Constructor Cleanup

Unity/Thing.cs

@@ -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);
             }
 

Unity/Wheel.cs

@@ -37,8 +37,11 @@ namespace RoboidControl.Unity {
                 // Use resource prefab when available
                 GameObject gameObj = Instantiate(prefab);
                 Wheel component = gameObj.GetComponent<Wheel>();
-                if (component != null)
+                if (component != null) {
-                    component.core = new RoboidControl.Thing(RoboidControl.Thing.Type.UncontrolledMotor);
+                    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 {
                     ;
                 }

src/Participants/SiteServer.cs

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

src/Thing.cs

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

src/Things/DifferentialDrive.cs

@@ -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

src/Things/DigitalSensor.cs

@@ -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

src/Things/DistanceSensor.cs

@@ -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

src/Things/Motor.cs

@@ -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 {

src/Things/RelativeEncoder.cs

@@ -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;

src/Things/TemperatureSensor.cs

@@ -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

src/Things/TouchSensor.cs

@@ -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>
+        public TouchSensor(Thing parent) : base(parent) {
-        /// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
+            this.type = Type.TouchSensor;
-        public TouchSensor(Thing parent) : base(Type.TouchSensor, parent) {
             this.name = "TouchSensor";
-         }
+        }
 
         /// <summary>
         /// Value which is true when the sensor is touching something, false otherwise