Fixed circular dependencies

README.md

@@ -8,8 +8,18 @@ Supporting:
 
 # Install
 
-- Go to the root folder of this repository (the folder containing this `README.md` and `setup.py`)
-- Execute the command.
+You can install the package directly from the git server using pip:
+```
+pip install git+https://git.passer.life/RoboidControl/RoboidControl-python.git
+```
+If you want to use a specific branch, you can use
+```
+pip install git+https://git.passer.life/RoboidControl/RoboidControl-python.git@v0.4_dev
+```
+
+Alternatively you can clone the repo to a folder in you project.
+Then you can install it by going to the root folder of the repository (the folder containing this `README.md` and `setup.py`)
+and execute the command.
 ```
 pip install .
 ``` 

RoboidControl/Examples/BB2B.py

@@ -28,4 +28,4 @@ while True:
     # Update the roboid state
     bb2b.Update(True)
     # and sleep for 100ms
-    time.sleep(100)
+    time.sleep(0.100)

RoboidControl/Participant.py

@@ -1,4 +1,4 @@
-from RoboidControl.Thing import Thing
+#from RoboidControl.Thing import Thing
 
 from typing import Union, Optional
 
@@ -13,7 +13,7 @@ class Participant:
 
 # region Init
 
-    #local_participant = None
+    local_participant = None
     
     def __init__(self, ip_address: str = None, port: int = None) -> None:
         """! Create a new participant with the given communcation info
@@ -30,16 +30,20 @@ class Participant:
         self.network_id: int = 0
 
         ## The things managed by this participant
-        self.things: set[Thing] = set()
+        self.things: set['Thing'] = set()
 
+        from RoboidControl.Thing import Thing
         Thing.CreateRoot(self)
 
         self.buffer: bytearray = bytearray(256)
     
+    def GetLocalParticipant():
+        return Participant.local_participant
+    
     def ReplaceLocalParticipant(newParticipant: 'Participant'):
         Participant.localParticipant = newParticipant
     
-    def Get(self, thing_id: int) -> Optional[Thing]:
+    def Get(self, thing_id: int) -> Optional['Thing']:
         """!  Get the thing with the given properties
 
         @param thing_id The ID of the thing
@@ -50,7 +54,7 @@ class Participant:
                 return thing
         return None
 
-    def Add(self, thing: Thing, check_id: bool = True):
+    def Add(self, thing: 'Thing', check_id: bool = True):
         """! Add a new thing for this participant. 
         @param thing The thing to add
         @param check_id If true, the thing.id is regenerated if it is zero
@@ -63,7 +67,7 @@ class Participant:
             if found_thing == None:
                 self.things.add(thing)
     
-    def Remove(self, thing: Thing) -> None:
+    def Remove(self, thing: 'Thing') -> None:
         """! Remove a thing for this participant
         @param thing The thing to remove
         """

RoboidControl/Thing.py

@@ -74,7 +74,8 @@ class Thing:
             # self.owner.Add(self) missing????
         else:
             if parent is None:
-                self.SetParent(Thing.LocalRoot())
+                from RoboidControl.Participant import Participant
+                self.SetParent(Participant.local_participant.root)
             else:
                 self.SetParent(parent)
             
@@ -110,9 +111,9 @@ class Thing:
     def CreateRoot(owner: 'Participant'):
         owner.root = Thing(owner = owner)
     
-    def LocalRoot() -> 'Thing':
-        participant = participant.localParticipant
-        return participant.root
+    # def LocalRoot() -> 'Thing':
+    #     participant = Participant.GetLocalParticipant()
+    #     return participant.root
 
 # endregion Init
 

RoboidControl/Things/DifferentialDrive.py

@@ -7,10 +7,10 @@ class DifferentialDrive(Thing):
     """! A thing which can move itself using a differential drive system
     @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
     """
-    def __init__(self, owner = None, parent = None, thing_id = 0):
+    def __init__(self, owner = None, parent = None):
         """! Create a differential drive
         """
-        super().__init__(owner = owner, parent = parent, thing_type = Thing.Type.DifferentialDrive, thing_id = thing_id)
+        super().__init__(owner = owner, parent = parent)
 
         ## The radius of a wheel in meters
         self.wheel_radius = 1.0

RoboidControl/Things/TouchSensor.py

@@ -6,8 +6,8 @@ class TouchSensor(Thing):
     def __init__(self, owner = None, parent = None, thing_id = 0):
         """! Create a touch sensor
         """
-        super().__init__(owner = owner, parent = parent, thing_type = Thing.Type.TouchSensor, thing_id = thing_id)
-        
+        super().__init__(owner = owner, parent = parent)
+        self.type = Thing.Type.TouchSensor
         ## Value which is true when the sensor is touching something, false otherwise
         self.touched_something = False