RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Constructor Cleanup

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This commit is contained in:
Pascal Serrarens 2025-06-02 10:11:04 +02:00
parent 9305cad6d6
commit f9867fc015
11 changed files with 48 additions and 29 deletions
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2
Unity/Thing.cs
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@ -55,7 +55,7 @@ namespace RoboidControl.Unity {
this.transform.SetParent(core.parent.component.transform, false);
this.transform.localPosition = Vector3.zero;
}
else {
else if (core.owner.component != null) {
this.transform.SetParent(core.owner.component.transform, false);
}

16
Unity/Wheel.cs
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@ -37,8 +37,11 @@ namespace RoboidControl.Unity {
// Use resource prefab when available
GameObject gameObj = Instantiate(prefab);
Wheel component = gameObj.GetComponent<Wheel>();
if (component != null)
component.core = new RoboidControl.Thing(RoboidControl.Thing.Type.UncontrolledMotor);
if (component != null) {
component.core = new RoboidControl.Thing {
type = RoboidControl.Thing.Type.UncontrolledMotor
};
}
return component;
}
else {
@ -48,9 +51,14 @@ namespace RoboidControl.Unity {
Wheel component = gameObj.AddComponent<Wheel>();
SiteServer participant = FindAnyObjectByType<SiteServer>();
RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
if (core == null)
if (core == null) {
//core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
core = RoboidControl.Thing.CreateRemote(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId);
//core = RoboidControl.Thing.CreateRemote(participant.coreParticipant, thingId);
core = new RoboidControl.Thing(participant.coreParticipant.root) {
id = thingId,
type = RoboidControl.Thing.Type.UncontrolledMotor
};
}
else {
;
}

12
src/Participants/SiteServer.cs
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@ -131,12 +131,14 @@ namespace RoboidControl {
}
protected virtual Thing ProcessNewThing(Participant sender, ThingMsg msg) {
return msg.thingType switch {
//Thing.Type.TouchSensor => new TouchSensor(sender, msg.thingId),
//Thing.Type.DifferentialDrive => new DifferentialDrive(sender, msg.thingId),
_ => Thing.CreateRemote(sender, msg.thingType, msg.thingId)
Thing newThing = msg.thingType switch {
Thing.Type.TouchSensor => new TouchSensor(sender.root),
Thing.Type.DifferentialDrive => new DifferentialDrive(sender.root),
_ => new Thing(sender.root)
};
newThing.id = msg.thingId;
newThing.type = msg.thingType;
return newThing;
}
#endregion Receive

16
src/Thing.cs
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@ -105,8 +105,8 @@ namespace RoboidControl {
this.parent = parent;
}
*/
public Thing(byte thingType = Type.Undetermined, Thing parent = default) {
this.type = thingType;
public Thing(Thing parent = default) {
this.type = Type.Undetermined;
this.positionUpdated = true;
this.orientationUpdated = true;
@ -127,12 +127,12 @@ namespace RoboidControl {
this.owner.updateQueue.Enqueue(e);
}
public static Thing CreateRemote(Participant owner, byte thingType, byte thingId) {
Thing remoteThing = new(thingType, owner.root) {
id = thingId
};
return remoteThing;
}
// public static Thing CreateRemote(Participant owner, byte thingId) {
// Thing remoteThing = new(owner.root) {
// id = thingId
// };
// return remoteThing;
// }
/// <summary>
/// Function which can be used to create components in external engines.

4
src/Things/DifferentialDrive.cs
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@ -40,7 +40,9 @@ namespace RoboidControl {
/// <param name="parent">The parent thing</param>
/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
public DifferentialDrive(Thing parent) : base(Type.DifferentialDrive, parent) { }
public DifferentialDrive(Thing parent) : base(parent) {
this.type = Type.DifferentialDrive;
}
/// @brief Configures the dimensions of the drive
/// @param wheelDiameter The diameter of the wheels in meters

4
src/Things/DigitalSensor.cs
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@ -26,7 +26,9 @@ namespace RoboidControl {
/// <param name="parent">The parent thing</param>
/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
public DigitalSensor(Thing parent) : base(Type.Switch, parent) { }
public DigitalSensor(Thing parent) : base(parent) {
this.type = Type.Switch;
}
/// <summary>
/// Value which is true when the sensor is touching something, false otherwise

4
src/Things/DistanceSensor.cs
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@ -24,7 +24,9 @@ namespace RoboidControl {
/// <param name="thingId">The ID of the thing</param>
public DistanceSensor(Participant owner, byte thingId) : base(owner, Type.TemperatureSensor, thingId) {}
*/
public DistanceSensor(Thing parent): base(Type.DistanceSensor, parent) {}
public DistanceSensor(Thing parent) : base(parent) {
this.type = Type.DistanceSensor;
}
#if UNITY_5_3_OR_NEWER

4
src/Things/Motor.cs
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@ -4,7 +4,9 @@ namespace RoboidControl {
public class Motor : Thing {
//public Motor(bool invokeEvent = true) : base(Type.UncontrolledMotor, invokeEvent) { }
public Motor(Thing parent) : base(Type.UncontrolledMotor, parent) { }
public Motor(Thing parent) : base(parent) {
this.type = Type.UncontrolledMotor;
}
/// @brief Motor turning direction
public enum Direction {

4
src/Things/RelativeEncoder.cs
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@ -12,8 +12,8 @@ namespace RoboidControl {
/*
public RelativeEncoder(bool invokeEvent = true) : base(Type.IncrementalEncoder, invokeEvent) { }
*/
public RelativeEncoder(Thing parent = default) : base(Type.RelativeEncoder, parent) {
public RelativeEncoder(Thing parent = default) : base(parent) {
this.type = Type.RelativeEncoder;
}
protected float _rotationSpeed = 0;

4
src/Things/TemperatureSensor.cs
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@ -26,7 +26,9 @@ namespace RoboidControl {
/// <param name="parent">The parent thing</param>
/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
public TemperatureSensor(Thing parent) : base(Type.TemperatureSensor, parent) { }
public TemperatureSensor(Thing parent) : base(parent) {
this.type = Type.TemperatureSensor;
}
/// <summary>
/// The measured temperature

7
src/Things/TouchSensor.cs
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@ -24,11 +24,10 @@ namespace RoboidControl {
/// Create a new child touch sensor
/// </summary>
/// <param name="parent">The parent thing</param>
/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
public TouchSensor(Thing parent) : base(Type.TouchSensor, parent) {
public TouchSensor(Thing parent) : base(parent) {
this.type = Type.TouchSensor;
this.name = "TouchSensor";
}
}
/// <summary>
/// Value which is true when the sensor is touching something, false otherwise