using Participant.Send
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0c74320271
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@ -13,9 +13,9 @@ class Participant:
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# region Init
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local_participant = None
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local_participant: 'Participant' = None
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def __init__(self, ip_address: str = None, port: int = None) -> None:
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def __init__(self, ip_address: str = None, port: int = None, local_participant: 'Participant' = None) -> None:
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"""! Create a new participant with the given communcation info
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@param ip_address The IP address of the participant
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@param port The UDP port of the participant
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@ -26,6 +26,10 @@ class Participant:
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## The port number for UDP communication with the participant. This is 0 for isolated participants.
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self.port: int = port
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self.udp_socket = None
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if local_participant is not None:
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self.udp_socket = local_participant.udp_socket
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## he network Id to identify the participant.
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self.network_id: int = 0
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@ -130,7 +134,7 @@ class Participant:
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return participant
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return None
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def AddParticipant(arg1: Union[str, 'Participant'], port: Optional[int] = None) -> 'Participant':
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def AddParticipant(arg1: Union[str, 'Participant'], port: Optional[int] = None, local_participant: 'Participant' = None) -> 'Participant':
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"""! Add a participant
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@param arg1 Either:
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- str: The IP address of the participant
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@ -139,14 +143,14 @@ class Participant:
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"""
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if port is not None:
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ip_address = str(arg1)
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participant = Participant(ip_address, port)
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participant = Participant(ip_address, port, local_participant)
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participant.network_id = len(Participant.participants) + 1
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Participant.AddParticipant(participant)
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return participant
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else:
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participant: Participant = arg1
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foundParticipant = Participant.GetParticipant(participant.network_id, participant.port)
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if foundParticipant is not None:
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if foundParticipant is None:
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Participant.participants.add(participant)
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return participant
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@ -43,6 +43,7 @@ class ParticipantUDP(Participant):
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name = "Participant"
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#region Init
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def __init__(self,
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port: int = 7681,
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ip_address: Optional[str] = None,
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@ -64,46 +65,47 @@ class ParticipantUDP(Participant):
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## The interval in milliseconds for publishing (broadcasting) data on the local network
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self.publishInterval = 3000 # 3 seconds
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if port != 0:
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self.is_isolated = False
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if ip_address is not None:
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self.remote_site = Participant(ip_address, port)
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Participant.AddParticipant(self)
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Participant.ReplaceLocalParticipant(self)
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self.buffer: bytearray = bytearray(256)
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self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.udp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
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self.udp_socket.bind(("0.0.0.0", local_port))
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if port != 0:
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self.is_isolated = False
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if ip_address is not None:
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self.remote_site = Participant(ip_address, port, self)
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self.thread = threading.Thread(target = self.Receiver)
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self.thread.daemon = True
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self.thread.start()
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@staticmethod
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def Isolated() -> 'ParticipantUDP':
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if ParticipantUDP.isolated_participant == None:
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ParticipantUDP.isolated_participant = ParticipantUDP(0)
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return ParticipantUDP.isolated_participant
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Participant.AddParticipant(self)
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Participant.ReplaceLocalParticipant(self)
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# @staticmethod
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# def Isolated() -> 'ParticipantUDP':
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# if ParticipantUDP.isolated_participant == None:
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# ParticipantUDP.isolated_participant = ParticipantUDP(0)
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# return ParticipantUDP.isolated_participant
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#endregion Init
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isolated_participant = None
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# isolated_participant = None
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#region Update
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def Update(self):
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currentTimeMs = int(time.time() * 1000)
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# Send periodic ParticipantMsg
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if self.is_isolated == False:
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if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
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msg = ParticipantMsg(self.network_id)
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if self.remote_site == None:
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self.Publish(msg)
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else:
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self.Send(self.remote_site, msg)
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self.remote_site.Send(msg)
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self.nextPublishMe = currentTimeMs + self.publishInterval
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@ -116,21 +118,22 @@ class ParticipantUDP(Participant):
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# if thing.hierarchyChanged and not (self.isIsolated or self.network_id == ):
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# thingMsg = ThingMsg(self.network_id, thing)
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# self.Send(self.remote_site, thingMsg)
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if thing.owner is not None:
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poseMsg = PoseMsg(thing.owner.network_id, thing)
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if self.remote_site is not None:
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self.Send(self.remote_site, poseMsg)
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# if thing.owner is not None:
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# poseMsg = PoseMsg(thing.owner.network_id, thing)
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# if self.remote_site is not None:
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# self.remote_site.Send(poseMsg)
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thing.Update(False)
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if not(self.is_isolated or self.network_id == 0):
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if thing.terminate:
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destroyMsg = DestroyMsg.Create(self.network_id, thing)
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self.Send(self.remote_site, destroyMsg)
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else:
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if self.remote_site is not None and thing.owner is not None:
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# Send to remote site
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self.Send(self.remote_site, PoseMsg(thing.owner.network_id, thing))
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self.Send(self.remote_site, BinaryMsg(thing.owner.network_id, thing))
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self.remote_site.Send(destroyMsg)
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# else:
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# this is very inefficient
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# if self.remote_site is not None and thing.owner is not None:
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# # Send to remote site
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# self.Send(self.remote_site, PoseMsg(thing.owner.network_id, thing))
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# self.Send(self.remote_site, BinaryMsg(thing.owner.network_id, thing))
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if thing.terminate:
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self.Remove(thing)
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@ -139,11 +142,11 @@ class ParticipantUDP(Participant):
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#region Send
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def SendThingInfo(self, owner: Participant, thing: 'Thing', recursively: bool = False):
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self.Send(owner, ThingMsg(self.network_id, thing))
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self.Send(owner, NameMsg(self.network_id, thing))
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self.Send(owner, ModelUrlMsg(self.network_id, thing))
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self.Send(owner, PoseMsg(self.network_id, thing, True))
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self.Send(owner, BinaryMsg(self.network_id, thing))
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owner.Send(ThingMsg(self.network_id, thing))
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owner.Send(NameMsg(self.network_id, thing))
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owner.Send(ModelUrlMsg(self.network_id, thing))
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owner.Send(PoseMsg(self.network_id, thing, True))
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owner.Send(BinaryMsg(self.network_id, thing))
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if recursively:
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for child in thing.children:
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@ -156,14 +159,14 @@ class ParticipantUDP(Participant):
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self.Publish(PoseMsg(self.network_id, thing))
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self.Publish(BinaryMsg(self.network_id, thing))
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def Send(self, owner: Participant, msg: IMessage):
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buffer_size = msg.Serialize([self.buffer])
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if buffer_size <= 0:
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return True
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# def Send(self, owner: Participant, msg: IMessage):
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# buffer_size = msg.Serialize([self.buffer])
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# if buffer_size <= 0:
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# return True
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# print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
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self.udp_socket.sendto(self.buffer[:buffer_size], (owner.ip_address, owner.port))
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return True
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# # print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
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# self.udp_socket.sendto(self.buffer[:buffer_size], (owner.ip_address, owner.port))
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# return True
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def Publish(self, msg: IMessage):
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buffer_size = msg.Serialize([self.buffer])
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@ -188,7 +191,7 @@ class ParticipantUDP(Participant):
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remote_participant = Participant.GetParticipant(remote_ip_address, remote_port)
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if remote_participant is None:
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# print(f'new participant')
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remote_participant = Participant.AddParticipant(remote_ip_address, remote_port)
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remote_participant = Participant.AddParticipant(remote_ip_address, remote_port, self)
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self.ReceiveData(data, remote_participant)
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except ConnectionError:
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self.network_id = 0
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