Fix ToVector3

LinearAlgebra/src/Spherical.cs

@@ -106,7 +106,7 @@ namespace LinearAlgebra {
         // }
 
         public Vector3 ToVector3() {
-            float verticalRad = (float)(Math.PI / 2 - this.direction.vertical) * Angle.Deg2Rad;
+            float verticalRad = (float)(90 - this.direction.vertical) * Angle.Deg2Rad;
             float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
             float cosVertical = (float)Math.Cos(verticalRad);
             float sinVertical = (float)Math.Sin(verticalRad);

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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/Messages/BinaryMsg.cs

@@ -72,7 +72,7 @@ namespace RoboidControl {
                 return 0;
 
 #if DEBUG
-            System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}");
+            // System.Console.WriteLine($"Send BinaryMsg [{this.networkId}/{this.thingId}] {this.dataLength}");
 #endif
             byte ix = 0;
             buffer[ix++] = BinaryMsg.Id;

src/Participant.cs

@@ -145,9 +145,9 @@ namespace RoboidControl {
                 return true;
 
             IPEndPoint participantEndpoint = new IPEndPoint(IPAddress.Parse(this.ipAddress), this.port);
-            Console.WriteLine($"msg to remote participant {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
+            // Console.WriteLine($"msg to remote participant {participantEndpoint.Address.ToString()} {participantEndpoint.Port}");
             if (udpClient != null) {
-                Console.WriteLine("sending...");
+                //Console.WriteLine("sending...");
                 this.udpClient?.Send(this.buffer, bufferSize, participantEndpoint);
             }
             return true;

src/Participants/ParticipantUDP.cs

@@ -115,7 +115,8 @@ namespace RoboidControl {
         /// <summary>
         /// The interval in milliseconds for publishing (broadcasting) data on the local network
         /// </summary>
-        public ulong publishInterval = 3000; // = 3 seconds
+        public ulong publishIntervalMS = 3000; // = 3 seconds
+        public ulong sendUpdateIntervalMS = 100; // for object updates
 
         //public byte[] buffer = new byte[1024];
 
@@ -147,21 +148,22 @@ namespace RoboidControl {
         #region Update
 
         protected ulong nextPublishMe = 0;
+        protected ulong nextSendUpdate = 0;
 
         public override void Update(ulong currentTimeMS = 0) {
             if (currentTimeMS == 0)
                 currentTimeMS = Thing.GetTimeMs();
 
             if (this.isIsolated == false) {
-                if (this.publishInterval > 0 && currentTimeMS > this.nextPublishMe) {
+                if (this.publishIntervalMS > 0 && currentTimeMS > this.nextPublishMe) {
-                    ParticipantMsg msg = new ParticipantMsg(this.networkId);
+                    ParticipantMsg msg = new(this.networkId);
                     if (this.remoteSite == null)
                         this.Publish(msg);
                     else
                         //this.Send(this.remoteSite, msg);
                         this.remoteSite.Send(msg);
 
-                    this.nextPublishMe = currentTimeMS + this.publishInterval;
+                    this.nextPublishMe = currentTimeMS + this.publishIntervalMS;
                 }
             }
 
@@ -216,6 +218,7 @@ namespace RoboidControl {
                 if (this.isIsolated)
                     continue;
 
+                if (currentTimeMS > this.nextSendUpdate) {
                     for (int thingIx = 0; thingIx < participant.things.Count; thingIx++) {
                         Thing thing = participant.things[thingIx];
                         if (thing == null)
@@ -228,6 +231,8 @@ namespace RoboidControl {
                         participant.Send(new PoseMsg(thing.owner.networkId, thing));
                         participant.Send(new BinaryMsg(thing.owner.networkId, thing));
                     }
+                    this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
+                }
             }
 
