Aligned Messages
This commit is contained in:
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warning: source 'images' is not a readable file or directory... skipping.
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d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
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d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
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d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:77: warning: @copybrief or @copydoc target 'Thing::Update' not found
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d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:61: warning: Found unknown command '@params'
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d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:47: warning: Member FromVector3(Vector3 v) (function) of class LinearAlgebra.Direction.Direction is not documented.
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d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:100: warning: Member __repr__(self) (function) of class LinearAlgebra.Direction.Direction is not documented.
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d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/Direction.py:47: warning: Member FromVector3(Vector3 v) (function) of class LinearAlgebra.Direction.Direction is not documented.
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@ -78,99 +78,131 @@ d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/SwingTwist.py:
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d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/SwingTwist.py:29: warning: Member Radians(float horizontal, float vertical, float twist) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
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d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/SwingTwist.py:54: warning: Member FromQuaternion(Quaternion q) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
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d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/SwingTwist.py:90: warning: Member Angle(r1, r2) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:14: warning: Member network_id (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:7: warning: Member id (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:8: warning: Member length (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/ParticipantMsg.py:19: warning: Member network_id (variable) of class RoboidControl.Messages.ParticipantMsg.ParticipantMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Participant.py:58: warning: argument 'The' of command @param is not found in the argument list of Participant::Update(self, currentTimeMs=0)
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d:/Python/RoboidControl/RoboidControl/Participant.py:58: warning: The following parameter of RoboidControl.Participant.Participant.Update(self, currentTimeMs=0) is not documented:
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parameter 'currentTimeMs'
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:68: warning: Member Isolated() (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:75: warning: Member GetParticipant(self, ip_address, port) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:85: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:107: warning: Member UpdateMyThings(self, currentTimeMs) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:136: warning: Member SendThingInfo(self, owner, thing, bool recursively=False) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:148: warning: Member Send(self, owner, msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:157: warning: Member Publish(self, msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:170: warning: Member Receiver(self) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:186: warning: Member ReceiveData(self, data, sender) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:205: warning: Member ProcessParticipantMsg(self, sender, ParticipantMsg msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:208: warning: Member ProcessSiteIdMsg(self, sender, NetworkIdMsg msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:216: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:219: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:222: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:225: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:228: warning: Member ProcessBinaryMsg(self, BinaryMsg msg) (function) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:46: warning: Member remote_site (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:58: warning: Member publishInterval (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:60: warning: Member udp_socket (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:62: warning: Member port (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:103: warning: Member nextPublishMe (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:119: warning: Member network_id (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:29: warning: Member buffer (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:30: warning: Member nextPublishMe (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:32: warning: Member thread (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:33: warning: Member name (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:34: warning: Member isolated_participant (variable) of class RoboidControl.ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participant.py:11: warning: The following parameter of RoboidControl.ParticipantUDP.ParticipantUDP.__init__(self, ip_address=7681, port=None, local_port=7681) is not documented:
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:92: warning: Member GetParticipant(self, str ip_address, int port) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:102: warning: Member AddParticipant(self, str ip_address, int port) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:128: warning: Member UpdateMyThings(self, int currentTimeMs) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:157: warning: Member SendThingInfo(self, Participant owner, 'Thing' thing, bool recursively=False) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:168: warning: Member PublishThingInfo(self, Thing thing) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:175: warning: Member Send(self, Participant owner, IMessage msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:184: warning: Member Publish(self, IMessage msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:197: warning: Member Receiver(self) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:213: warning: Member ReceiveData(self, bytes data, Participant sender) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:234: warning: Member ProcessParticipantMsg(self, Participant sender, ParticipantMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:237: warning: Member ProcessSiteIdMsg(self, Participant sender, NetworkIdMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:245: warning: Member ProcessInvestigateMsg(self, Participant sender, InvestigateMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:248: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:251: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:254: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:257: warning: Member ProcessPoseMsg(self, Participant sender, PoseMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:277: warning: Member ProcessBinaryMsg(self, BinaryMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:83: warning: Member Isolated() (function) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:67: warning: Member is_isolated (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:69: warning: Member remote_site (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:74: warning: Member udp_socket (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:76: warning: Member port (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:78: warning: Member thread (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:122: warning: Member nextPublishMe (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:139: warning: Member network_id (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:42: warning: Member name (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:90: warning: Member isolated_participant (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:126: warning: Member nextPublishMe (variable) of class ParticipantUDP.ParticipantUDP is not documented.
