From f3b863692b20afb370f045ab64a92fde72f0e7b2 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Thu, 5 Jun 2025 11:37:29 +0200
Subject: [PATCH] Compliency fixes

---
 Unity/Participant.cs               |  4 ++--
 Unity/SiteServer.cs                |  2 +-
 Unity/Thing.cs                     | 10 ++++++----
 src/Messages/LowLevelMessages.cs   |  2 +-
 src/Participant.cs                 |  1 +
 src/Participants/ParticipantUDP.cs |  2 +-
 src/Participants/SiteServer.cs     |  3 ++-
 7 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/Unity/Participant.cs b/Unity/Participant.cs
index 52539f8..feee822 100644
--- a/Unity/Participant.cs
+++ b/Unity/Participant.cs
@@ -44,10 +44,10 @@ namespace RoboidControl.Unity {
                     // before we can create the wheel reliably
                     break;
                 case RoboidControl.Thing coreThing:
-                    Debug.Log("Handle Thing");
+                    // Debug.Log("Handle Thing");
                     if (coreThing.component == null) {
                         Thing[] things = FindObjectsByType<Thing>(FindObjectsSortMode.None);
-                        Debug.Log(things.Length);
+                        // Debug.Log(things.Length);
                         Thing thing = things.FirstOrDefault(t => t.core != null && t.core.id == coreThing.id);
                         if (thing == null)
                             thing = Thing.Create(coreThing);
diff --git a/Unity/SiteServer.cs b/Unity/SiteServer.cs
index 24205c7..0034e2e 100644
--- a/Unity/SiteServer.cs
+++ b/Unity/SiteServer.cs
@@ -30,7 +30,7 @@ namespace RoboidControl.Unity {
             while (site.updateQueue.TryDequeue(out RoboidControl.Participant.UpdateEvent e))
                 HandleUpdateEvent(e);
 
-            site.Update((ulong)(Time.time * 1000));
+            site.Update();
             // while (thingQueue.TryDequeue(out RoboidControl.Thing thing))
             //     thing.CreateComponent();
         }
diff --git a/Unity/Thing.cs b/Unity/Thing.cs
index b461f13..cf32570 100644
--- a/Unity/Thing.cs
+++ b/Unity/Thing.cs
@@ -212,9 +212,8 @@ namespace RoboidControl.Unity {
                             }
                         }
                     }
-                    else {
-                        ScanForThings(parentTransform);
-                    }
+                    else
+                        ScanForThings(parentTransform);                    
                 }
                 else {
                     this.transform.localScale = Vector3.one * 1;
@@ -230,7 +229,7 @@ namespace RoboidControl.Unity {
             for (int thingIx = 0; thingIx < thingArray.Length; thingIx++) {
                 RoboidControl.Thing thing = thingArray[thingIx];
                 GameObject foundObj = FindThingByName(thing, rootTransform);
-                if (foundObj != null && foundObj != thing.component.gameObject) {
+                if (foundObj != null && (thing.component != null && foundObj != thing.component.gameObject)) {
                     Thing foundThing = foundObj.GetComponent<Thing>();
                     if (foundThing == null) {
                         Debug.Log($"move thing [{thing.owner.networkId}/{thing.id}] to {foundObj.name}");
@@ -242,6 +241,9 @@ namespace RoboidControl.Unity {
                         Destroy(thing.component.gameObject);
                         thing.component = foundThing;
                     }
+                    else {
+                        Debug.LogWarning($"Could not find [{thing.owner.networkId}/{thing.id}]");
+                    }
                 }
             }
         }
diff --git a/src/Messages/LowLevelMessages.cs b/src/Messages/LowLevelMessages.cs
index e602ed2..15b630a 100644
--- a/src/Messages/LowLevelMessages.cs
+++ b/src/Messages/LowLevelMessages.cs
@@ -58,7 +58,7 @@ namespace RoboidControl {
             float horizontal = ReceiveAngle8(data, ref ix);
             float vertical = ReceiveAngle8(data, ref ix);
             float twist = ReceiveAngle8(data, ref ix);
-            System.Console.Write($"receive st: {horizontal} {vertical} {twist}");
+            // System.Console.Write($"receive st: {horizontal} {vertical} {twist}");
 
             SwingTwist r = SwingTwist.Degrees(horizontal, vertical, twist);
             return r;
diff --git a/src/Participant.cs b/src/Participant.cs
index 43b42d9..2bebcb3 100644
--- a/src/Participant.cs
+++ b/src/Participant.cs
@@ -163,6 +163,7 @@ namespace RoboidControl {
             /// The thing relevant fo the event
             /// </summary>
             public Thing thing;
+            public Participant participant;
         }
         /// <summary>
         /// Queue containing events happened to this participant
diff --git a/src/Participants/ParticipantUDP.cs b/src/Participants/ParticipantUDP.cs
index d6e27c2..9144292 100644
--- a/src/Participants/ParticipantUDP.cs
+++ b/src/Participants/ParticipantUDP.cs
@@ -401,7 +401,7 @@ namespace RoboidControl {
 
         protected virtual void Process(Participant sender, PoseMsg msg) {
 #if DEBUG            
-            Console.WriteLine($"{this.name}: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}");
+//            Console.WriteLine($"{this.name}: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}");
 #endif            
             Participant owner = Participant.GetParticipant(msg.networkId);
             if (owner == null)
diff --git a/src/Participants/SiteServer.cs b/src/Participants/SiteServer.cs
index 3cbea8c..2fc6e2a 100644
--- a/src/Participants/SiteServer.cs
+++ b/src/Participants/SiteServer.cs
@@ -104,7 +104,8 @@ namespace RoboidControl {
                 // this.Send(sender, new NetworkIdMsg(sender.networkId));
                 sender.Send(new NetworkIdMsg(sender.networkId));
                 UpdateEvent e = new() {
-                    messageId = ParticipantMsg.Id
+                    messageId = ParticipantMsg.Id,
+                    participant = sender
                 };
                 this.updateQueue.Enqueue(e);
             }