         }
@@ -285,6 +290,7 @@ namespace RoboidControl {
         #region Receive
 
         protected void ReceiveUDP(IAsyncResult result) {
+            try {
                 // UnityEngine.Debug.Log("received");
                 if (this.udpClient == null) // || this.endPoint == null)
                     return;
@@ -306,6 +312,11 @@ namespace RoboidControl {
 
                 udpClient.BeginReceive(new AsyncCallback(callbackResult => ReceiveUDP(callbackResult)), null);
             }
+            catch (Exception e) {
+                Console.WriteLine($"Exception in communication thread: {e.Message}");
+                Console.WriteLine($"Stack trace: {e.StackTrace}");
+            }
+        }
 
         public void ReceiveData(byte[] data, Participant sender) {
             byte msgId = data[0];
@@ -426,7 +437,7 @@ namespace RoboidControl {
 
         protected virtual void Process(Participant sender, BinaryMsg msg) {
 #if DEBUG
-            Console.WriteLine($"{this.name}: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
+//            Console.WriteLine($"{this.name}: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}");
 #endif
             Thing thing = sender.Get(msg.thingId);
             thing?.ProcessBinary(msg.data);

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/EncoderMotor.cs

@@ -0,0 +1,84 @@
+namespace RoboidControl {
+
+    /// @brief A motor with speed control
+    /// It uses a feedback loop from an encoder to regulate the speed
+    /// The speed is measured in revolutions per second.
+    class EncoderMotor : Motor {
+        public EncoderMotor(Thing parent, RelativeEncoder encoder) : base(parent) {
+            this.encoder = encoder;
+         }
+        // Upgrade an existing motor with an encoder
+        public EncoderMotor(Motor motor, RelativeEncoder encoder) : base(motor.parent) {
+            this.motor = motor;
+            this.encoder = encoder;
+         }
+
+        readonly RelativeEncoder encoder;
+        readonly Motor motor;
+
+        public override float targetSpeed {
+            get {
+                if (this.motor != null)
+                    return this.motor.targetSpeed;
+                else
+                    return base.targetSpeed;
+            }
+            set {
+                if (this.motor != null)
+                    this.motor.targetSpeed = value;
+                else
+                    base.targetSpeed = value;
+            }
+        }
+
+        private float _targetAngularSpeed; // In degrees per second
+        public virtual float targetAngularSpeed {
+            get => _targetAngularSpeed;
+            set {
+                if (value != this._targetAngularSpeed) {
+                    this._targetAngularSpeed = value;
+                    updateQueue.Enqueue(new CoreEvent(BinaryMsg.Id));
+                    owner.Send(new BinaryMsg(this));
+                }
+            }
+        }
+        /// @brief Get the actual speed from the encoder
+        /// @return The speed in angle per second
+        public virtual float actualAngularSpee {
+            get => encoder.angularSpeed;
+        }
+
+        float pidP = 0.1F;
+        float pidD = 0.0F;
+        float pidI = 0.0F;
+
+        public override void Update(ulong currentTimeMs, bool recurse = false) {
+            float actualSpeed = this.encoder.angularSpeed;
+            // Simplified rotation direction, shouldbe improved
+            // This goes wrong when the target speed is inverted and the motor axcle is still turning in the old direction
+            if (this.targetAngularSpeed < 0)
+                actualSpeed = -actualSpeed;
+
+            float deltaTime = (currentTimeMs - this.lastUpdateTime) / 1000.0f;
+
+            float error = this.targetAngularSpeed - actualSpeed;
+            float errorChange = (error - lastError) * deltaTime;
+
+            float delta = error * pidP + errorChange * pidD;
+
+            // Update the motor speed
+            if (motor != null)
+                motor.targetSpeed += delta;
+            else
+                base.targetSpeed += delta;
+            this.lastUpdateTime = currentTimeMs;
+        }
+
+        ulong lastUpdateTime = 0;
+        float lastError = 0;
+
+        // enum Direction { Forward = 1, Reverse = -1 };
+        // Direction rotationDirection;
+    };
+
+} // namespace RoboidControl

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

@@ -24,9 +24,8 @@ 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";
         }