RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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First UDP communication is working

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This commit is contained in:
Pascal Serrarens 2025-02-24 12:54:25 +01:00
parent cd9b4a1e9e
commit eca5e698cd
7 changed files with 51 additions and 24 deletions
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16
Participant.cs
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@ -34,9 +34,9 @@ namespace Passer.RoboidControl {
/// Create a participant with the give UDP port /// Create a participant with the give UDP port
/// </summary> /// </summary>
/// <param name="port">The port number on which to communicate</param> /// <param name="port">The port number on which to communicate</param>
public Participant(int port) : this() { // public Participant(int port) : this() {
this.port = port; // this.port = port;
} // }
/// <summary> /// <summary>
/// Create a new participant for a site at the given address and port /// Create a new participant for a site at the given address and port
@ -85,11 +85,11 @@ namespace Passer.RoboidControl {
return participant; return participant;
} }
protected readonly Dictionary<byte, Func<byte, byte, Thing>> thingMsgProcessors = new Dictionary<byte, Func<byte, byte, Thing>>(); protected readonly Dictionary<byte, Func<RemoteParticipant, byte, byte, Thing>> thingMsgProcessors = new Dictionary<byte, Func<RemoteParticipant, byte, byte, Thing>>();
public delegate Thing ThingConstructor(byte networkId, byte thingId); public delegate Thing ThingConstructor(RemoteParticipant sender, byte networkId, byte thingId);
public void Register(byte thingType, ThingConstructor constr) { public void Register(byte thingType, ThingConstructor constr) {
thingMsgProcessors[thingType] = new Func<byte, byte, Thing>(constr); thingMsgProcessors[thingType] = new Func<RemoteParticipant, byte, byte, Thing>(constr);
} }
public void Register<ThingClass>(Thing.Type thingType) where ThingClass : Thing { public void Register<ThingClass>(Thing.Type thingType) where ThingClass : Thing {
@ -97,8 +97,8 @@ namespace Passer.RoboidControl {
} }
public void Register<ThingClass>(byte thingType) where ThingClass : Thing { public void Register<ThingClass>(byte thingType) where ThingClass : Thing {
thingMsgProcessors[thingType] = (byte networkId, byte thingId) => thingMsgProcessors[thingType] = (RemoteParticipant sender, byte networkId, byte thingId) =>
Activator.CreateInstance(typeof(ThingClass), networkId, thingId) as ThingClass; Activator.CreateInstance(typeof(ThingClass), sender, networkId, thingId) as ThingClass;
Console.WriteLine($"Registering {typeof(ThingClass)} for thing type {thingType}"); Console.WriteLine($"Registering {typeof(ThingClass)} for thing type {thingType}");
} }

1
RemoteParticipant.cs
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@ -1,4 +1,3 @@
#nullable enable
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;

21
SiteServer.cs
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@ -9,23 +9,25 @@ namespace Passer.RoboidControl {
/// </summary> /// </summary>
public class SiteServer : Participant { public class SiteServer : Participant {
public SiteServer(int port = 7681) : this("0.0.0.0", port) {}
/// <summary> /// <summary>
/// Create a new site server /// Create a new site server
/// </summary> /// </summary>
/// <param name="port"></param> /// <param name="port"></param>
public SiteServer(int port = 7681) { public SiteServer(string ipAddress = "0.0.0.0", int port = 7681) : base() {
this.name = "Site Server"; this.name = "Site Server";
this.ipAddress = "0.0.0.0"; this.ipAddress = ipAddress;
this.port = port; this.port = port;
//this.endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), port); // for sending this.endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), port); // for sending
Console.Write($"Prepare receive on port {port}"); Console.Write($"Prepare receive on port {port}");
this.udpClient = new UdpClient(port); // for receiving this.udpClient = new UdpClient(port); // for receiving
this.udpClient.BeginReceive( this.udpClient.BeginReceive(
new AsyncCallback(result => ReceiveUDP(result)), new AsyncCallback(result => ReceiveUDP(result)),
new Tuple<UdpClient, IPEndPoint>(this.udpClient, new IPEndPoint(IPAddress.Any, port))); new Tuple<UdpClient, IPEndPoint>(this.udpClient, new(IPAddress.Any, port)));
} }
/// <summary> /// <summary>
@ -48,16 +50,19 @@ namespace Passer.RoboidControl {
protected override void Process(RemoteParticipant sender, NetworkIdMsg msg) { } protected override void Process(RemoteParticipant sender, NetworkIdMsg msg) { }
protected override void Process(RemoteParticipant sender, ThingMsg msg) { protected override void Process(RemoteParticipant sender, ThingMsg msg) {
//Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]"); Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]");
Thing thing = sender.Get(msg.networkId, msg.thingId); Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing == null) { if (thing == null) {
Thing newThing = null; Thing newThing = null;
if (thingMsgProcessors.TryGetValue(msg.thingType, out Func<byte, byte, Thing> value)) { if (thingMsgProcessors.TryGetValue(msg.thingType, out Func<RemoteParticipant, byte, byte, Thing> value)) {
Console.WriteLine("Found thing message processor");
if (value != null) if (value != null)
newThing = value(msg.networkId, msg.thingId); newThing = value(sender, msg.networkId, msg.thingId);
} }
if (newThing == null) if (newThing == null) {
newThing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType); newThing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
Console.WriteLine("Created generic new core thing");
}
sender.Add(newThing); sender.Add(newThing);
} }