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:51: warning: argument 'ipAddress' of command @param is not found in the argument list of ParticipantUDP::__init__(self, int port=7681, Optional[str] ip_address=None, int local_port=7681)
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:51: warning: argument 'localPort' of command @param is not found in the argument list of ParticipantUDP::__init__(self, int port=7681, Optional[str] ip_address=None, int local_port=7681)
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:51: warning: The following parameters of ParticipantUDP.ParticipantUDP.__init__(self, int port=7681, Optional[str] ip_address=None, int local_port=7681) are not documented:
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parameter 'ip_address'
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parameter 'local_port'
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d:/Python/RoboidControl/RoboidControl/ParticipantUDP.py:91: warning: argument 'The' of command @param is not found in the argument list of ParticipantUDP::Update(self, currentTimeMs=None) inherited from member Update at line 58 in file d:/Python/RoboidControl/RoboidControl/Participant.py
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d:/Python/RoboidControl/RoboidControl/Participant.py:58: warning: The following parameter of RoboidControl.ParticipantUDP.ParticipantUDP.Update(self, currentTimeMs=None) is not documented:
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d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:110: warning: argument 'The' of command @param is not found in the argument list of ParticipantUDP::Update(self, Optional[int] currentTimeMs=None) inherited from member Update at line 62 in file d:/Python/RoboidControl/RoboidControl/Participant.py
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d:/Python/RoboidControl/RoboidControl/Participant.py:62: warning: The following parameter of ParticipantUDP.ParticipantUDP.Update(self, Optional[int] currentTimeMs=None) is not documented:
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parameter 'currentTimeMs'
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d:/Python/RoboidControl/RoboidControl/Thing.py:113: warning: Member Update(self, currentTime, recurse=False) (function) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:125: warning: Member SetParent(self, parent) (function) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:134: warning: Member AddChild(self, child) (function) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:141: warning: Member RemoveChild(self, child) (function) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:144: warning: Member GenerateBinary(self, buffer, ix_ref) (function) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:147: warning: Member ProcessBinary(self, data) (function) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:58: warning: Member children (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:85: warning: Member position (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:86: warning: Member position_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:92: warning: Member orientation (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:93: warning: Member orientation_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:100: warning: Member linear_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:102: warning: Member linear_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:109: warning: Member angular_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:111: warning: Member angular_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:28: warning: Member Position (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:29: warning: Member Orientation (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:30: warning: Member LinearVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:31: warning: Member AngularVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:35: warning: argument 'thingId' of command @param is not found in the argument list of Thing::__init__(self, owner=None, parent=None, thing_type=Type.Undetermined, thing_id=0)
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d:/Python/RoboidControl/RoboidControl/Thing.py:35: warning: The following parameter of RoboidControl.Thing.Thing.__init__(self, owner=None, parent=None, thing_type=Type.Undetermined, thing_id=0) is not documented:
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d:/Python/RoboidControl/RoboidControl/Messages/DestroyMsg.py:23: warning: Member thing_id (variable) of class RoboidControl.Messages.DestroyMsg.DestroyMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/DestroyMsg.py:40: warning: Member network_id (variable) of class RoboidControl.Messages.DestroyMsg.DestroyMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/DestroyMsg.py:10: warning: Member id (variable) of class RoboidControl.Messages.DestroyMsg.DestroyMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/DestroyMsg.py:11: warning: Member length (variable) of class RoboidControl.Messages.DestroyMsg.DestroyMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:17: warning: Member network_id (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:9: warning: Member id (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:10: warning: Member length (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Messages/ParticipantMsg.py:19: warning: Member network_id (variable) of class RoboidControl.Messages.ParticipantMsg.ParticipantMsg is not documented.
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d:/Python/RoboidControl/RoboidControl/Participant.py:84: warning: Member AddParticipant(Union[str, int] arg1, Optional[int] port) (function) of class RoboidControl.Participant.Participant is not documented.
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d:/Python/RoboidControl/RoboidControl/Participant.py:70: warning: Member GetParticipant(Union[str, int] arg1, Optional[int] port) (function) of class RoboidControl.Participant.Participant is not documented.
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d:/Python/RoboidControl/RoboidControl/Participant.py:64: warning: Member things (variable) of class RoboidControl.Participant.Participant is not documented.
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d:/Python/RoboidControl/RoboidControl/Participant.py:67: warning: Member participants (variable) of class RoboidControl.Participant.Participant is not documented.
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d:/Python/RoboidControl/RoboidControl/Participant.py:62: warning: argument 'The' of command @param is not found in the argument list of Participant::Update(self, int currentTimeMs=0)
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d:/Python/RoboidControl/RoboidControl/Participant.py:62: warning: The following parameter of RoboidControl.Participant.Participant.Update(self, int currentTimeMs=0) is not documented:
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parameter 'currentTimeMs'
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d:/Python/RoboidControl/RoboidControl/Thing.py:57: warning: Member owner (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:109: warning: Member parent (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:168: warning: Member position (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:169: warning: Member position_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:175: warning: Member orientation (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:176: warning: Member orientation_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:183: warning: Member linear_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:185: warning: Member linear_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:192: warning: Member angular_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:194: warning: Member angular_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:31: warning: Member Position (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:32: warning: Member Orientation (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:33: warning: Member LinearVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:34: warning: Member AngularVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
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d:/Python/RoboidControl/RoboidControl/Thing.py:40: warning: argument 'thingId' of command @param is not found in the argument list of Thing::__init__(self, Optional[ 'Participant'] owner=None, Optional[ 'Thing'] parent=None, int thing_type=Type.Undetermined, int thing_id=0)
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d:/Python/RoboidControl/RoboidControl/Thing.py:40: warning: The following parameter of RoboidControl.Thing.Thing.__init__(self, Optional[ 'Participant'] owner=None, Optional[ 'Thing'] parent=None, int thing_type=Type.Undetermined, int thing_id=0) is not documented:
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parameter 'thing_id'
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d:/Python/RoboidControl/RoboidControl/Thing.py:97: warning: argument 'linearVelocity' of command @param is not found in the argument list of Thing::SetLinearVelocity(self, linear_velocity)
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d:/Python/RoboidControl/RoboidControl/Thing.py:97: warning: The following parameter of RoboidControl.Thing.Thing.SetLinearVelocity(self, linear_velocity) is not documented:
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:102: warning: argument 'The' of command @param is not found in the argument list of Thing::SetParent(self, Optional[ 'Thing'] parent)
