RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Update docs/cleanup

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This commit is contained in:
Pascal Serrarens 2025-05-12 14:56:45 +02:00
parent ae1e43a332
commit f611a0755c
10 changed files with 208 additions and 149 deletions
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72
Unity/DifferentialDrive.cs
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@ -2,54 +2,77 @@
using UnityEngine;
namespace RoboidControl.Unity {
/// <summary>
/// The Unity representation of a Roboid Control differential drive
/// </summary>
public class DifferentialDrive : Thing {
public Wheel leftWheel;
public Wheel rightWheel;
public SphereCollider casterWheel;
protected RoboidControl.DifferentialDrive coreDrive => core as RoboidControl.DifferentialDrive;
/// <summary>
/// The core differential drive
/// </summary>
public RoboidControl.DifferentialDrive coreDrive => core as RoboidControl.DifferentialDrive;
/// <summary>
/// Create the Unity representation
/// </summary>
/// <param name="core">The core touch sensor</param>
/// <param name="coreDrive">The core touch sensor</param>
/// <returns>The Unity representation of the touch sensor</returns>
public static DifferentialDrive Create(RoboidControl.DifferentialDrive core) {
DifferentialDrive component = null;
Rigidbody rb = null;
/// This uses a 'DifferentialDrive' resource when available for the Unity representation.
/// If this is not available, a default representation is created.
public static DifferentialDrive Create(RoboidControl.DifferentialDrive coreDrive) {
DifferentialDrive differentialDrive;
GameObject prefab = (GameObject)Resources.Load("DifferentialDrive");
if (prefab != null) {
// Use resource prefab when available
GameObject gameObj = Instantiate(prefab);
component = gameObj.GetComponent<DifferentialDrive>();
if (component != null)
component.core = core;
rb = component.GetComponent<Rigidbody>();
differentialDrive = gameObj.GetComponent<DifferentialDrive>();
differentialDrive.Init(coreDrive);
}
else {
// Fallback implementation
GameObject gameObj = new(core.name);
component = gameObj.AddComponent<DifferentialDrive>();
component.Init(core);
// Default implementation
GameObject gameObj = new(coreDrive.name);
differentialDrive = gameObj.AddComponent<DifferentialDrive>();
differentialDrive.Init(coreDrive);
rb = gameObj.AddComponent<Rigidbody>();
Rigidbody rb = gameObj.AddComponent<Rigidbody>();
rb.isKinematic = false;
rb.mass = 0.1f;
}
return component;
return differentialDrive;
}
/// <summary>
/// The left wheel of the differential drive
/// </summary>
public Wheel leftWheel;
/// <summary>
/// The right wheel of the differential drive
/// </summary>
public Wheel rightWheel;
/// <summary>
/// The caster wheel to keep the differential drive horizontal
/// </summary>
public SphereCollider casterWheel;
/// <summary>
/// The rigidbody of the differential drive
/// </summary>
private Rigidbody rb = null;
/// <summary>
/// Start the Unity representation
/// </summary>
protected virtual void Start() {
rb = GetComponent<Rigidbody>();
}
/// <summary>
/// Handle the binary event indicating a configuration change
/// </summary>
protected override void HandleBinary() {
Debug.Log("Diff drive handle Binary");
if (coreDrive.wheelRadius <= 0) // || coreDrive.wheelSeparation <= 0)
// Ignore it when the wheel radius is not set
if (coreDrive.wheelRadius <= 0)
return;
// Destroy any (generic) thing with the same id
@ -66,7 +89,6 @@ namespace RoboidControl.Unity {
leftWheel.core ??= coreDrive.leftWheel;
SphereCollider leftWheelCollider = leftWheel.GetComponent<SphereCollider>();
leftWheelCollider.radius = coreDrive.wheelRadius;
// leftWheelCollider.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
}
// Destroy any (generic) thing with the same id
@ -83,7 +105,6 @@ namespace RoboidControl.Unity {
rightWheel.core ??= coreDrive.rightWheel;
SphereCollider rightWheelCollider = rightWheel.GetComponent<SphereCollider>();
rightWheelCollider.radius = coreDrive.wheelRadius;
// rightWheelCollider.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
}
if (casterWheel == null) {
@ -99,6 +120,9 @@ namespace RoboidControl.Unity {
casterWheel.center = new Vector3(0, 0, -wheelSeparation);
}
/// <summary>
/// Update the Unity representation state
/// </summary>
protected override void FixedUpdate() {
base.FixedUpdate();

