Improved network sync

Unity/Thing.cs

@@ -17,11 +17,9 @@ namespace RoboidControl.Unity {
         [field: SerializeField]
         public RoboidControl.Thing core { get; set; }
 
-        private string modelUrl = null;
+        public SiteServer participant;
 
-        // protected virtual void Awake() {
+        private string modelUrl = null;
-        //     core.OnPoseChanged += PoseChanged;
-        // }
 
         /// <summary>
         /// Set the core C# thing
@@ -45,18 +43,22 @@ namespace RoboidControl.Unity {
                 new("Thing") :
                 new(core.name);
             Thing component = gameObj.AddComponent<Thing>();
+            component.Init(core);
+            return component;
+        }
 
-            component.core = core;
+        protected void Init(RoboidControl.Thing core) {
+            this.core = core;
+            this.participant = FindAnyObjectByType<SiteServer>();
             if (core.parent != null && core.parent.component != null)
-                gameObj.transform.SetParent(core.parent.component.transform, false);
+                this.transform.SetParent(core.parent.component.transform, false);
 
             if (core.position != null)
-                gameObj.transform.localPosition = core.position.ToVector3();
+                this.transform.localPosition = core.position.ToVector3();
             if (core.orientation != null)
-                gameObj.transform.localRotation = core.orientation.ToQuaternion();
+                this.transform.localRotation = core.orientation.ToQuaternion();
 
-            core.OnPoseChanged += component.PoseChanged;
+            core.OnPoseChanged += this.PoseChanged;
-            return component;
         }
 
         /// <summary>
@@ -74,7 +76,8 @@ namespace RoboidControl.Unity {
             //     this.transform.localPosition = core.position.ToVector3();
 
             if (core.angularVelocity != null && core.angularVelocity.distance != 0) {
-                Vector3 angularVelocity = core.angularVelocity.ToVector3();
+                // Vector3 angularVelocity = core.angularVelocity.ToVector3();
+                // Debug.Log(angularVelocity);
                 Vector3 axis = core.angularVelocity.direction.ToVector3();
                 this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis);
                 //this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime);
@@ -90,10 +93,16 @@ namespace RoboidControl.Unity {
 
                 this.modelUrl = core.modelUrl;
             }
+            if (core.nameChanged) {
+                if (this.gameObject.name != core.name)
+                    this.gameObject.name = core.name;
+                core.nameChanged = false;
+            }
+
         }
 
         private void PoseChanged() {
-            // Debug.Log($"{this} pose changed");
+            //Debug.Log($"{this} pose changed");
             if (core.positionUpdated)
                 this.transform.localPosition = core.position.ToVector3();
             if (core.orientationUpdated)

Unity/TouchSensor.cs

@@ -8,7 +8,7 @@ namespace RoboidControl.Unity {
 	/// </summary>
 	public class TouchSensor : Thing {
 
-		public SiteServer participant;
+		// public SiteServer participant;
 		/// <summary>
 		/// The core touch sensor
 		/// </summary>
@@ -24,18 +24,6 @@ namespace RoboidControl.Unity {
 				participant = FindAnyObjectByType<SiteServer>();
 				SetCoreThing(new RoboidControl.TouchSensor(participant.site));
 			}
-			// Somehow this does not work.
-
-			// Rigidbody rb = GetComponentInParent<Rigidbody>();
-			// if (rb == null) {
-			//     RoboidControl.Thing thing = core;
-			//     while (thing.parent != null)
-			//         thing = thing.parent;
-
-			//     Thing unityThing = thing.component;
-			//     rb = unityThing.gameObject.AddComponent<Rigidbody>();
-			//     rb.isKinematic = true;
-			// }
 		}
 
 		/// <summary>
@@ -48,6 +36,8 @@ namespace RoboidControl.Unity {
 				new(core.name) :
 				new("Touch Sensor");
 			TouchSensor component = gameObj.AddComponent<TouchSensor>();
+			component.Init(core);
+
 			Rigidbody rb = gameObj.AddComponent<Rigidbody>();
 			rb.isKinematic = true;
 
@@ -55,17 +45,6 @@ namespace RoboidControl.Unity {
 			collider.radius = 0.01f;
 			collider.isTrigger = true;
 