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:102: warning: The following parameter of RoboidControl.Thing.Thing.SetParent(self, Optional[ 'Thing'] parent) is not documented:
|
||||
parameter 'parent'
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:133: warning: argument 'id' of command @param is not found in the argument list of Thing::GetChild(self, int thing_id, bool recurse=False)
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:133: warning: The following parameter of RoboidControl.Thing.Thing.GetChild(self, int thing_id, bool recurse=False) is not documented:
|
||||
parameter 'thing_id'
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:180: warning: argument 'linearVelocity' of command @param is not found in the argument list of Thing::SetLinearVelocity(self, Spherical linear_velocity)
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:180: warning: The following parameter of RoboidControl.Thing.Thing.SetLinearVelocity(self, Spherical linear_velocity) is not documented:
|
||||
parameter 'linear_velocity'
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:106: warning: argument 'angularVelocity' of command @param is not found in the argument list of Thing::SetAngularVelocity(self, angular_velocity)
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:106: warning: The following parameter of RoboidControl.Thing.Thing.SetAngularVelocity(self, angular_velocity) is not documented:
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:189: warning: argument 'angularVelocity' of command @param is not found in the argument list of Thing::SetAngularVelocity(self, Spherical angular_velocity)
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:189: warning: The following parameter of RoboidControl.Thing.Thing.SetAngularVelocity(self, Spherical angular_velocity) is not documented:
|
||||
parameter 'angular_velocity'
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:11: warning: Member Undetermined (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:13: warning: Member Switch (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:14: warning: Member DistanceSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:15: warning: Member DirectionalSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:16: warning: Member TemperatureSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:17: warning: Member TouchSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:19: warning: Member ControlledMotor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:20: warning: Member UncontrolledMotor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:21: warning: Member Servo (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:23: warning: Member Roboid (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:24: warning: Member Humanoid (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:25: warning: Member ExternalSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:26: warning: Member Animator (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:22: warning: Member SetDriveDimensions(self, wheel_diameter, wheel_separation) (function) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:33: warning: Member SetMotors(self, wheel_left, wheel_right) (function) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:31: warning: Member wheel_left (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:31: warning: Member wheel_right (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:64: warning: Member angular_velocity_updated (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:47: warning: Found unknown command '@params'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:63: warning: @copydetails or @copydoc target 'Thing::Update' not found
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:24: warning: Member ProcessParticipantMsg(self, sender, msg) (function) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:29: warning: Member ProcessNetworkId(self, msg) (function) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:21: warning: Member isolated (variable) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:22: warning: Member publishInterval (variable) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:225: warning: argument 'buffer' of command @param is not found in the argument list of Thing::GenerateBinary(self, bytearray bytes, set[int] ix_ref)
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:225: warning: The following parameter of RoboidControl.Thing.Thing.GenerateBinary(self, bytearray bytes, set[int] ix_ref) is not documented:
|
||||
parameter 'bytes'
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:233: warning: argument 'bytes' of command @param is not found in the argument list of Thing::ProcessBinary(self, bytes data)
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:233: warning: The following parameter of RoboidControl.Thing.Thing.ProcessBinary(self, bytes data) is not documented:
|
||||
parameter 'data'
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:13: warning: Member Undetermined (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:15: warning: Member Switch (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:16: warning: Member DistanceSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:17: warning: Member DirectionalSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:18: warning: Member TemperatureSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:19: warning: Member TouchSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:21: warning: Member ControlledMotor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:22: warning: Member UncontrolledMotor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:23: warning: Member Servo (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:25: warning: Member Roboid (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:26: warning: Member Humanoid (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:27: warning: Member ExternalSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:28: warning: Member Animator (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Thing.py:29: warning: Member DifferentialDrive (variable) of class RoboidControl.Thing.Thing.Type is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:76: warning: unable to resolve link to 'https://en.wikipedia.org/wiki/Differential_wheeled_robot' for \link command
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:61: warning: Found unknown command '@params'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:77: warning: @copybrief or @copydoc target 'Thing::Update' not found
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:42: warning: Member wheel_left (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:42: warning: Member wheel_right (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:79: warning: Member angular_velocity_updated (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:27: warning: argument 'wheelDiameter' of command @param is not found in the argument list of DifferentialDrive::SetDriveDimensions(self, wheel_diameter, wheel_separation)
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:27: warning: argument 'wheelSeparation' of command @param is not found in the argument list of DifferentialDrive::SetDriveDimensions(self, wheel_diameter, wheel_separation)
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:27: warning: The following parameters of RoboidControl.Things.DifferentialDrive.DifferentialDrive.SetDriveDimensions(self, wheel_diameter, wheel_separation) are not documented:
|
||||
parameter 'wheel_diameter'
|
||||
parameter 'wheel_separation'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: argument 'leftWheel' of command @param is not found in the argument list of DifferentialDrive::SetMotors(self, wheel_left, wheel_right)
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: argument 'rightWheel' of command @param is not found in the argument list of DifferentialDrive::SetMotors(self, wheel_left, wheel_right)
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: The following parameters of RoboidControl.Things.DifferentialDrive.DifferentialDrive.SetMotors(self, wheel_left, wheel_right) are not documented:
|
||||
parameter 'wheel_left'
|
||||
parameter 'wheel_right'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:61: warning: Found unknown command '@params'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:62: warning: Found unknown command '@params'
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:77: warning: @copybrief or @copydoc target 'Thing::Update' not found
|
||||
d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:78: warning: @copydetails or @copydoc target 'Thing::Update' not found
|
||||
d:/Python/RoboidControl/RoboidControl/Things/TemperatureSensor.py:7: warning: argument 'thingId' of command @param is not found in the argument list of TemperatureSensor::__init__(self, owner=None, parent=None, thing_type=0) inherited from member __init__ at line 40 in file d:/Python/RoboidControl/RoboidControl/Thing.py
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:33: warning: Member ProcessParticipantMsg(self, sender, msg) (function) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:38: warning: Member ProcessNetworkIdMsg(self, sender, msg) (function) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:41: warning: Member ProcessThingMsg(self, sender, ThingMsg msg) (function) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:23: warning: Member isolated (variable) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:24: warning: Member publishInterval (variable) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:14: warning: Member name (variable) of class SiteServer.SiteServer is not documented.
