RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Compliency fixes

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This commit is contained in:
Pascal Serrarens 2025-06-05 11:37:29 +02:00
parent a5664dea9d
commit f3b863692b
7 changed files with 14 additions and 10 deletions
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4
Unity/Participant.cs
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@ -44,10 +44,10 @@ namespace RoboidControl.Unity {
// before we can create the wheel reliably // before we can create the wheel reliably
break; break;
case RoboidControl.Thing coreThing: case RoboidControl.Thing coreThing:
Debug.Log("Handle Thing"); // Debug.Log("Handle Thing");
if (coreThing.component == null) { if (coreThing.component == null) {
Thing[] things = FindObjectsByType<Thing>(FindObjectsSortMode.None); 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); Thing thing = things.FirstOrDefault(t => t.core != null && t.core.id == coreThing.id);
if (thing == null) if (thing == null)
thing = Thing.Create(coreThing); thing = Thing.Create(coreThing);

2
Unity/SiteServer.cs
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@ -30,7 +30,7 @@ namespace RoboidControl.Unity {
while (site.updateQueue.TryDequeue(out RoboidControl.Participant.UpdateEvent e)) while (site.updateQueue.TryDequeue(out RoboidControl.Participant.UpdateEvent e))
HandleUpdateEvent(e); HandleUpdateEvent(e);
site.Update((ulong)(Time.time * 1000)); site.Update();
// while (thingQueue.TryDequeue(out RoboidControl.Thing thing)) // while (thingQueue.TryDequeue(out RoboidControl.Thing thing))
// thing.CreateComponent(); // thing.CreateComponent();
} }

8
Unity/Thing.cs
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@ -212,10 +212,9 @@ namespace RoboidControl.Unity {
} }
} }
} }
else { else
ScanForThings(parentTransform); ScanForThings(parentTransform);
} }
}
else { else {
this.transform.localScale = Vector3.one * 1; this.transform.localScale = Vector3.one * 1;
} }
@ -230,7 +229,7 @@ namespace RoboidControl.Unity {
for (int thingIx = 0; thingIx < thingArray.Length; thingIx++) { for (int thingIx = 0; thingIx < thingArray.Length; thingIx++) {
RoboidControl.Thing thing = thingArray[thingIx]; RoboidControl.Thing thing = thingArray[thingIx];
GameObject foundObj = FindThingByName(thing, rootTransform); 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>(); Thing foundThing = foundObj.GetComponent<Thing>();
if (foundThing == null) { if (foundThing == null) {
Debug.Log($"move thing [{thing.owner.networkId}/{thing.id}] to {foundObj.name}"); Debug.Log($"move thing [{thing.owner.networkId}/{thing.id}] to {foundObj.name}");
@ -242,6 +241,9 @@ namespace RoboidControl.Unity {
Destroy(thing.component.gameObject); Destroy(thing.component.gameObject);
thing.component = foundThing; thing.component = foundThing;
} }
else {
Debug.LogWarning($"Could not find [{thing.owner.networkId}/{thing.id}]");
}
} }
} }
} }

2
src/Messages/LowLevelMessages.cs
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@ -58,7 +58,7 @@ namespace RoboidControl {
float horizontal = ReceiveAngle8(data, ref ix); float horizontal = ReceiveAngle8(data, ref ix);
float vertical = ReceiveAngle8(data, ref ix); float vertical = ReceiveAngle8(data, ref ix);
float twist = 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); SwingTwist r = SwingTwist.Degrees(horizontal, vertical, twist);
return r; return r;

1
src/Participant.cs
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@ -163,6 +163,7 @@ namespace RoboidControl {
/// The thing relevant fo the event /// The thing relevant fo the event
/// </summary> /// </summary>
public Thing thing; public Thing thing;
public Participant participant;
} }
/// <summary> /// <summary>
/// Queue containing events happened to this participant /// Queue containing events happened to this participant

2
src/Participants/ParticipantUDP.cs
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@ -401,7 +401,7 @@ namespace RoboidControl {
protected virtual void Process(Participant sender, PoseMsg msg) { protected virtual void Process(Participant sender, PoseMsg msg) {
#if DEBUG #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 #endif
Participant owner = Participant.GetParticipant(msg.networkId); Participant owner = Participant.GetParticipant(msg.networkId);
if (owner == null) if (owner == null)

3
src/Participants/SiteServer.cs
View File

@ -104,7 +104,8 @@ namespace RoboidControl {
// this.Send(sender, new NetworkIdMsg(sender.networkId)); // this.Send(sender, new NetworkIdMsg(sender.networkId));
sender.Send(new NetworkIdMsg(sender.networkId)); sender.Send(new NetworkIdMsg(sender.networkId));
UpdateEvent e = new() { UpdateEvent e = new() {
messageId = ParticipantMsg.Id messageId = ParticipantMsg.Id,
participant = sender
}; };
this.updateQueue.Enqueue(e); this.updateQueue.Enqueue(e);
} }