-			component.core = core;
-			component.participant = FindAnyObjectByType<SiteServer>();
-			core.thisParticipant = component.participant.site;
-
-			if (core.parent != null && core.parent.component != null) {
-				gameObj.transform.SetParent(core.parent.component.transform, false);
-			}
-
-			if (core.position != null)
-				gameObj.transform.localPosition = core.position.ToVector3();
-
 			if (gameObj.transform.parent != null && gameObj.transform.localPosition.magnitude > 0) {
 				collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2;
 				gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2;
@@ -80,12 +59,14 @@ namespace RoboidControl.Unity {
 			if (this.transform.root == other.transform.root)
 				return;
 
+			Debug.Log($"*** {this} Touch");
 			this.coreSensor.touchedSomething = true;
 		}
 		private void OnTriggerExit(Collider other) {
 			if (other.isTrigger)
 				return;
 
+			Debug.Log($"*** {this} Touch end");
 			this.coreSensor.touchedSomething = false;
 		}
 	}

src/Messages/BinaryMsg.cs

@@ -21,8 +21,8 @@ namespace RoboidControl {
         /// The ID of the thing
         /// </summary>
         public byte thingId;
-        
+
-        public Thing thing;        
+        public Thing thing;
         /// <summary>
         /// The length of the data
         /// </summary>
@@ -56,10 +56,10 @@ namespace RoboidControl {
         }
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
-        public override byte Serialize(ref byte[] buffer) {            
+        public override byte Serialize(ref byte[] buffer) {
             if (buffer.Length < BinaryMsg.length + this.data.Length || this.data.Length == 0)
                 return 0;
-            
+
 #if DEBUG
             System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}");
 #endif

src/Messages/DestroyMsg.cs

@@ -31,7 +31,10 @@ namespace RoboidControl {
             this.thingId = thingId;
         }
         /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
-        public DestroyMsg(byte[] buffer) : base(buffer) { }
+        public DestroyMsg(byte[] buffer) : base(buffer) {
+            this.networkId = buffer[1];
+            this.thingId = buffer[2];
+         }
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {

src/Messages/PoseMsg.cs

@@ -96,12 +96,10 @@ namespace RoboidControl {
             if (thing.positionUpdated || force) {
                 this.position = thing.position;
                 this.poseType |= Pose_Position;
-                //thing.positionUpdated = false; // this is also reset in Thing.update, leave it out here?
             }
             if (thing.orientationUpdated || force) {
                 this.orientation = thing.orientation;
                 this.poseType |= Pose_Orientation;
-                //thing.orientationUpdated = false; // this is also reset in Thing.update, leave it out here?
             }
             if (thing.linearVelocityUpdated) {
                 this.linearVelocity = thing.linearVelocity;
@@ -139,6 +137,12 @@ namespace RoboidControl {
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
+            if (poseType == 0)
+                return 0;
+#if DEBUG
+            System.Console.WriteLine($"Send PoseMsg [{this.networkId}/{this.thingId}] {this.poseType}");
+#endif
+
             byte ix = 0;
             buffer[ix++] = PoseMsg.Id;
             buffer[ix++] = this.networkId;

src/Participant.cs

@@ -42,7 +42,7 @@ namespace RoboidControl {
         /// <summary>
         /// The things managed by this participant
         /// </summary>
-        protected readonly List<Thing> things = new List<Thing>();
+        public readonly List<Thing> things = new List<Thing>();
 
         public virtual void Update(ulong currentTimeMS = 0) {
             int n = this.things.Count;
@@ -54,6 +54,38 @@ namespace RoboidControl {
 
         }
 
+        public static List<Participant> participants = new List<Participant>();
+
+        public static Participant GetParticipant(string ipAddress, int port) {
+            //Console.WriteLine($"Get Participant {ipAddress}:{port}");
+            foreach (Participant participant in Participant.participants) {
+                if (participant.ipAddress == ipAddress && participant.port == port)
+                    return participant;
+            }
+            return null;
+        }
+        public static Participant GetParticipant(int participantId) {
+            //Console.WriteLine($"Get Participant [participantId]");
+            foreach (Participant participant in Participant.participants) {
+                if (participant.networkId == participantId)
+                    return participant;
+            }
+            return null;
+        }
+        public static Participant AddParticipant(string ipAddress, int port) {
+            Console.WriteLine($"New Participant {ipAddress}:{port}");
+            Participant participant = new(ipAddress, port) {
+                networkId = (byte)(Participant.participants.Count + 1)
+            };
+            Participant.participants.Add(participant);
+            return participant;
+        }
+        public static void AddParticipant(Participant participant) {
+            Participant foundParticipant = Participant.GetParticipant(participant.networkId);
+            if (foundParticipant == null)
+                Participant.participants.Add(participant);
+        }
+
         /// <summary>
         /// Get a thing with the given ids
         /// </summary>

src/ParticipantUDP.cs

@@ -15,6 +15,9 @@ namespace RoboidControl {
 
         public string name = "Participant";
 