43
Unity/DistanceSensor.cs
View File

@ -5,42 +5,45 @@ using UnityEngine;
namespace RoboidControl.Unity {
/// <summary>
/// The Unity representation of a distance sensor
/// The Unity representation of a Roboid Control distance sensor
/// </summary>
public class DistanceSensor : Thing {
/// <summary>
/// The core distance sensor
/// </summary>
public new RoboidControl.DistanceSensor core {
get => (RoboidControl.DistanceSensor)base.core;
set => base.core = value;
}
public RoboidControl.DistanceSensor coreSensor => base.core as RoboidControl.DistanceSensor;
/// <summary>
/// Start the Unity representation
/// </summary>
protected virtual void Start() {
if (core == null) {
SiteServer siteServer = FindAnyObjectByType<SiteServer>();
SetCoreThing(new RoboidControl.DistanceSensor(siteServer.site));
}
StartCoroutine(MeasureDistance());
}
/// <summary>
/// Create the Unity representation of the distance sensor
/// </summary>
/// <param name="parent">The parent of the core distance sensor</param>
/// <param name="core">The core distance sensor</param>
/// <returns>The Unity representation of the distance sensor</returns>
public static DistanceSensor Create(RoboidControl.DistanceSensor core) {
GameObject distanceObj = new("Distance sensor");
DistanceSensor component = distanceObj.AddComponent<DistanceSensor>();
if (core.parent != null && core.parent.component != null)
distanceObj.transform.SetParent(core.parent.component.transform, false);
return component;
/// This uses a 'DistanceSensor' resource when available for the Unity representation.
/// If this is not available, a default representation is created.
public static DistanceSensor Create(RoboidControl.DistanceSensor coreSensor) {
DistanceSensor distanceSensor;
GameObject prefab = (GameObject)Resources.Load("DistanceSensor");
if (prefab != null) {
// Use resource prefab when available
GameObject gameObj = Instantiate(prefab);
distanceSensor = gameObj.GetComponent<DistanceSensor>();
distanceSensor.Init(coreSensor);
}
else {
// Default implementation
GameObject distanceObj = new(coreSensor.name);
distanceSensor = distanceObj.AddComponent<DistanceSensor>();
distanceSensor.Init(coreSensor);
}
return distanceSensor;
}
/// <summary>
@ -53,10 +56,10 @@ namespace RoboidControl.Unity {
Thing thing = hitInfo.transform.GetComponentInParent<Thing>();
if (thing == null) {
// Debug.Log($"collision {hitInfo.transform.name} {hitInfo.distance}");
core.distance = hitInfo.distance;
coreSensor.distance = hitInfo.distance;
}
else
core.distance = 0;
coreSensor.distance = 0;
}
yield return new WaitForSeconds(0.1f);
}

65
Unity/Motor.cs
View File

@ -2,50 +2,73 @@
using UnityEngine;
namespace RoboidControl.Unity {
/// <summary>
/// The Unity representation of a Roboid Control motor
/// </summary>
public class Motor : Thing {
public float maxSpeed = 5;
/// <summary>
/// Create the Unity representation
/// The core motor
/// </summary>
/// <param name="core">The core motor</param>
public RoboidControl.Motor coreMotor => base.core as RoboidControl.Motor;
/// <summary>
/// Create the Unity representation of the motor
/// </summary>
/// <param name="coreMotor">The core motor</param>
/// <returns>The Unity representation of a motor</returns>
public static Motor Create(RoboidControl.Motor core) {
/// This uses a 'Motor' resource when available for the Unity representation.
/// If this is not available, a default representation is created.
public static Motor Create(RoboidControl.Motor coreMotor) {
Motor motor;
GameObject prefab = (GameObject)Resources.Load("Motor");
if (prefab != null) {
// Use resource prefab when available
GameObject gameObj = Instantiate(prefab);
Motor component = gameObj.GetComponent<Motor>();
if (component != null)
component.core = core;
return component;
motor = gameObj.GetComponent<Motor>();
motor.Init(coreMotor);
}
else {
// Fallback implementation
GameObject gameObj = new(core.name);
Motor component = gameObj.AddComponent<Motor>();
component.Init(core);
// Default implementation
GameObject gameObj = new(coreMotor.name);
motor = gameObj.AddComponent<Motor>();
motor.Init(coreMotor);
Rigidbody rb = gameObj.AddComponent<Rigidbody>();
rb.isKinematic = true;
return component;
}
return motor;
}
public float rotationSpeed = 0.0f;
/// <summary>
/// The maximum rotation speed of the motor in rotations per second
/// </summary>
public float maxSpeed = 5;
/// <summary>
/// The actual rotation speed in rotations per second
/// </summary>
public float rotationSpeed { get; protected set; }
/// <summary>
/// Update the Unity state
/// </summary>
protected override void FixedUpdate() {
base.FixedUpdate();
// We rotate the first child of the motor, which should be the axle.
float rotation = 360 * this.rotationSpeed * Time.fixedDeltaTime;
if (this.transform.childCount > 0)
this.transform.GetChild(0).Rotate(rotation, 0, 0);
}
/// <summary>
/// Handle the binary event containing the rotation speed
/// </summary>
protected override void HandleBinary() {
RoboidControl.Motor coreMotor = core as RoboidControl.Motor;
this.rotationSpeed = coreMotor.targetSpeed * maxSpeed;
}
protected override void Update() {
base.Update();
// We rotate the first child of the motor, which should be the axle.
float rotation = 360 * this.rotationSpeed * Time.deltaTime;
if (this.transform.childCount > 0)
this.transform.GetChild(0).Rotate(rotation, 0, 0);
}
}
}
#endif