|
||||
d:/Python/RoboidControl/README.md:13: warning: unable to resolve reference to 'RoboidControl::ParticipantUDP::ParticipantUDP' for \ref command
|
||||
|
||||
@ -2,30 +2,55 @@ from RoboidControl.Thing import Thing
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
|
||||
from typing import Optional, Union
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class BinaryMsg(IMessage):
|
||||
id = 0xB1
|
||||
length = 4
|
||||
"""! A message containing binary data for custom communication
|
||||
"""
|
||||
## The message ID
|
||||
id: int = 0xB1
|
||||
## The length of the message in bytes, excluding the binary data
|
||||
#
|
||||
## For the total size of the message self.data_length should be added to this value.
|
||||
length: int = 4
|
||||
|
||||
def __init__(self, arg1: Union[bytes, int], thing: Optional[Thing] = None):
|
||||
"""! Create a BinaryMsg
|
||||
@param arg1 Either:
|
||||
- bytes: contianing the serialized data; or
|
||||
- int: containgint the network_id
|
||||
@param thing The thing for which the data is communicated
|
||||
"""
|
||||
if thing is None:
|
||||
data = bytes(arg1)
|
||||
## The network ID of the thing
|
||||
self.network_id = data[1]
|
||||
## The ID of the thing
|
||||
self.thing_id = data[2]
|
||||
## The length of the data
|
||||
self.data_length = data[3]
|
||||
## The binary data
|
||||
self.data = data[4:]
|
||||
else:
|
||||
## The network ID of the thing
|
||||
self.network_id = int(arg1)
|
||||
## The ID of the thing
|
||||
self.thing_id = thing.id
|
||||
## The thing for which the binary data is communicated
|
||||
self.thing = thing
|
||||
|
||||
def Serialize(self, buffer_ref: list[bytearray]):
|
||||
buffer: bytearray = buffer_ref[0]
|
||||
def Serialize(self, ref_buffer: list[bytearray]):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
buffer: bytearray = ref_buffer[0]
|
||||
ix = self.length
|
||||
self.data_length = self.thing.GenerateBinary(buffer, {ix})
|
||||
if ix <= self.length:
|
||||
return 0
|
||||
|
||||
print(f'Send BinaryMsg [{self.network_id}/{self.thing_id}] {self.data_length}')
|
||||
logger.debug(f'Send BinaryMsg [{self.network_id}/{self.thing_id}] {self.data_length}')
|
||||
|
||||
buffer[0] = self.id
|
||||
buffer[1] = self.network_id
|
||||
|
||||
47
RoboidControl/Messages/DestroyMsg.py
Normal file
47
RoboidControl/Messages/DestroyMsg.py
Normal file
@ -0,0 +1,47 @@
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
from RoboidControl.Thing import Thing
|
||||
|
||||
from typing import Union, Optional
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class DestroyMsg(IMessage):
|
||||
"""! Message notifiying that a Thing no longer exists
|
||||
"""
|
||||
## The message ID
|
||||
id = 0xB1
|
||||
## The length of the message in bytes
|
||||
length = 4
|
||||
|
||||
def __init__(self, arg1: Union[bytes, int], thing: Optional[Thing] = None):
|
||||
"""! Create a destroy message
|
||||
@param arg1 Either
|
||||
- bytes containing the serialized data; or
|
||||
- an int containing the network_id
|
||||
@param thing The thing which is destroyed
|
||||
"""
|
||||
if thing is None:
|
||||
## Create from serialized data
|
||||
data = bytes(arg1)
|
||||
self.network_id = data[1]
|
||||
self.thing_id = data[2]
|
||||
else:
|
||||
## Create from the thing details
|
||||
self.network_id: int = int(arg1)
|
||||
self.thing_id: int = thing.id
|
||||
|
||||
def Serialize(self, ref_buffer: list[bytearray]):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
|
||||
logger.debug(f'Send DestroyMsg [{self.network_id}/{self.thing_id}]')
|
||||
|
||||
buffer: bytearray = ref_buffer[0]
|
||||
|
||||
buffer[0:DestroyMsg.length] = [
|
||||
DestroyMsg.id,
|
||||
self.network_id,
|
||||
self.thing_id
|
||||
]
|
||||
return DestroyMsg.length
|
||||
@ -1,8 +1,14 @@
|
||||
class IMessage:
|
||||
id = 0x00
|
||||
"""! Root structure for all communcation messages
|
||||
"""
|
||||
|
||||
## Serialize the message into the given buffer
|
||||
#
|
||||
## @returns: the length of the message
|
||||
def Serialize(self, buffer_ref: list[bytearray]) -> int:
|
||||
"""! Serialize the message into the given buffer
|
||||
@param ref_buffer Reference to the buffer to serilize into
|
||||
@return The length of the message in the buffer
|
||||
"""
|
||||
return 0
|
||||
|
||||
|
||||
@ -1,7 +1,47 @@
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
from RoboidControl.Thing import Thing
|
||||
|
||||
from typing import Union, Optional
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class InvestigateMsg():
|
||||
"""! Message to request details for a Thing
|
||||
"""
|
||||
## The message ID
|
||||
id = 0x81
|
||||
## The length of the message in bytes
|
||||
length = 3
|
||||
|
||||
def __init__(self, buffer):