+        public bool isIsolated = false;
+        public Participant remoteSite;
+
         public IPEndPoint endPoint = null;
         public UdpClient udpClient = null;
         public string broadcastIpAddress = "255.255.255.255";
@@ -23,19 +26,13 @@ namespace RoboidControl {
 
         #region Init
 
-        /// <summary>
-        /// Create a porticiapnt
-        /// </summary>
-        public ParticipantUDP() {
-            //senders.Add(this);
-        }
-
         /// <summary>
         /// Create a participant with the give UDP port
         /// </summary>
         /// <param name="port">The port number on which to communicate</param>
-        public ParticipantUDP(int port) : this() {
+        public ParticipantUDP(int port = 0) : base("127.0.0.1", port) {
-            this.port = port;
+            if (this.port == 0)
+                this.isIsolated = true;
         }
 
         /// <summary>
@@ -43,17 +40,16 @@ namespace RoboidControl {
         /// </summary>
         /// <param name="ipAddress">The ip address of the site server</param>
         /// <param name="port">The port number of the site server</param>
-        public ParticipantUDP(string ipAddress = "0.0.0.0", int port = 7681) : this() {
+        public ParticipantUDP(string ipAddress, int port = 7681, int localPort = 7681) : base("127.0.0.1", localPort) {
-            this.ipAddress = ipAddress;
+            if (this.port == 0)
-            this.port = port;
+                this.isIsolated = true;
+            else
+                this.remoteSite = new Participant(ipAddress, port);
 
-            this.udpClient = new UdpClient();
+            this.endPoint = new IPEndPoint(IPAddress.Any, localPort);
-            this.udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port)); // local port
+            this.udpClient = new UdpClient(localPort);
-            // this.endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), port); // for sending
-
-            // this.udpClient = new UdpClient(port); // for receiving
-            // this.udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, port));
             this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
+
         }
 
         /// <summary>
@@ -73,60 +69,46 @@ namespace RoboidControl {
             return isolatedParticipant;
         }
 
-        public List<Participant> owners = new List<Participant>();
+        // public List<Participant> owners = new List<Participant>();
 
-        public Participant GetParticipant(string ipAddress, int port) {
+        // public Participant GetParticipant(string ipAddress, int port) {
-            //Console.WriteLine($"Get Participant {ipAddress}:{port}");
+        //     //Console.WriteLine($"Get Participant {ipAddress}:{port}");
-            foreach (Participant sender in owners) {
+        //     foreach (Participant sender in owners) {
-                if (sender.ipAddress == ipAddress && sender.port == port)
+        //         if (sender.ipAddress == ipAddress && sender.port == port)
-                    return sender;
+        //             return sender;
-            }
+        //     }
-            return null;
+        //     return null;
-        }
+        // }
-        public Participant AddParticipant(string ipAddress, int port) {
+        // public Participant AddParticipant(string ipAddress, int port) {
-            Console.WriteLine($"New Participant {ipAddress}:{port}");
+        //     Console.WriteLine($"New Participant {ipAddress}:{port}");
-            Participant participant = new(ipAddress, port) {
+        //     Participant participant = new(ipAddress, port) {
-                networkId = (byte)(this.owners.Count + 1)
+        //         networkId = (byte)(this.owners.Count + 1)
-            };
+        //     };
-            owners.Add(participant);
+        //     owners.Add(participant);
-            return participant;
+        //     return participant;
-        }
-
-        protected readonly Dictionary<byte, Func<Participant, byte, byte, Thing>> thingMsgProcessors = new();
-
-        // public delegate Thing ThingConstructor(Participant sender, byte networkId, byte thingId);
-        // public void Register(byte thingType, ThingConstructor constr) {
-        //     thingMsgProcessors[thingType] = new Func<Participant, byte, byte, Thing>(constr);
         // }
 