70
Unity/Thing.cs
View File

@ -6,35 +6,25 @@ using UnityEngine.Networking;
namespace RoboidControl.Unity {
/// <summary>
/// The representation of a Thing in Unity
/// The Unity representation fo a Roboid Control Thing
/// </summary>
public class Thing : MonoBehaviour {
/// <summary>
/// The core C# thing
/// </summary>
//[field: SerializeField]
public RoboidControl.Thing core { get; set; }
public SiteServer participant;
private string modelUrl = null;
/// <summary>
/// The owner of this thing
/// </summary>
public Participant owner;
/// <summary>
/// Set the core C# thing
/// Create a Unity representation of a Thing
/// </summary>
protected void SetCoreThing(RoboidControl.Thing thing) {
core = thing;
core.component = this;
SiteServer siteServer = FindAnyObjectByType<SiteServer>();
if (siteServer == null || siteServer.site == null) {
Debug.LogWarning("No site server found");
return;
}
siteServer.site.Add(thing);
}
/// <param name="core">The core of the thing</param>
/// <returns>The created thing</returns>
public static Thing Create(RoboidControl.Thing core) {
// Debug.Log("Creating new Unity thing");
GameObject gameObj = string.IsNullOrEmpty(core.name) ?
@ -45,11 +35,17 @@ namespace RoboidControl.Unity {
return component;
}
/// <summary>
/// Initialize the Thing
/// </summary>
/// <param name="core">The core of the thing</param>
/// This affects the parent and pose of the thing
protected void Init(RoboidControl.Thing core) {
this.core = core;
this.core.component = this;
this.participant = FindAnyObjectByType<SiteServer>();
core.owner = this.participant.coreParticipant;
this.owner = FindAnyObjectByType<SiteServer>();
core.owner = this.owner.coreParticipant;
if (core.parent != null && core.parent.component != null) {
this.transform.SetParent(core.parent.component.transform, false);
this.transform.localPosition = Vector3.zero;
@ -62,7 +58,7 @@ namespace RoboidControl.Unity {
}
/// <summary>
/// Update the Unity representation
/// Update the Unity rendering
/// </summary>
protected virtual void Update() {
if (core == null)
@ -79,10 +75,16 @@ namespace RoboidControl.Unity {
}
}
/// <summary>
/// Update the Unity state (just calls UpdateThing)
/// </summary>
protected virtual void FixedUpdate() {
UpdateThing();
}
/// <summary>
/// Update the Unity state
/// </summary>
public void UpdateThing() {
if (core == null) {
Debug.Log($"{this} core thing is gone, self destruct in 0 seconds...");
@ -90,12 +92,16 @@ namespace RoboidControl.Unity {
return;
}
if (core.updateQueue.TryDequeue(out RoboidControl.Thing.UpdateEvent e))
HandleUpdateEvent(e);
while (core.updateQueue.TryDequeue(out RoboidControl.Thing.CoreEvent e))
HandleCoreEvent(e);
}
private void HandleUpdateEvent(RoboidControl.Thing.UpdateEvent e) {
switch (e.messageId) {
/// <summary>
/// Handle events from the core thing
/// </summary>
/// <param name="coreEvent">The core event to handle</param>
private void HandleCoreEvent(RoboidControl.Thing.CoreEvent coreEvent) {
switch (coreEvent.messageId) {
case ThingMsg.id:
Debug.Log($"{this.core.id} Handle Thing");
if (core.parent == null)
@ -113,7 +119,6 @@ namespace RoboidControl.Unity {
if (extension == ".jpg" || extension == ".png")
StartCoroutine(LoadJPG());
this.modelUrl = core.modelUrl;
break;
case PoseMsg.Id:
Debug.Log($"{this.core.id} Handle Pose");
@ -126,6 +131,10 @@ namespace RoboidControl.Unity {
}
}
/// <summary>
/// Load and attach a JPG sprite visualization of the thing
/// </summary>
/// <returns></returns>
private IEnumerator LoadJPG() {
UnityWebRequest request = UnityWebRequestTexture.GetTexture(core.modelUrl);
yield return request.SendWebRequest();
@ -153,6 +162,11 @@ namespace RoboidControl.Unity {
}
}
/// <summary>
/// Handle a Pose event
/// </summary>
/// This can update the position and/or orientation when the velocity of the thing is zero.
/// If a velocity is not zero, the position and/or orientation update will be ignored
protected virtual void HandlePose() {
if (core.linearVelocity.distance == 0)
this.transform.localPosition = core.position.ToVector3();
@ -160,6 +174,10 @@ namespace RoboidControl.Unity {
this.transform.localRotation = core.orientation.ToQuaternion();
}
/// <summary>
/// Handle a Binary event
/// </summary>
protected virtual void HandleBinary() { }
}

