Merge branch 'v0.4_dev' of https://git.passer.life/RoboidControl/RoboidControl-csharp into v0.4_dev

Unity/Thing.cs

@@ -132,8 +132,10 @@ namespace RoboidControl.Unity {
                     string extension = core.modelUrl[core.modelUrl.LastIndexOf(".")..];
                     if (extension == ".jpg" || extension == ".png")
                         StartCoroutine(LoadJPG());
+#if GLTF                        
                     else if (extension == ".gltf" || extension == ".glb")
                         ProcessGltfModel(core);
+#endif                        
                     break;
                 case PoseMsg.Id:
                     Debug.Log($"{this.core.id} Handle Pose");
@@ -177,9 +179,9 @@ namespace RoboidControl.Unity {
             }
         }
 
+#if GLTF            
         bool loadingModel = false;
         private async void ProcessGltfModel(RoboidControl.Thing coreThing) {
-#if GLTF            
             if (!loadingModel) {
                 loadingModel = true;
 
@@ -200,21 +202,6 @@ namespace RoboidControl.Unity {
                     await gltfImport.InstantiateMainSceneAsync(parentTransform);
                     SkinnedMeshRenderer[] meshRenderers = parentTransform.GetComponentsInChildren<SkinnedMeshRenderer>();
 
-#if pHUMANOID4
-                // if (parentThing.objectType == 7) {
-                //     HumanoidControl hc = parentThing.gameObject.GetComponent<HumanoidControl>();
-                //     if (hc == null)
-                //         hc = parentThing.gameObject.AddComponent<HumanoidControl>();
-
-                //     foreach (SkinnedMeshRenderer meshRenderer in meshRenderers) {
-                //         if (meshRenderer.rootBone != null) {
-                //             Debug.Log("Found a skinned mesh with bones");
-                //             hc.RetrieveBonesFrom(meshRenderer.rootBone);
-                //             break;
-                //         }
-                //     }
-                // }
-#endif
                     parentTransform.localScale = Vector3.one;
                     if (meshRenderers.Length > 0) {
                         foreach (SkinnedMeshRenderer meshRenderer in meshRenderers) {
@@ -234,8 +221,8 @@ namespace RoboidControl.Unity {
                 }
             }
             loadingModel = true;
-#endif            
         }
+#endif            
 
         private void ScanForThings(Transform rootTransform) {
             RoboidControl.Thing[] thingArray = this.core.owner.things.ToArray();

src/Messages/LowLevelMessages.cs

@@ -45,18 +45,15 @@ namespace RoboidControl {
 
         public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s) {
             Quat32 q32 = Quat32.FromSwingTwist(s);
-            System.Console.Write($"send q32: {q32.x} {q32.y} {q32.z} {q32.w}");
             SendQuat32(buffer, ref ix, q32);
         }
 
         public static void SendSwingTwist(byte[] buffer, ref byte ix, SwingTwist r) {
-            System.Console.Write($"send st: {r.swing.horizontal} {r.swing.vertical} {r.twist}");
-
             SendAngle8(buffer, ref ix, r.swing.horizontal);
             SendAngle8(buffer, ref ix, r.swing.vertical);
             SendAngle8(buffer, ref ix, r.twist);
-
         }
+        
         public static SwingTwist ReceiveSwingTwist(byte[] data, ref byte ix) {
             float horizontal = ReceiveAngle8(data, ref ix);
             float vertical = ReceiveAngle8(data, ref ix);

src/Participants/ParticipantUDP.cs

@@ -160,7 +160,6 @@ namespace RoboidControl {
                     if (this.remoteSite == null)
                         this.Publish(msg);
                     else
-                        //this.Send(this.remoteSite, msg);
                         this.remoteSite.Send(msg);
 
                     this.nextPublishMe = currentTimeMS + this.publishIntervalMS;
@@ -242,12 +241,6 @@ namespace RoboidControl {
         #region Send
 
         public void SendThingInfo(Participant owner, Thing thing) {
-            // Console.WriteLine("Send thing info");
-            // this.Send(owner, new ThingMsg(this.networkId, thing));
-            // this.Send(owner, new NameMsg(this.networkId, thing));
-            // this.Send(owner, new ModelUrlMsg(this.networkId, thing));
-            // this.Send(owner, new PoseMsg(this.networkId, thing));
-            // this.Send(owner, new BinaryMsg(this.networkId, thing));
             owner.Send(new ThingMsg(this.networkId, thing));
             owner.Send(new NameMsg(this.networkId, thing));
             owner.Send(new ModelUrlMsg(this.networkId, thing));
@@ -264,23 +257,12 @@ namespace RoboidControl {
             this.Publish(new BinaryMsg(this.networkId, thing));
         }
 
-        // public bool Send(Participant owner, IMessage msg) {
-        //     int bufferSize = msg.Serialize(ref this.buffer);
-        //     if (bufferSize <= 0)
-        //         return true;
-
-        //     IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(owner.ipAddress), owner.port);
-        //     // Console.WriteLine($"msg to {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
-        //     this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
-        //     return true;
-        // }
-
         public bool Publish(IMessage msg) {
             int bufferSize = msg.Serialize(ref this.buffer);
             if (bufferSize <= 0)
                 return true;
 
-            // Console.WriteLine($"publish to {broadcastIpAddress.ToString()} {this.port}");
+            Console.WriteLine($"publish to {broadcastIpAddress.ToString()} {this.port}");
             this.udpClient?.Send(this.buffer, bufferSize, this.broadcastIpAddress, this.port);
             return true;
         }
@@ -291,15 +273,26 @@ namespace RoboidControl {
 
         protected void ReceiveUDP(IAsyncResult result) {
             try {
-                // UnityEngine.Debug.Log("received");
+                if (this.udpClient == null)
-                if (this.udpClient == null) // || this.endPoint == null)
                     return;
 
-                byte[] data = this.udpClient.EndReceive(result, ref endPoint);
+                byte[] data = { };
+                try {
+                    data = this.udpClient.EndReceive(result, ref endPoint);
+                }
+                catch (SocketException e) {
+                    if (e.ErrorCode != 10054)
+                        throw;
+#if DEBUG                        
+                    else
+                        Console.WriteLine($"No receiver found for the previously sent UDP packet");
+#endif                        
+                }
                 // This does not yet take multi-packet messages into account!
                 if (endPoint == null)
                     return;
 
+                if (data.Length > 0) {
                     // We can receive our own publish (broadcast) packages. How do we recognize them????
                     // It is hard to determine our source port
                     string ipAddress = endPoint.Address.ToString();
@@ -309,6 +302,7 @@ namespace RoboidControl {
 
                         ReceiveData(data, remoteParticipant);
                     }
+                }
 
                 udpClient.BeginReceive(new AsyncCallback(callbackResult => ReceiveUDP(callbackResult)), null);
             }

src/Things/EncoderMotor.cs

@@ -50,7 +50,7 @@ namespace RoboidControl {
 
         float pidP = 0.1F;
         float pidD = 0.0F;
-        float pidI = 0.0F;
+        //float pidI = 0.0F;
 
         public override void Update(ulong currentTimeMs, bool recurse = false) {
             float actualSpeed = this.encoder.angularSpeed;