-        // public void Register<ThingClass>(Thing.Type thingType) where ThingClass : Thing {
+        // protected readonly Dictionary<byte, Func<Participant, byte, byte, Thing>> thingMsgProcessors = new();
-        //     Register<ThingClass>((byte)thingType);
-        // }
-
-        // public void Register<ThingClass>(byte thingType) where ThingClass : Thing {
-        //     thingMsgProcessors[thingType] = (participant, networkId, thingId) =>
-        //         Activator.CreateInstance(typeof(ThingClass), participant, networkId, thingId) as ThingClass;
-        //     Console.WriteLine($"Registering {typeof(ThingClass)} for thing type {thingType}");
-        // }
 
         #endregion Init
 
         #region Update
 
         protected void ReceiveUDP(IAsyncResult result) {
-            if (this.udpClient == null || this.endPoint == null)
+            // UnityEngine.Debug.Log("received");
+            if (this.udpClient == null) // || this.endPoint == null)
                 return;
 
-            byte[] data = this.udpClient.EndReceive(result, ref this.endPoint);
+            byte[] data = this.udpClient.EndReceive(result, ref endPoint);
             // This does not yet take multi-packet messages into account!
-            if (this.endPoint == null)
+            if (endPoint == null)
                 return;
 
             // We can receive our own publish (broadcast) packages. How do we recognize them????
             // It is hard to determine our source port
-            string ipAddress = this.endPoint.Address.ToString();
+            string ipAddress = endPoint.Address.ToString();
-            Participant remoteParticipant = GetParticipant(ipAddress, this.endPoint.Port);
+            Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
-            remoteParticipant ??= AddParticipant(ipAddress, this.endPoint.Port);
+            remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port);
 
             ReceiveData(data, remoteParticipant);
 
@@ -147,24 +129,47 @@ namespace RoboidControl {
                 this.nextPublishMe = currentTimeMS + this.publishInterval;
             }
 
+            UpdateMyThings(currentTimeMS);
+            UpdateOtherThings(currentTimeMS);
+        }
+
+        protected virtual void UpdateMyThings(ulong currentTimeMS) {
             int n = this.things.Count;
             for (int ix = 0; ix < n; ix++) {
                 Thing thing = this.things[ix];
-                if (thing != null && thing.parent == null) {
+                if (thing == null || thing.parent != null)
-                    thing.Update(currentTimeMS, true);
+                    continue;
-                    // if (this.isIsolated == false) {
+
-                    if (thing.owner != this) { // should not happen....
+                thing.Update(currentTimeMS, true);
-                        PoseMsg poseMsg = new(thing.owner.networkId, thing);
+                if (this.isIsolated || this.networkId == 0)
-                        this.Send(thing.owner, poseMsg);
+                    continue;
-                        BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
+
-                        this.Send(thing.owner, binaryMsg);
+                // Send to remote site
-                    }
+                PoseMsg poseMsg = new(thing.owner.networkId, thing);
+                this.Send(this.remoteSite, poseMsg);
+                BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
+                this.Send(this.remoteSite, binaryMsg);
+            }
+        }
+
+        protected virtual void UpdateOtherThings(ulong currentTimeMS) {
+            for (int ownerIx = 0; ownerIx < Participant.participants.Count; ownerIx++) {
+                Participant participant = Participant.participants[ownerIx];
+                if (participant == null || participant == this)
+                    continue;
+
+                participant.Update(currentTimeMS);
+                if (this.isIsolated)
+                    continue;
+
+                foreach (Thing thing in participant.things) {
+                    PoseMsg poseMsg = new(thing.owner.networkId, thing);
+                    this.Send(participant, poseMsg);
+                    BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
+                    this.Send(participant, binaryMsg);
                 }
             }
-            for (int ownerIx = 0; ownerIx < this.owners.Count; ownerIx++) {
+
-                Participant owner = this.owners[ownerIx];
-                owner.Update(currentTimeMS);
-            }
         }
 