|
||||
self.thing_id = buffer[2]
|
||||
def __init__(self, arg1: Union[bytes, int], thing: Optional[Thing] = None):
|
||||
"""! Create an investigate message
|
||||
@param arg1 Either
|
||||
- bytes containing the serialized data; or
|
||||
- an int containing the network_id
|
||||
@param thing The thing for which the details are requested
|
||||
"""
|
||||
if thing is None:
|
||||
## Create from serialized data
|
||||
data = bytes(arg1)
|
||||
self.network_id: int = data[1]
|
||||
self.thing_id: int = data[2]
|
||||
else:
|
||||
## Create from thing details
|
||||
self.network_id: int = int(arg1)
|
||||
self.thing_id: int = thing.id
|
||||
|
||||
def Serialize(self, ref_buffer: list[bytearray]):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
|
||||
logger.debug(f'Send DestroyMsg [{self.network_id}/{self.thing_id}]')
|
||||
|
||||
buffer: bytearray = ref_buffer[0]
|
||||
|
||||
buffer[0:InvestigateMsg.length] = [
|
||||
InvestigateMsg.id,
|
||||
self.network_id,
|
||||
self.thing_id
|
||||
]
|
||||
return InvestigateMsg.length
|
||||
|
||||
@ -4,49 +4,12 @@ from LinearAlgebra.Spherical import Spherical
|
||||
from LinearAlgebra.Quaternion import Quaternion
|
||||
from LinearAlgebra.Angle import Angle
|
||||
|
||||
def SendAngle8(buffer, ref_ix, angle):
|
||||
"""! Send an 8-bit angle value """
|
||||
# angle = Angle.Normalize(angle)
|
||||
|
||||
ix = ref_ix[0]
|
||||
buffer[ix] = int((angle.InDegrees() / 360) * 256).to_bytes(1, 'big', signed=True)[0]
|
||||
ref_ix[0] += 1
|
||||
|
||||
def ReceiveAngle8(buffer: bytes, ref_ix: list[int]) -> Angle:
|
||||
angle: Angle = Angle()
|
||||
angle.value = buffer[ref_ix[0]]
|
||||
ref_ix[0] += 1
|
||||
return angle
|
||||
|
||||
def SendFloat16(buffer, ix_ref, value):
|
||||
"""! Send a 16-bit floating point value """
|
||||
ix = ix_ref[0]
|
||||
value16 = np.float16(value)
|
||||
binary = value16.view(np.uint16)
|
||||
buffer[ix:ix+2] = [
|
||||
(binary & 0xFF00) >> 8,
|
||||
(binary & 0x00FF)
|
||||
]
|
||||
ix_ref[0] += 2
|
||||
|
||||
def ReceiveFloat16(buffer, ix_ref) -> float:
|
||||
"""! Receive a 16-bit floating point value """
|
||||
ix = ix_ref[0]
|
||||
# if ix < len(buffer) - 1:
|
||||
binary = (buffer[ix] << 8) + buffer[ix+1]
|
||||
# else:
|
||||
# binary = 0
|
||||
value16 = np.uint16(binary).view(np.float16)
|
||||
ix_ref[0] += 2
|
||||
return float(value16)
|
||||
|
||||
def SendSpherical(buffer, ix_ref, vector):
|
||||
"""! Send a spherical vector
|
||||
"""
|
||||
SendFloat16(buffer, ix_ref, vector.distance)
|
||||
SendAngle8(buffer, ix_ref, vector.direction.horizontal)
|
||||
SendAngle8(buffer, ix_ref, vector.direction.vertical)
|
||||
|
||||
def ReceiveSpherical(buffer: bytes, ref_ix: list[int]) -> Spherical:
|
||||
"""! Receive a spherical vector
|
||||
"""
|
||||
@ -78,7 +41,6 @@ def SendQuat32(buffer, ref_ix, q):
|
||||
qw
|
||||
]
|
||||
ref_ix[0] += 4
|
||||
|
||||
def ReceiveQuaternion(buffer: bytes, ref_ix: list[int]):
|
||||
qx: float = (buffer[ref_ix[0]] - 128) / 127
|
||||
ref_ix[0] += 1
|
||||
@ -90,3 +52,37 @@ def ReceiveQuaternion(buffer: bytes, ref_ix: list[int]):
|
||||
ref_ix[0] += 1
|
||||
q: Quaternion = Quaternion(qx, qy, qz, qw)
|
||||
return q
|
||||
|
||||
def SendAngle8(buffer, ref_ix, angle):
|
||||
"""! Send an 8-bit angle value """
|
||||
# angle = Angle.Normalize(angle)
|
||||
|
||||
ix = ref_ix[0]
|
||||
buffer[ix] = int((angle.InDegrees() / 360) * 256).to_bytes(1, 'big', signed=True)[0]
|
||||
ref_ix[0] += 1
|
||||
def ReceiveAngle8(buffer: bytes, ref_ix: list[int]) -> Angle:
|
||||
angle: Angle = Angle()
|
||||
angle.value = buffer[ref_ix[0]]
|
||||
ref_ix[0] += 1
|
||||
return angle
|
||||
|
||||
def SendFloat16(buffer, ix_ref, value):
|
||||
"""! Send a 16-bit floating point value """
|
||||
ix = ix_ref[0]
|
||||
value16 = np.float16(value)
|
||||
binary = value16.view(np.uint16)
|
||||
buffer[ix:ix+2] = [
|
||||
(binary & 0xFF00) >> 8,
|
||||
(binary & 0x00FF)
|
||||
]
|
||||
ix_ref[0] += 2
|
||||
def ReceiveFloat16(buffer, ix_ref) -> float:
|
||||
"""! Receive a 16-bit floating point value """
|
||||
ix = ix_ref[0]
|
||||
# if ix < len(buffer) - 1:
|
||||
binary = (buffer[ix] << 8) + buffer[ix+1]
|
||||
# else:
|
||||
# binary = 0
|
||||
value16 = np.uint16(binary).view(np.float16)
|
||||
ix_ref[0] += 2
|
||||
return float(value16)
|
||||
|
||||
@ -1,42 +1,71 @@
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
from RoboidControl.Thing import Thing
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
|
||||
from typing import Union, Optional
|
||||
from typing import Optional, Union
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class ModelUrlMsg(IMessage):
|
||||
"""! Message for communicating the URL for a model of the thing
|
||||
"""
