84 lines
3.5 KiB
C#
84 lines
3.5 KiB
C#
using UnityEngine;
|
|
using System.Linq;
|
|
|
|
namespace RoboidControl.Unity {
|
|
|
|
public class Participant : MonoBehaviour {
|
|
public string ipAddress;
|
|
public int port;
|
|
|
|
public RoboidControl.Participant coreParticipant;
|
|
|
|
protected virtual void Update() {
|
|
if (coreParticipant == null)
|
|
return;
|
|
|
|
if (coreParticipant.updateQueue.TryDequeue(out RoboidControl.Participant.UpdateEvent e))
|
|
HandleUpdateEvent(e);
|
|
}
|
|
|
|
private void HandleUpdateEvent(RoboidControl.Participant.UpdateEvent e) {
|
|
switch (e.messageId) {
|
|
case ParticipantMsg.Id:
|
|
GameObject remoteParticipant = new GameObject("RemoteParticipant");
|
|
Participant participant = remoteParticipant.AddComponent<Participant>();
|
|
participant.coreParticipant = e.participant;
|
|
participant.coreParticipant.component = participant;
|
|
if (participant.coreParticipant is ParticipantUDP participantUDP) {
|
|
participant.ipAddress = participantUDP.ipAddress;
|
|
participant.port = participantUDP.port;
|
|
}
|
|
|
|
break;
|
|
case ThingMsg.id:
|
|
HandleThingEvent(e);
|
|
break;
|
|
default:
|
|
Debug.Log($"Unhandled event: {e.messageId}");
|
|
break;
|
|
}
|
|
}
|
|
|
|
protected virtual void HandleThingEvent(RoboidControl.Participant.UpdateEvent e) {
|
|
switch (e.thing) {
|
|
case RoboidControl.DistanceSensor coreDistanceSensor:
|
|
coreDistanceSensor.component = DistanceSensor.Create(coreDistanceSensor);
|
|
break;
|
|
case RoboidControl.TouchSensor coreTouchSensor:
|
|
coreTouchSensor.component = TouchSensor.Create(coreTouchSensor);
|
|
break;
|
|
case RoboidControl.DifferentialDrive coreDrive:
|
|
coreDrive.component = DifferentialDrive.Create(coreDrive);
|
|
break;
|
|
case RoboidControl.Motor coreMotor:
|
|
if (coreMotor.component == null) {
|
|
Motor wheel = Motor.Create(coreMotor);
|
|
coreMotor.component = wheel;
|
|
// We need to know the details (though a binary msg)
|
|
// before we can create the wheel reliably
|
|
}
|
|
else // Update the component from the core
|
|
coreMotor.component.Init(coreMotor);
|
|
break;
|
|
case RoboidControl.Thing coreThing:
|
|
if (coreThing.component == null) {
|
|
Thing[] things = FindObjectsByType<Thing>(FindObjectsSortMode.None);
|
|
// Debug.Log(things.Length);
|
|
Thing thing = things.FirstOrDefault(t =>
|
|
t != null &&
|
|
t.core != null &&
|
|
t.core.owner.networkId == coreThing.owner.networkId &&
|
|
t.core.id == coreThing.id
|
|
);
|
|
if (thing == null)
|
|
thing = Thing.Create(coreThing);
|
|
coreThing.component = thing;
|
|
}
|
|
else // Update the component from the core
|
|
coreThing.component.Init(coreThing);
|
|
break;
|
|
}
|
|
}
|
|
|
|
}
|
|
} |