7
Thing.cs
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@ -228,7 +228,12 @@ namespace Passer.RoboidControl {
/// Function which can be used to create components in external engines. /// Function which can be used to create components in external engines.
/// </summary> /// </summary>
/// Currently this is used to create GameObjects in Unity /// Currently this is used to create GameObjects in Unity
public virtual void CreateComponent() { } public virtual void CreateComponent() {
#if UNITY_5_3_OR_NEWER
this.component = Unity.Thing.Create(this);
this.component.core = this;
#endif
}
#endregion Init #endregion Init

2
Unity/DebugConsole.cs
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@ -3,7 +3,7 @@ using System.IO;
using System.Text; using System.Text;
using UnityEngine; using UnityEngine;
namespace Passer.Control.Unity { namespace Passer.RoboidControl.Unity {
public class UnityLogWriter : TextWriter { public class UnityLogWriter : TextWriter {
public override void Write(char value) { public override void Write(char value) {

3
Unity/SiteServer.cs
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@ -11,7 +11,7 @@ namespace Passer.RoboidControl.Unity {
public Queue<RoboidControl.Thing> thingQueue = new(); public Queue<RoboidControl.Thing> thingQueue = new();
protected virtual void Awake() { protected virtual void Awake() {
//Console.SetOut(new UnityLogWriter()); Console.SetOut(new UnityLogWriter());
site = new(7681); site = new(7681);
RoboidControl.Thing.OnNewThing += HandleNewThing; RoboidControl.Thing.OnNewThing += HandleNewThing;
@ -22,6 +22,7 @@ namespace Passer.RoboidControl.Unity {
} }
public void HandleNewThing(RoboidControl.Thing thing) { public void HandleNewThing(RoboidControl.Thing thing) {
Debug.Log("Handle New thing event");
site.Add(thing, false); site.Add(thing, false);
thingQueue.Enqueue(thing); thingQueue.Enqueue(thing);
} }

19
Unity/Thing.cs
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@ -12,7 +12,7 @@ namespace Passer.RoboidControl.Unity {
/// The core C# thing /// The core C# thing
/// </summary> /// </summary>
[field: SerializeField] [field: SerializeField]
public RoboidControl.Thing core {get; set; } public RoboidControl.Thing core { get; set; }
/// <summary> /// <summary>
/// Set the core C# thing /// Set the core C# thing
@ -29,6 +29,23 @@ namespace Passer.RoboidControl.Unity {
siteServer.site.Add(thing); siteServer.site.Add(thing);
} }
public static Thing Create(RoboidControl.Thing core) {
Debug.Log("Creating new Unity thing");
GameObject gameObj = string.IsNullOrEmpty(core.name) ?
new("Thing") :
new(core.name);
Thing component = gameObj.AddComponent<Thing>();
component.core = core;
if (core.parent != null && core.parent.component != null)
gameObj.transform.SetParent(core.parent.component.transform, false);
if (core.position != null)
gameObj.transform.localPosition = core.position.ToVector3();
return component;
}
/// <summary> /// <summary>
/// Update the Unity representation /// Update the Unity representation
/// </summary> /// </summary>