|
||||
## The message ID
|
||||
id = 0x90
|
||||
## The length of the message in bytes, excluding the binary data
|
||||
#
|
||||
## For the total size of the message self.url_length should be added to this value.
|
||||
length = 4
|
||||
|
||||
def __init__(self, arg1: Union[bytes, int], thing: Optional[Thing] = None):
|
||||
"""! Create a ModelUrlMsg
|
||||
@param arg1 Either:
|
||||
- bytes: containing the serialized data; or
|
||||
- int: containing the network_id
|
||||
@param thing The thing for which the data is communicated
|
||||
"""
|
||||
if thing is None:
|
||||
data = bytes(arg1)
|
||||
## The network ID of the thing
|
||||
self.network_id = data[1]
|
||||
## The ID of the thing
|
||||
self.thing_id = data[2]
|
||||
# model url length is not needed here
|
||||
self.url = data[ModelUrlMsg.length:].decode("utf-8")
|
||||
## The url
|
||||
self.url = data[ModelUrlMsg.length:]
|
||||
## The length of the encoded url
|
||||
self.url_length = len(self.url)
|
||||
self.url = self.url.decode("utf-8")
|
||||
else:
|
||||
## The network ID of the thing
|
||||
self.network_id: int = int(arg1)
|
||||
## The ID of the thing
|
||||
self.thing_id: int = thing.id
|
||||
self.url: Optional[str] = thing.model_url
|
||||
## The URL
|
||||
self.url: Optional[str] = thing.model_url.encode('utf-8')
|
||||
## The length of the encoded URL
|
||||
self.url_length = len(self.url)
|
||||
|
||||
def Serialize(self, buffer_ref: list[bytearray]):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
|
||||
if self.url is None:
|
||||
return 0
|
||||
|
||||
buffer: bytearray = buffer_ref[0]
|
||||
|
||||
encoded_url = self.url.encode('utf-8')
|
||||
url_length = len(encoded_url)
|
||||
full_length = ModelUrlMsg.length + url_length
|
||||
if url_length == 0 or full_length > len(buffer):
|
||||
full_length = ModelUrlMsg.length + self.url_length
|
||||
if self.url_length == 0 or full_length > len(buffer):
|
||||
return 0
|
||||
|
||||
logger.debug(f'Send ModelUrlMsg [{self.network_id}/{self.thing_id}] {self.url_length}')
|
||||
|
||||
buffer[0:ModelUrlMsg.length] = [
|
||||
ModelUrlMsg.id,
|
||||
0, # network_id,
|
||||
self.network_id,
|
||||
self.thing_id,
|
||||
url_length
|
||||
self.url_length
|
||||
]
|
||||
# Append the url string
|
||||
buffer[ModelUrlMsg.length:full_length] = encoded_url
|
||||
buffer[ModelUrlMsg.length:full_length] = self.url
|
||||
return full_length
|
||||
|
||||
|
||||
@ -1,24 +1,49 @@
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
from RoboidControl.Thing import Thing
|
||||
|
||||
from typing import Union, Optional
|
||||
from typing import Optional, Union
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class NameMsg(IMessage):
|
||||
id = 0x91
|
||||
length = 4
|
||||
|
||||
def __init__(self, arg1: Union[bytes, int], thing: Optional[Thing] = None):
|
||||
"""! Create a NameMsg
|
||||
@param arg1 Either:
|
||||
- bytes: contianing the serialized data; or
|
||||
- int: containgint the network_id
|
||||
@param thing The thing for which the data is communicated
|
||||
"""
|
||||
if thing is None:
|
||||
data = bytes(arg1)
|
||||
self.thing_id = data[2]
|
||||
# name_length is not needed here
|
||||
self.name = data[NameMsg.length:].decode("utf-8")
|
||||
## The network ID of the thing
|
||||
self.network_id: int = data[1]
|
||||
## The ID of the thing
|
||||
self.thing_id: int = data[2]
|
||||
## The name
|
||||
self.name: str = data[NameMsg.length:]
|
||||
## The length of the encoded name
|
||||
self.name_length: int = len(self.name)
|
||||
self.name = self.name.decode("utf-8")
|
||||
else:
|
||||
## The network ID of the thing
|
||||
self.network_id: int = int(arg1)
|
||||
## The ID of the thing
|
||||
self.thing_id: int = thing.id
|
||||
self.name: Optional[str] = thing.name
|
||||
## The name
|
||||
if thing.name is None:
|
||||
self.name: Optional[str] = None
|
||||
else:
|
||||
self.name: Optional[str] = thing.name.encode('utf-8')
|
||||
## The length of the encoded name
|
||||
self.name_length = len(self.name)
|
||||
|
||||
def Serialize(self, buffer_ref: list[bytearray]):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
if self.name is None:
|
||||
return 0
|
||||
|
||||
@ -30,9 +55,11 @@ class NameMsg(IMessage):
|
||||
if name_length == 0 or full_length > len(buffer):
|
||||
return 0
|
||||
|
||||
logger.debug(f'Send NameMsg [{self.network_id}/{self.thing_id}] {self.name_length}')
|
||||
|
||||
buffer[0:NameMsg.length] = [
|
||||
NameMsg.id,
|
||||
0, #self.network_id,
|
||||
self.network_id,
|
||||
self.thing_id,
|
||||
name_length
|
||||
]
|
||||
|
||||
@ -1,16 +1,22 @@
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
|
||||
from typing import Union
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
