RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
1
0
Fork 0
Code Issues 1 Pull Requests Actions Packages Releases Activity

Compare commits

base: RoboidControl:be167722e749cc3ea37ac51ec2f4b311477069c9
Branches Tags
RoboidControl:main
RoboidControl:v0.4_dev
RoboidControl:v0.3.0
..
compare: RoboidControl:83159b487d34c3ff918bc85df52fbc51129b251e
Branches Tags
RoboidControl:v0.4_dev
RoboidControl:main
RoboidControl:v0.3.0

No commits in common. "be167722e749cc3ea37ac51ec2f4b311477069c9" and "83159b487d34c3ff918bc85df52fbc51129b251e" have entirely different histories.
be167722e7 ... 83159b487d

10 changed files with 164 additions and 215 deletions
Show Stats Expand all files Collapse all files

31
Unity/Thing.cs
View File

@ -17,10 +17,12 @@ namespace RoboidControl.Unity {
[field: SerializeField] [field: SerializeField]
public RoboidControl.Thing core { get; set; } public RoboidControl.Thing core { get; set; }
public SiteServer participant;
private string modelUrl = null; private string modelUrl = null;
// protected virtual void Awake() {
// core.OnPoseChanged += PoseChanged;
// }
/// <summary> /// <summary>
/// Set the core C# thing /// Set the core C# thing
/// </summary> /// </summary>
@ -43,22 +45,18 @@ namespace RoboidControl.Unity {
new("Thing") : new("Thing") :
new(core.name); new(core.name);
Thing component = gameObj.AddComponent<Thing>(); Thing component = gameObj.AddComponent<Thing>();
component.Init(core);
return component;
}
protected void Init(RoboidControl.Thing core) { component.core = core;
this.core = core;
this.participant = FindAnyObjectByType<SiteServer>();
if (core.parent != null && core.parent.component != null) if (core.parent != null && core.parent.component != null)
this.transform.SetParent(core.parent.component.transform, false); gameObj.transform.SetParent(core.parent.component.transform, false);
if (core.position != null) if (core.position != null)
this.transform.localPosition = core.position.ToVector3(); gameObj.transform.localPosition = core.position.ToVector3();
if (core.orientation != null) if (core.orientation != null)
this.transform.localRotation = core.orientation.ToQuaternion(); gameObj.transform.localRotation = core.orientation.ToQuaternion();
core.OnPoseChanged += this.PoseChanged; core.OnPoseChanged += component.PoseChanged;
return component;
} }
/// <summary> /// <summary>
@ -76,8 +74,7 @@ namespace RoboidControl.Unity {
// this.transform.localPosition = core.position.ToVector3(); // this.transform.localPosition = core.position.ToVector3();
if (core.angularVelocity != null && core.angularVelocity.distance != 0) { 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(); Vector3 axis = core.angularVelocity.direction.ToVector3();
this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis); this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis);
//this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime); //this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime);
@ -93,12 +90,6 @@ namespace RoboidControl.Unity {
this.modelUrl = core.modelUrl; this.modelUrl = core.modelUrl;
} }
if (core.nameChanged) {
if (this.gameObject.name != core.name)
this.gameObject.name = core.name;
core.nameChanged = false;
}
} }
private void PoseChanged() { private void PoseChanged() {

29
Unity/TouchSensor.cs
View File

@ -8,7 +8,7 @@ namespace RoboidControl.Unity {
/// </summary> /// </summary>
public class TouchSensor : Thing { public class TouchSensor : Thing {
// public SiteServer participant; public SiteServer participant;
/// <summary> /// <summary>
/// The core touch sensor /// The core touch sensor
/// </summary> /// </summary>
@ -24,6 +24,18 @@ namespace RoboidControl.Unity {
participant = FindAnyObjectByType<SiteServer>(); participant = FindAnyObjectByType<SiteServer>();
SetCoreThing(new RoboidControl.TouchSensor(participant.site)); 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> /// <summary>
@ -36,8 +48,6 @@ namespace RoboidControl.Unity {
new(core.name) : new(core.name) :
new("Touch Sensor"); new("Touch Sensor");
TouchSensor component = gameObj.AddComponent<TouchSensor>(); TouchSensor component = gameObj.AddComponent<TouchSensor>();
component.Init(core);
Rigidbody rb = gameObj.AddComponent<Rigidbody>(); Rigidbody rb = gameObj.AddComponent<Rigidbody>();
rb.isKinematic = true; rb.isKinematic = true;
@ -45,6 +55,17 @@ namespace RoboidControl.Unity {
collider.radius = 0.01f; collider.radius = 0.01f;
collider.isTrigger = true; 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) { if (gameObj.transform.parent != null && gameObj.transform.localPosition.magnitude > 0) {
collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2; collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2;
gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2; gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2;
@ -59,14 +80,12 @@ namespace RoboidControl.Unity {
if (this.transform.root == other.transform.root) if (this.transform.root == other.transform.root)
return; return;
Debug.Log($"*** {this} Touch");
this.coreSensor.touchedSomething = true; this.coreSensor.touchedSomething = true;
} }
private void OnTriggerExit(Collider other) { private void OnTriggerExit(Collider other) {
if (other.isTrigger) if (other.isTrigger)
return; return;
Debug.Log($"*** {this} Touch end");
this.coreSensor.touchedSomething = false; this.coreSensor.touchedSomething = false;
} }
} }