69
Unity/TouchSensor.cs
View File

@ -4,52 +4,36 @@ using UnityEngine;
namespace RoboidControl.Unity {
/// <summary>
/// The Unity representation of the TouchSensor
/// The Unity representation of a Roboid Control touch sensor
/// </summary>
public class TouchSensor : Thing {
// public SiteServer participant;
/// <summary>
/// The core touch sensor
/// </summary>
public RoboidControl.TouchSensor coreSensor {
get => base.core as RoboidControl.TouchSensor;
set => base.core = value;
}
SphereCollider touchCollider = null;
public RoboidControl.TouchSensor coreSensor => base.core as RoboidControl.TouchSensor;
/// <summary>
/// Start the Unity represention
/// Create the Unity representation of the touch sensor
/// </summary>
protected virtual void Start() {
if (core == null) {
participant = FindAnyObjectByType<SiteServer>();
SetCoreThing(new RoboidControl.TouchSensor(participant.site));
}
touchCollider = GetComponent<SphereCollider>();
}
/// <summary>
/// Create the Unity representation
/// </summary>
/// <param name="core">The core touch sensor</param>
/// <param name="coreSensor">The core touch sensor</param>
/// <returns>The Unity representation of the touch sensor</returns>
public static TouchSensor Create(RoboidControl.TouchSensor core) {
/// This uses a 'TouchSensor' resource when available for the Unity representation.
/// If this is not available, a default representation is created.
public static TouchSensor Create(RoboidControl.TouchSensor coreSensor) {
TouchSensor touchSensor;
GameObject prefab = (GameObject)Resources.Load("TouchSensor");
if (prefab != null) {
// Use resource prefab when available
GameObject gameObj = Instantiate(prefab);
TouchSensor component = gameObj.GetComponent<TouchSensor>();
if (component != null)
component.core = core;
return component;
touchSensor = gameObj.GetComponent<TouchSensor>();
touchSensor.Init(coreSensor);
}
else {
// Fallback implementation
GameObject gameObj = new(core.name);
TouchSensor component = gameObj.AddComponent<TouchSensor>();
component.Init(core);
// Default implementation
GameObject gameObj = new(coreSensor.name);
touchSensor = gameObj.AddComponent<TouchSensor>();
touchSensor.Init(coreSensor);
Rigidbody rb = gameObj.AddComponent<Rigidbody>();
rb.isKinematic = true;
@ -57,30 +41,33 @@ namespace RoboidControl.Unity {
SphereCollider collider = gameObj.AddComponent<SphereCollider>();
collider.radius = 0.01f;
collider.isTrigger = true;
return component;
}
return touchSensor;
}
/// <summary>
/// Handle touch trigger collider enter event
/// </summary>
/// <param name="other">The collider which entered our trigger collider</param>
private void OnTriggerEnter(Collider other) {
// Debug.Log("Touch?");
if (other.isTrigger) {
// Debug.Log($" was trigger {other.name}");
// Don't detect trigger colliders
if (other.isTrigger)
return;
}
if (this.transform.root == other.transform.root) {
Debug.Log($" was myself {other.name}");
// Don't touch yourself
if (this.transform.root == other.transform.root)
return;
}
Debug.Log($"*** {this} Touch");
this.coreSensor.touchedSomething = true;
this.core.updateQueue.Enqueue(new RoboidControl.Thing.UpdateEvent(BinaryMsg.Id));
this.core.updateQueue.Enqueue(new RoboidControl.Thing.CoreEvent(BinaryMsg.Id));
}
/// <summary>
/// Handl touch trigger collider exit event
/// </summary>
/// <param name="other">The collider which exited our trigger collider </param>
private void OnTriggerExit(Collider other) {
if (other.isTrigger)
return;
Debug.Log($"*** {this} Touch end");
this.coreSensor.touchedSomething = false;
}
}

