] buffer) {
uint ix = 0;
this.networkId = data[ix];
this.networkId = buffer[ix];
}
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)
@ -159,7 +153,7 @@ namespace Passer.Control {
this.networkId = networkId;
this.thingId = thingId;
}
public InvestigateMsg(byte[] data) : base(data) { }
public InvestigateMsg(byte[] buffer) : base(buffer) { }
public override byte[] Serialize() {
byte[] buffer = new byte[InvestigateMsg.length];
@ -168,10 +162,10 @@ namespace Passer.Control {
buffer[2] = this.thingId;
return buffer;
}
public override void Deserialize(byte[] data) {
public override void Deserialize(byte[] buffer) {
uint ix = 0;
this.networkId = data[ix++];
this.thingId = data[ix++];
this.networkId = buffer[ix++];
this.thingId = buffer[ix++];
}
public static bool Send(Client client, byte thingId) {
@ -195,8 +189,9 @@ namespace Passer.Control {
#region Thing
public class ThingMsg : IMessage {
public const byte length = 4;
public const byte length = 5;
public const byte Id = 0x80;
public byte networkId;
public byte thingId;
public byte thingType;
public byte parentId;
@ -206,22 +201,24 @@ namespace Passer.Control {
this.thingType = thingType;
this.parentId = parentId;
}
public ThingMsg(byte[] data) : base(data) { }
public ThingMsg(byte[] buffer) : base(buffer) { }
public override byte[] Serialize() {
byte[] data = new byte[ThingMsg.length];
byte[] buffer = new byte[ThingMsg.length];
byte ix = 0;
data[ix++] = ThingMsg.Id;
data[ix++] = this.thingId;
data[ix++] = this.thingType;
data[ix] = this.parentId;
return data;
buffer[ix++] = ThingMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = this.thingType;
buffer[ix] = this.parentId;
return buffer;
}
public override void Deserialize(byte[] data) {
public override void Deserialize(byte[] buffer) {
uint ix = 0;
this.thingId = data[ix++];
this.thingType = data[ix++];
this.parentId = data[ix];
this.networkId = buffer[ix++];
this.thingId = buffer[ix++];
this.thingType = buffer[ix++];
this.parentId = buffer[ix];
}
public static bool Send(Client client, byte thingId, byte thingType, byte parentId) {
@ -246,7 +243,8 @@ namespace Passer.Control {
public class NameMsg : IMessage {
public const byte Id = 0x91; // 145
public const byte length = 3;
public const byte length = 4;
public byte networkId;
public byte thingId;
public byte len;
public string name;
@ -255,22 +253,24 @@ namespace Passer.Control {
this.thingId = thingId;
this.name = name;
}
public NameMsg(byte[] data) : base(data) { }
public NameMsg(byte[] buffer) : base(buffer) { }
public override byte[] Serialize() {
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];
byte ix = 0;
buffer[ix++] = NameMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = (byte)this.name.Length;
for (int nameIx = 0; nameIx < this.name.Length; nameIx++, ix++)
buffer[ix] = (byte)this.name[nameIx];
return buffer;
}
public override void Deserialize(byte[] data) {
public override void Deserialize(byte[] buffer) {
uint ix = 0;
this.thingId = data[ix++];
int strlen = data[ix++];
this.name = System.Text.Encoding.UTF8.GetString(data, (int)ix, strlen);
this.thingId = buffer[ix++];
int strlen = buffer[ix++];
this.name = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
}
public static bool Send(Client client, byte thingId, string name) {
@ -292,6 +292,7 @@ namespace Passer.Control {
public class ModelUrlMsg : IMessage {
public const byte Id = 0x90; // (144) Model URL
public byte networkId;
public byte thingId;
public Spherical position;
public float scale;
@ -303,28 +304,29 @@ namespace Passer.Control {
this.scale = scale;
this.position = Spherical.zero;
}
public ModelUrlMsg(byte[] data) : base(data) { }
public ModelUrlMsg(byte[] buffer) : base(buffer) { }
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;
byte[] buffer = new byte[this.url.Length + 5];
byte ix = 0;
buffer[ix++] = ModelUrlMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId; // Thing Id
LowLevelMessages.SendFloat16(buffer, ref ix, new float16(1.0f));
data[8] = (byte)url.Length;
for (int ix = 0; ix < this.url.Length; ix++)
data[9 + ix] = (byte)url[ix];
return data;
buffer[8] = (byte)url.Length;
for (int urlIx = 0; urlIx < this.url.Length; urlIx++, ix++)
buffer[ix] = (byte)url[urlIx];
return buffer;
}
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 override void Deserialize(byte[] buffer) {
byte ix = 0;
this.networkId = buffer[ix++];
this.thingId = buffer[ix++];
//this.position = LowLevelMessages.ReceiveSpherical(data, ref ix);
this.scale = LowLevelMessages.ReceiveFloat16(buffer, ref ix);
int strlen = buffer[ix++];
url = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, strlen);
}
public static bool Send(Client client, byte thingId, string modelUrl) {
@ -345,7 +347,8 @@ namespace Passer.Control {
public class PoseMsg : IMessage {
public const byte Id = 0x10;
public const byte length = 3 + 4 + 4;
public const byte length = 4 + 4 + 4;
public byte networkId;
public byte thingId;
public byte poseType;
@ -369,12 +372,13 @@ namespace Passer.Control {
else
this.orientation = new Quat32(0, 0, 0, 1);
}
public PoseMsg(byte[] data) : base(data) { }
public PoseMsg(byte[] buffer) : base(buffer) { }
public override byte[] Serialize() {
byte[] buffer = new byte[PoseMsg.length];
uint ix = 0;
byte ix = 0;
buffer[ix++] = PoseMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
buffer[ix++] = this.poseType;
@ -382,15 +386,16 @@ namespace Passer.Control {
LowLevelMessages.SendQuat32(buffer, ref ix, orientation);
return buffer;
}
public override void Deserialize(byte[] data) {
uint ix = 0;
thingId = data[ix++];
poseType = data[ix++];
public override void Deserialize(byte[] buffer) {
byte ix = 0;
thingId = buffer[ix++];
thingId = buffer[ix++];
poseType = buffer[ix++];
//if ((poseType & Pose_Position) != 0)
position = LowLevelMessages.ReceiveSpherical(data, ref ix);
position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
//if ((poseType & Pose_Orientation) != 0) {
orientation = LowLevelMessages.ReceiveQuat32(data, ref ix);
orientation = LowLevelMessages.ReceiveQuat32(buffer, ref ix);
}
public static bool Send(Client client, byte thingId, Spherical position, Quat32 orientation) {
@ -419,7 +424,7 @@ namespace Passer.Control {
public byte thingId;
public byte[] bytes;
public CustomMsg(byte[] data) : base(data) { }
public CustomMsg(byte[] buffer) : base(buffer) { }
public CustomMsg(byte networkId, byte thingId, byte[] bytes) : base() {
this.networkId = networkId;
this.thingId = thingId;
@ -428,7 +433,7 @@ namespace Passer.Control {
public override byte[] Serialize() {
byte[] buffer = new byte[4 + this.bytes.Length];
int ix = 0;
byte ix = 0;
buffer[ix++] = CustomMsg.Id;
buffer[ix++] = this.networkId;
buffer[ix++] = this.thingId;
@ -438,15 +443,16 @@ namespace Passer.Control {
return buffer;
}
public override void Deserialize(byte[] data) {
public override void Deserialize(byte[] buffer) {
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];
this.networkId = buffer[ix++];
this.thingId = buffer[ix++];
byte length = buffer[ix++];
this.bytes = new byte[length];
for (uint bytesIx = 0; ix < length; ix++, bytesIx++)
this.bytes[bytesIx] = buffer[ix];
}
public static void Send(Client client, byte thingId, byte[] bytes) {
CustomMsg msg = new(client.networkId, thingId, bytes);
SendMsg(client, msg);
@ -467,11 +473,11 @@ namespace Passer.Control {
public const byte Id = 0xB0;
public string text;
public TextMsg(byte[] data) : base(data) { }
public override void Deserialize(byte[] data) {
public TextMsg(byte[] buffer) : base(buffer) { }
public override void Deserialize(byte[] buffer) {
uint ix = 0;
uint strlen = data[ix++];
this.text = System.Text.Encoding.UTF8.GetString(data, (int)ix, (int)strlen);
uint strlen = buffer[ix++];
this.text = System.Text.Encoding.UTF8.GetString(buffer, (int)ix, (int)strlen);
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {
@ -490,12 +496,14 @@ namespace Passer.Control {
public class DestroyMsg : IMessage {
public const byte Id = 0x20;
public const byte length = 2;
public byte objectId;
public byte networkId;
public byte thingId;
public DestroyMsg(byte[] data) : base(data) { }
public DestroyMsg(byte[] buffer) : base(buffer) { }
public override void Deserialize(byte[] data) {
objectId = data[0];
public override void Deserialize(byte[] buffer) {
this.networkId = buffer[0];
this.thingId = buffer[1];
}
public static async Task<bool> Receive(Stream dataStream, Client client, byte packetSize) {

19
SiteServer.cs
View File

@ -1,28 +1,9 @@
using System.Diagnostics;
using System.IO;
using System.Threading.Tasks;
namespace Passer.Control {
public static class SiteServer {
//public static async Task ReceiveData() {
// while (true) {
// //foreach (var client in Client.clients) {
// for (int ix = 0; ix < Client.clients.Count; ix++) {
// if (ix > 0)
// UnityEngine.Debug.Log("Client2 ");
// Client client = Client.clients[ix];
// if (client == null)
// continue;
// byte packetSize = (byte)client.dataStream.ReadByte();
// if (packetSize != 0xFF)
// await ReceiveData(client.dataStream, client, packetSize);
// // else timeout
// }
// }
//}
public static async Task ReceiveData(Stream dataStream, Client client) {
while (true) {