         public virtual void Publish() {
@@ -271,7 +276,8 @@ namespace RoboidControl {
                     // result = await TextMsg.Receive(dataStream, client, packetSize);
                     break;
                 case DestroyMsg.Id: // 0x20 / 32
-                    // result = await DestroyMsg.Receive(dataStream, client, packetSize);
+                    this.Process(sender, new DestroyMsg(data));
+                 // result = await DestroyMsg.Receive(dataStream, client, packetSize);
                     break;
                 default:
                     break;
@@ -342,17 +348,21 @@ namespace RoboidControl {
                     thing.position = msg.position;
                 if ((msg.poseType & PoseMsg.Pose_Orientation) != 0)
                     thing.orientation = msg.orientation;
-                if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0)
+                if ((msg.poseType & PoseMsg.Pose_LinearVelocity) != 0) {
                     thing.linearVelocity = msg.linearVelocity;
-                if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0)
+                    //Console.Write($"linear velocity = {thing.linearVelocity.ToVector3()}");
+                }
+                if ((msg.poseType & PoseMsg.Pose_AngularVelocity) != 0) {
                     thing.angularVelocity = msg.angularVelocity;
+                    //Console.Write($"angular velocity = {thing.angularVelocity.ToVector3()}");
+                }
             }
         }
 
         protected virtual void Process(Participant sender, BinaryMsg msg) {
-#if DEBUG            
+            // #if DEBUG            
-            Console.WriteLine($"Participant: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
+            //             Console.WriteLine($"Participant: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
-#endif            
+            // #endif            
             Thing thing = sender.Get(msg.networkId, msg.thingId);
             thing?.ProcessBinary(msg.data);
         }
@@ -366,7 +376,7 @@ namespace RoboidControl {
 
         protected virtual void Process(Participant sender, DestroyMsg msg) {
 #if DEBUG
-            Console.WriteLine($"Participant: Process ThingMsg [{msg.networkId}/{msg.thingId}]");
+            Console.WriteLine($"Participant: Process Destroy Msg [{msg.networkId}/{msg.thingId}]");
 #endif            
 
         }

src/SiteServer.cs

@@ -9,27 +9,18 @@ namespace RoboidControl {
     /// </summary>
     public class SiteServer : ParticipantUDP {
 
-        public SiteServer(int port = 7681) : this("0.0.0.0", port) { }
-
         /// <summary>
         /// Create a new site server
         /// </summary>
         /// <param name="port"></param>
-        public SiteServer(string ipAddress = "0.0.0.0", int port = 7681) : base() {
+        public SiteServer(int port = 7681) : base(port) {
             this.name = "Site Server";
 
-            this.ipAddress = ipAddress;
-            this.port = port;
-
-            this.endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), port); // for sending
-
             Console.Write($"Prepare receive on port {port}");
-            this.udpClient = new UdpClient(port); // for receiving
+            this.endPoint = new IPEndPoint(IPAddress.Any, port);
-            this.udpClient.BeginReceive(
+            this.udpClient = new UdpClient(port);
-                new AsyncCallback(result => ReceiveUDP(result)),
+            this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
-                new Tuple<UdpClient, IPEndPoint>(this.udpClient, new(IPAddress.Any, port)));
 
-            // Register<TouchSensor>(Thing.Type.TouchSensor);
         }
 
         /// <summary>
@@ -39,44 +30,59 @@ namespace RoboidControl {
             this.udpClient?.Close();
         }
 
+        protected override void UpdateMyThings(ulong currentTimeMS) {
+            int n = this.things.Count;
+            for (int ix = 0; ix < n; ix++) {
+                Thing thing = this.things[ix];
+                if (thing == null || thing.parent != null)
+                    continue;
+
+                thing.Update(currentTimeMS, true);
+                if (this.isIsolated || this.networkId == 0)
+                    continue;
+
+                // Send to all other participants
+                foreach (Participant participant in Participant.participants) {
+                    if (participant == null || participant == this)
+                        continue;
+
+                    PoseMsg poseMsg = new(thing.owner.networkId, thing);
+                    this.Send(participant, poseMsg);
+                    BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
+                    this.Send(participant, binaryMsg);
+                }
+            }
+        }
+
         public override void Publish() {
         }
 
         protected override void Process(Participant sender, ParticipantMsg msg) {
             base.Process(sender, msg);
             //if (msg.networkId == 0) {
-                //Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
+            //Console.WriteLine($"{this.name} received New Participant -> {sender.networkId}");
-                this.Send(sender, new NetworkIdMsg(sender.networkId));
+            this.Send(sender, new NetworkIdMsg(sender.networkId));
             //}
         }
 
