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cf3587b226
| Author | SHA1 | Date | |
|---|---|---|---|
| cf3587b226 | |||
| f9867fc015 | |||
| 9305cad6d6 | |||
| 8941e29af1 | |||
| 66c58d25f5 |
@ -106,7 +106,7 @@ namespace LinearAlgebra {
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// }
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public Vector3 ToVector3() {
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float verticalRad = (float)(Math.PI / 2 - this.direction.vertical) * Angle.Deg2Rad;
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float verticalRad = (float)(90 - this.direction.vertical) * Angle.Deg2Rad;
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float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
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float cosVertical = (float)Math.Cos(verticalRad);
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float sinVertical = (float)Math.Sin(verticalRad);
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83
Unity/Materials/Black.mat
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83
Unity/Materials/Black.mat
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@ -0,0 +1,83 @@
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83
Unity/Materials/Gray.mat
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83
Unity/Materials/Gray.mat
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83
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83
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@ -55,7 +55,7 @@ namespace RoboidControl.Unity {
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this.transform.SetParent(core.parent.component.transform, false);
|
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this.transform.localPosition = Vector3.zero;
|
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}
|
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else {
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else if (core.owner.component != null) {
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this.transform.SetParent(core.owner.component.transform, false);
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}
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@ -37,8 +37,11 @@ namespace RoboidControl.Unity {
|
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// Use resource prefab when available
|
||||
GameObject gameObj = Instantiate(prefab);
|
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Wheel component = gameObj.GetComponent<Wheel>();
|
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if (component != null)
|
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component.core = new RoboidControl.Thing(RoboidControl.Thing.Type.UncontrolledMotor);
|
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if (component != null) {
|
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component.core = new RoboidControl.Thing {
|
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type = RoboidControl.Thing.Type.UncontrolledMotor
|
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};
|
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}
|
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return component;
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}
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else {
|
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@ -48,9 +51,14 @@ namespace RoboidControl.Unity {
|
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Wheel component = gameObj.AddComponent<Wheel>();
|
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SiteServer participant = FindAnyObjectByType<SiteServer>();
|
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RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
|
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if (core == null)
|
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if (core == null) {
|
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//core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
|
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core = RoboidControl.Thing.CreateRemote(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId);
|
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//core = RoboidControl.Thing.CreateRemote(participant.coreParticipant, thingId);
|
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core = new RoboidControl.Thing(participant.coreParticipant.root) {
|
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id = thingId,
|
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type = RoboidControl.Thing.Type.UncontrolledMotor
|
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};
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}
|
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else {
|
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;
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}
|
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|
||||
@ -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;
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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) {
|
||||
ParticipantMsg msg = new ParticipantMsg(this.networkId);
|
||||
if (this.publishIntervalMS > 0 && currentTimeMS > this.nextPublishMe) {
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
@ -216,17 +218,20 @@ namespace RoboidControl {
|
||||
if (this.isIsolated)
|
||||
continue;
|
||||
|
||||
for (int thingIx = 0; thingIx < participant.things.Count; thingIx++) {
|
||||
Thing thing = participant.things[thingIx];
|
||||
if (thing == null)
|
||||
continue;
|
||||
if (currentTimeMS > this.nextSendUpdate) {
|
||||
for (int thingIx = 0; thingIx < participant.things.Count; thingIx++) {
|
||||
Thing thing = participant.things[thingIx];
|
||||
if (thing == null)
|
||||
continue;
|
||||
|
||||
// PoseMsg poseMsg = new(thing.owner.networkId, thing);
|
||||
// this.Send(participant, poseMsg);
|
||||
// BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
|
||||
// this.Send(participant, binaryMsg);
|
||||
participant.Send(new PoseMsg(thing.owner.networkId, thing));
|
||||
participant.Send(new BinaryMsg(thing.owner.networkId, thing));
|
||||
// PoseMsg poseMsg = new(thing.owner.networkId, thing);
|
||||
// this.Send(participant, poseMsg);
|
||||
// BinaryMsg binaryMsg = new(thing.owner.networkId, thing);
|
||||
// this.Send(participant, binaryMsg);
|
||||
participant.Send(new PoseMsg(thing.owner.networkId, thing));
|
||||
participant.Send(new BinaryMsg(thing.owner.networkId, thing));
|
||||
}
|
||||
this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
|
||||
}
|
||||
}
|
||||
|
||||
@ -285,26 +290,32 @@ namespace RoboidControl {
|
||||
#region Receive
|
||||
|
||||
protected void ReceiveUDP(IAsyncResult result) {
|
||||
// UnityEngine.Debug.Log("received");
|
||||
if (this.udpClient == null) // || this.endPoint == null)
|
||||
return;
|
||||
try {
|
||||
// UnityEngine.Debug.Log("received");
|
||||
if (this.udpClient == null) // || this.endPoint == null)
|
||||
return;
|
||||
|
||||
byte[] data = this.udpClient.EndReceive(result, ref endPoint);
|
||||
// This does not yet take multi-packet messages into account!
|
||||
if (endPoint == null)
|
||||
return;
|
||||
byte[] data = this.udpClient.EndReceive(result, ref endPoint);
|
||||
// This does not yet take multi-packet messages into account!
|
||||
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 = endPoint.Address.ToString();
|
||||
if (ipAddress != this.ipAddress) {
|
||||
Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
|
||||
remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port, this);
|
||||
// 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();
|
||||
if (ipAddress != this.ipAddress) {
|
||||
Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
|
||||
remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port, this);
|
||||
|
||||
ReceiveData(data, remoteParticipant);
|
||||
ReceiveData(data, remoteParticipant);
|
||||
}
|
||||
|
||||
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}");
|
||||
}
|
||||
|
||||
udpClient.BeginReceive(new AsyncCallback(callbackResult => ReceiveUDP(callbackResult)), null);
|
||||
}
|
||||
|
||||
public void ReceiveData(byte[] data, Participant sender) {
|
||||
@ -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);
|
||||
|
||||
@ -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
16
src/Thing.cs
@ -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.
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
84
src/Things/EncoderMotor.cs
Normal file
84
src/Things/EncoderMotor.cs
Normal file
@ -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
|
||||
@ -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 {
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user