5
src/Messages/DestroyMsg.cs
View File

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

8
src/Messages/PoseMsg.cs
View File

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

34
src/Participant.cs
View File

@ -42,7 +42,7 @@ namespace RoboidControl {
/// <summary> /// <summary>
/// The things managed by this participant /// The things managed by this participant
/// </summary> /// </summary>
public readonly List<Thing> things = new List<Thing>(); protected readonly List<Thing> things = new List<Thing>();
public virtual void Update(ulong currentTimeMS = 0) { public virtual void Update(ulong currentTimeMS = 0) {
int n = this.things.Count; int n = this.things.Count;
@ -54,38 +54,6 @@ 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> /// <summary>
/// Get a thing with the given ids /// Get a thing with the given ids
/// </summary> /// </summary>

150
src/ParticipantUDP.cs
View File

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

62
src/SiteServer.cs
View File

@ -9,18 +9,27 @@ namespace RoboidControl {
/// </summary> /// </summary>
public class SiteServer : ParticipantUDP { public class SiteServer : ParticipantUDP {
public SiteServer(int port = 7681) : this("0.0.0.0", port) { }
/// <summary> /// <summary>
/// Create a new site server /// Create a new site server
/// </summary> /// </summary>
/// <param name="port"></param> /// <param name="port"></param>
public SiteServer(int port = 7681) : base(port) { public SiteServer(string ipAddress = "0.0.0.0", int port = 7681) : base() {
this.name = "Site Server"; this.name = "Site Server";
Console.Write($"Prepare receive on port {port}"); this.ipAddress = ipAddress;
this.endPoint = new IPEndPoint(IPAddress.Any, port); this.port = port;
this.udpClient = new UdpClient(port);
this.udpClient.BeginReceive(new AsyncCallback(result => ReceiveUDP(result)), null);
this.endPoint = new IPEndPoint(IPAddress.Parse(ipAddress), port); // for sending
Console.Write($"Prepare receive on port {port}");
this.udpClient = new UdpClient(port); // for receiving
this.udpClient.BeginReceive(
new AsyncCallback(result => ReceiveUDP(result)),
new Tuple<UdpClient, IPEndPoint>(this.udpClient, new(IPAddress.Any, port)));
// Register<TouchSensor>(Thing.Type.TouchSensor);
} }
/// <summary> /// <summary>
@ -30,30 +39,6 @@ namespace RoboidControl {
this.udpClient?.Close(); 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() { public override void Publish() {
} }
@ -68,21 +53,30 @@ namespace RoboidControl {
protected override void Process(Participant sender, NetworkIdMsg msg) { } protected override void Process(Participant sender, NetworkIdMsg msg) { }
protected override void Process(Participant sender, ThingMsg msg) { protected override void Process(Participant sender, ThingMsg msg) {
Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} "); Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]");
Thing thing = sender.Get(msg.networkId, msg.thingId); Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing == null) { if (thing == null) {
thing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType); Thing newThing = null;
// if (thingMsgProcessors.TryGetValue(msg.thingType, out Func<Participant, byte, byte, Thing> msgProcessor)) {
// //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"); // Console.WriteLine("Created generic new core thing");
// } // }
}
if (msg.parentId != 0) { if (msg.parentId != 0) {
Thing parentThing = Get(msg.networkId, msg.parentId); Thing parentThing = Get(msg.networkId, msg.parentId);
if (parentThing == null) if (parentThing == null)
Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]"); Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
else else
thing.parent = parentThing; newThing.parent = parentThing;
}
//Console.WriteLine("Adding to remote sender");
//sender.Add(newThing, false, true);
} }
} }
} }
} }

5
src/Thing.cs
View File

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

15
src/Things/TouchSensor.cs
View File

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