         protected override void Process(Participant sender, NetworkIdMsg msg) { }
 
         protected override void Process(Participant sender, ThingMsg msg) {
-            Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]");
+            Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
             Thing thing = sender.Get(msg.networkId, msg.thingId);
             if (thing == null) {
-                Thing newThing = null;
+                thing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
-                // if (thingMsgProcessors.TryGetValue(msg.thingType, out Func<Participant, byte, byte, Thing> msgProcessor)) {
+                // Console.WriteLine("Created generic new core thing");
-                //     //Console.WriteLine("Found thing message processor");
-                //     if (msgProcessor != null)
-                //         newThing = msgProcessor(sender, msg.networkId, msg.thingId);
                 // }
-                // if (newThing == null) {
+            }
-                    newThing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
+
-                    // Console.WriteLine("Created generic new core thing");
+            if (msg.parentId != 0) {
-                // }
+                Thing parentThing = Get(msg.networkId, msg.parentId);
-                if (msg.parentId != 0) {
+                if (parentThing == null)
-                    Thing parentThing = Get(msg.networkId, msg.parentId);
+                    Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
-                    if (parentThing == null)
+                else
-                        Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
+                    thing.parent = parentThing;
-                    else
-                        newThing.parent = parentThing;
-                }
-                //Console.WriteLine("Adding to remote sender");
-                //sender.Add(newThing, false, true);
             }
         }
-
     }
 }

src/Thing.cs

@@ -225,7 +225,6 @@ namespace RoboidControl {
         [NonSerialized]
         protected List<Thing> children = new();
 
-
         private string _name = "";
         /// <summary>
         /// The name of the thing
@@ -235,6 +234,7 @@ namespace RoboidControl {
             set {
                 if (_name != value) {
                     _name = value;
+                    nameChanged = true;
                     OnNameChanged?.Invoke();
                 }
             }
@@ -243,6 +243,7 @@ namespace RoboidControl {
         /// Event which is triggered when the name changes
         /// </summary>
         public event ChangeHandler OnNameChanged = delegate { };
+        public bool nameChanged = false;
 
         /// <summary>
         /// An URL pointing to the location where a model of the thing can be found
@@ -366,6 +367,8 @@ namespace RoboidControl {
                 OnPoseChanged?.Invoke();
             this.positionUpdated = false;
             this.orientationUpdated = false;
+            this.linearVelocityUpdated = false;
+            this.angularVelocityUpdated = false;            
 
             // should recurse over children...
             if (recursively) {

src/Things/TouchSensor.cs

@@ -19,7 +19,7 @@ namespace RoboidControl {
         }
 
         public TouchSensor(Participant owner, byte networkId, byte thingId) : base(owner, networkId, thingId) {
-            Console.Write("TouchSensor constructor");
+            // Console.Write("TouchSensor constructor");
             //touchedSomething = false;
             //thisParticipant = participant;
         }
@@ -36,26 +36,29 @@ namespace RoboidControl {
         public bool touchedSomething {
             get { return _touchedSomething; }
             set {
-                _touchedSomething = value;
+                if (_touchedSomething != value) {
-                if (thisParticipant != null && this.owner != thisParticipant) {
+                    touchUpdated = true;
-                    BinaryMsg msg = new(networkId, this);
+                    _touchedSomething = value;
-                    foreach (Participant remoteParticipant in thisParticipant.owners)
-                        thisParticipant.Send(remoteParticipant, msg);
                 }
             }
         }
+        private bool touchUpdated = false;
 
 #if UNITY_5_3_OR_NEWER
         /// @copydoc Passer::RoboidControl::Thing::CreateComponent 
         public override void CreateComponent() {
-            System.Console.Write("Create touch sensor component");
+            // System.Console.Write("Create touch sensor component");
             this.component = Unity.TouchSensor.Create(this);
             this.component.core = this;
         }
 #endif
         public override byte[] GenerateBinary() {
+            if (!touchUpdated)
+                return new byte[0];
+
             byte[] buffer = new byte[1];
             buffer[0] = (byte)(touchedSomething ? 1 : 0);
+            touchUpdated = false;
             return buffer;
         }
     }