## A network id message invites another participant to a site
|
||||
#
|
||||
## This can be sent in response to a ClientMsg
|
||||
## A message communicating the network ID for that participant
|
||||
class NetworkIdMsg(IMessage):
|
||||
## The message ID
|
||||
id: int = 0xA1
|
||||
## The length of the message in bytes
|
||||
length: int = 2
|
||||
|
||||
## Create a network id message
|
||||
def __init__(self, arg1: Union[bytes, int]):
|
||||
"""! Create a NetworkIdMsg
|
||||
@param arg1 Either:
|
||||
- bytes: contianing the serialized data; or
|
||||
- int: containgint the network_id
|
||||
"""
|
||||
self.network_id: int = 0
|
||||
if isinstance(arg1, bytes):
|
||||
buffer = bytearray(arg1)
|
||||
@ -18,11 +24,12 @@ class NetworkIdMsg(IMessage):
|
||||
else:
|
||||
self.network_id = int(arg1)
|
||||
|
||||
## Serialize the message into the given buffer
|
||||
#
|
||||
## @param buffer_ref A reference to the buffer to use. This should be a list with the buffer as its first and only element
|
||||
## @returns the length of the message
|
||||
def Serialize(self, buffer_ref: list[bytearray]) -> int:
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
logger.debug(f'Send NetworkIdMsg {self.network_id}')
|
||||
|
||||
buffer: bytearray = buffer_ref[0]
|
||||
last:int = NetworkIdMsg.length
|
||||
buffer[0:last] = [
|
||||
|
||||
@ -1,61 +1,94 @@
|
||||
import RoboidControl.Messages.LowLevelMessages as LowLevelMessages
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
from RoboidControl.Thing import Thing
|
||||
from LinearAlgebra.Spherical import Spherical
|
||||
from LinearAlgebra.Quaternion import Quaternion
|
||||
from RoboidControl.Thing import Thing
|
||||
|
||||
from typing import Union, Optional
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class PoseMsg(IMessage):
|
||||
"""! Message to communicate the pose of the thing
|
||||
The pose is in local space relative to the parent. If there is no parent
|
||||
(the thing is a root thing), the pose will be in world space.
|
||||
"""
|
||||
## The message ID
|
||||
id = 0x10
|
||||
## The length of the message in bytes
|
||||
length = 4
|
||||
|
||||
Position = 0x01
|
||||
Orientation = 0x02
|
||||
LinearVelocity = 0x04
|
||||
AngularVelocity = 0x08
|
||||
## Bit pattern for a pose with position
|
||||
Pose_Position = 0x01
|
||||
## Bit pattern for a pose with orientation
|
||||
Pose_Orientation = 0x02
|
||||
## Bit pattern for a pose with linear velocity
|
||||
Pose_LinearVelocity = 0x04
|
||||
## Bit pattern for a pose with angular velocity
|
||||
Pose_AngularVelocity = 0x08
|
||||
|
||||
def __init__(self, arg1: Union[bytes, int], thing: Optional[Thing], force: bool = False):
|
||||
"""! Create a PoseMsg
|
||||
@param arg1 Either:
|
||||
- bytes: contianing the serialized data; or
|
||||
- int: containgint the network_id
|
||||
@param thing The thing for which the data is communicated
|
||||
@param force If true, position and orientation are always included, even when they are not updated
|
||||
"""
|
||||
|
||||
if thing is None:
|
||||
buffer = bytes(arg1)
|
||||
## The network ID of the thing
|
||||
self.network_id = buffer[1]
|
||||
## The ID of the thing
|
||||
self.thing_id = buffer[2]
|
||||
## Bit pattern stating which pose components are available
|
||||
self.pose_type = buffer[3]
|
||||
|
||||
## The position of the thing in local space in meters
|
||||
self.position: Optional[Spherical] = None
|
||||
## The orientation of the thing in local space
|
||||
self.orientation: Optional[Quaternion] = None
|
||||
## The linear velocity of the thing in local space in meters per second
|
||||
self.linear_velocity: Optional[Spherical] = None
|
||||
## The angular velocity of the thing in local space
|
||||
self.angular_velocity: Optional[Spherical] = None
|
||||
|
||||
ix:int = 4
|
||||
ix_ref = [ix]
|
||||
if self.pose_type & PoseMsg.Position != 0:
|
||||
if self.pose_type & PoseMsg.Pose_Position != 0:
|
||||
self.position = LowLevelMessages.ReceiveSpherical(buffer, ix_ref)
|
||||
if self.pose_type & PoseMsg.Orientation != 0:
|
||||
if self.pose_type & PoseMsg.Pose_Orientation != 0:
|
||||
self.orientation = LowLevelMessages.ReceiveQuaternion(buffer, ix_ref)
|
||||
if self.pose_type & PoseMsg.LinearVelocity != 0:
|
||||
if self.pose_type & PoseMsg.Pose_LinearVelocity != 0:
|
||||
self.linear_velocity = LowLevelMessages.ReceiveSpherical(buffer, ix_ref)
|
||||
if self.pose_type & PoseMsg.AngularVelocity != 0:
|
||||
if self.pose_type & PoseMsg.Pose_AngularVelocity != 0:
|
||||
self.angular_velocity = LowLevelMessages.ReceiveSpherical(buffer, ix_ref)
|
||||
else:
|
||||
## The network ID of the thing
|
||||
self.network_id = arg1
|
||||
## The ID of the thing
|