4
Unity/Wheel.cs
View File

@ -2,6 +2,10 @@
using UnityEngine;
namespace RoboidControl.Unity {
/// <summary>
/// The Unity representation of a Roboid Control wheel
/// </summary>
public class Wheel : Motor {
/// <summary>
/// Create the Unity representation

18
src/Thing.cs
View File

@ -138,7 +138,7 @@ namespace RoboidControl {
if (_name != value) {
_name = value;
nameChanged = true;
this.updateQueue.Enqueue(new UpdateEvent(NameMsg.Id));
this.updateQueue.Enqueue(new CoreEvent(NameMsg.Id));
}
}
}
@ -153,7 +153,7 @@ namespace RoboidControl {
set {
if (_modelUrl != value) {
_modelUrl = value;
this.updateQueue.Enqueue(new UpdateEvent(ModelUrlMsg.Id));
this.updateQueue.Enqueue(new CoreEvent(ModelUrlMsg.Id));
}
}
}
@ -188,7 +188,7 @@ namespace RoboidControl {
value.AddChild(this);
}
this.hierarchyChanged = true;
this.updateQueue.Enqueue(new UpdateEvent(ThingMsg.id));
this.updateQueue.Enqueue(new CoreEvent(ThingMsg.id));
}
}
@ -283,7 +283,7 @@ namespace RoboidControl {
if (_position != value) {
_position = value;
positionUpdated = true;
updateQueue.Enqueue(new UpdateEvent(PoseMsg.Id));
updateQueue.Enqueue(new CoreEvent(PoseMsg.Id));
}
}
}
@ -321,7 +321,7 @@ namespace RoboidControl {
if (_linearVelocity != value) {
_linearVelocity = value;
linearVelocityUpdated = true;
updateQueue.Enqueue(new UpdateEvent(PoseMsg.Id));
updateQueue.Enqueue(new CoreEvent(PoseMsg.Id));
}
}
}
@ -340,7 +340,7 @@ namespace RoboidControl {
if (_angularVelocity != value) {
_angularVelocity = value;
angularVelocityUpdated = true;
updateQueue.Enqueue(new UpdateEvent(PoseMsg.Id));
updateQueue.Enqueue(new CoreEvent(PoseMsg.Id));
}
}
}
@ -396,13 +396,13 @@ namespace RoboidControl {
}
}
public class UpdateEvent {
public UpdateEvent(int messageId) {
public class CoreEvent {
public CoreEvent(int messageId) {
this.messageId = messageId;
}
public int messageId; // see the communication messages
};
public ConcurrentQueue<UpdateEvent> updateQueue = new();
public ConcurrentQueue<CoreEvent> updateQueue = new();
#endregion Update

4
src/Things/DifferentialDrive.cs
View File

@ -76,7 +76,7 @@ namespace RoboidControl {
// this.rightWheel.position = new Spherical(distance, Direction.right);
owner.Send(new BinaryMsg(owner.networkId, this));
this.updateQueue.Enqueue(new UpdateEvent(BinaryMsg.Id));
this.updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id));
}
/// @brief Directly specify the speeds of the motors
@ -165,7 +165,7 @@ namespace RoboidControl {
this.rightWheel = this.owner.Get(rightWheelId) as Motor;
this._wheelRadius = LowLevelMessages.ReceiveFloat16(data, ref ix);
//this._wheelSeparation = LowLevelMessages.ReceiveFloat16(data, ref ix);
this.updateQueue.Enqueue(new UpdateEvent(BinaryMsg.Id));
this.updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id));
}
};

2
src/Things/EncoderMotor.cs
View File

@ -37,7 +37,7 @@ namespace RoboidControl {
set {
if (value != this._targetAngularSpeed) {
this._targetAngularSpeed = value;
updateQueue.Enqueue(new UpdateEvent(BinaryMsg.Id));
updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id));
owner.Send(new BinaryMsg(this));
}
}

2
src/Things/Motor.cs
View File

@ -25,7 +25,7 @@ namespace RoboidControl {
set {
if (value != _targetSpeed) {
_targetSpeed = Float.Clamp(value, -1, 1);
updateQueue.Enqueue(new UpdateEvent(BinaryMsg.Id));
updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id));
owner.Send(new BinaryMsg(this));
}
}