Compliency fixes

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);

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();
         }

Unity/Thing.cs

@@ -212,10 +212,9 @@ namespace RoboidControl.Unity {
                             }
                         }
                     }
-                    else {
+                    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}]");
+                    }
                 }
             }
         }

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;

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

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)

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);
             }