||||
self.thing = thing
|
||||
|
||||
## Bit pattern stating which pose components are available
|
||||
self.pose_type = 0
|
||||
if thing.position_updated or force:
|
||||
self.pose_type |= PoseMsg.Position
|
||||
self.pose_type |= PoseMsg.Pose_Position
|
||||
if thing.orientation_updated or force:
|
||||
self.pose_type |= PoseMsg.Orientation
|
||||
self.pose_type |= PoseMsg.Pose_Orientation
|
||||
if thing.linear_velocity_updated or force:
|
||||
self.pose_type |= PoseMsg.LinearVelocity
|
||||
self.pose_type |= PoseMsg.Pose_LinearVelocity
|
||||
if thing.angular_velocity_updated or force:
|
||||
self.pose_type |= PoseMsg.AngularVelocity
|
||||
self.pose_type |= PoseMsg.Pose_AngularVelocity
|
||||
|
||||
def Serialize(self, buffer_ref):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
if self.thing is None or self.pose_type == 0:
|
||||
return 0
|
||||
|
||||
print(f'Send PoseMsg [{self.network_id}/{self.thing.id}] {self.pose_type}')
|
||||
logger.debug(f'Send PoseMsg [{self.network_id}/{self.thing.id}] {self.pose_type}')
|
||||
|
||||
buffer: bytearray = buffer_ref[0]
|
||||
buffer[0:PoseMsg.length] = [
|
||||
@ -65,12 +98,12 @@ class PoseMsg(IMessage):
|
||||
self.pose_type
|
||||
]
|
||||
ix = [4]
|
||||
if self.pose_type & PoseMsg.Position:
|
||||
if self.pose_type & PoseMsg.Pose_Position:
|
||||
LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
|
||||
if self.pose_type & PoseMsg.Orientation:
|
||||
if self.pose_type & PoseMsg.Pose_Orientation:
|
||||
LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
|
||||
if self.pose_type & PoseMsg.LinearVelocity:
|
||||
if self.pose_type & PoseMsg.Pose_LinearVelocity:
|
||||
LowLevelMessages.SendSpherical(buffer, ix, self.thing.linear_velocity)
|
||||
if self.pose_type & PoseMsg.AngularVelocity:
|
||||
if self.pose_type & PoseMsg.Pose_AngularVelocity:
|
||||
LowLevelMessages.SendSpherical(buffer, ix, self.thing.angular_velocity)
|
||||
return PoseMsg.length + ix[0]
|
||||
|
||||
54
RoboidControl/Messages/TextMsg.py
Normal file
54
RoboidControl/Messages/TextMsg.py
Normal file
@ -0,0 +1,54 @@
|
||||
from RoboidControl.Messages.IMessage import IMessage
|
||||
|
||||
from typing import Union
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class TextMsg(IMessage):
|
||||
"""! Message for sending generic text
|
||||
"""
|
||||
## The message ID
|
||||
id: int = 0xB0
|
||||
## The length of the message in bytes without the text itself
|
||||
length: int = 2
|
||||
|
||||
def __init__(self, arg1: Union[bytes, str]):
|
||||
"""! Create a new message for sending
|
||||
@param arg1 Either:
|
||||
- bytes: containing the serialized data; or
|
||||
- str: containing the text
|
||||
"""
|
||||
if isinstance(arg1, bytes):
|
||||
data = arg1
|
||||
## The text
|
||||
self.text = data[TextMsg.length:]
|
||||
## The length of the encoded text
|
||||
self.text_length = len(self.text)
|
||||
self.text = self.text.decode("utf-8")
|
||||
else:
|
||||
text = str(arg1)
|
||||
self.text: str = text.encode('utf-8')
|
||||
## The length of the encoded text
|
||||
self.text_length = len(self.text)
|
||||
|
||||
def Serialize(self, buffer_ref):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
if buffer_ref is None:
|
||||
return 0
|
||||
|
||||
full_length = TextMsg.length + self.text_length
|
||||
if self.text_length == 0 or full_length > len(buffer):
|
||||
return 0
|
||||
|
||||
logger.debug(f'Send TextMsg {self.text}')
|
||||
|
||||
buffer: bytearray = buffer_ref[0]
|
||||
buffer[0:TextMsg.length] = [
|
||||
TextMsg.id,
|
||||
self.text_length
|
||||
]
|
||||
# Append the text string
|
||||
buffer[TextMsg.length:full_length] = self.text
|
||||
return full_length
|
||||
@ -2,30 +2,53 @@ from RoboidControl.Messages.IMessage import IMessage
|
||||
from RoboidControl.Thing import Thing
|
||||
|
||||
from typing import Optional, Union
|
||||
import logging
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
class ThingMsg(IMessage):
|
||||
"""! Message providing generic details about a Thing
|
||||
"""
|
||||
## The message ID
|
||||
id = 0x80
|
||||
## The length of the message
|
||||
length = 5
|
||||
|
||||
def __init__(self, arg1: Union[bytes, int], thing: Optional[Thing]=None):
|
||||
"""! Create a ModelUrlMsg
|
||||
@param arg1 Either:
|
||||
- bytes: containing the serialized data; or
|
||||
- int: containing the network_id
|
||||
@param thing The thing for which the data is communicated
|
||||
"""
|
||||
if thing is None:
|
||||
buffer = bytes(arg1)
|
||||
## The network ID of the thing
|
||||
self.network_id: int = buffer[1]
|
||||
## The ID of the thing
|
||||
self.thing_id: int = buffer[2]
|
||||
## The type of thing
|
||||
self.thing_type: int = buffer[3]
|
||||
## The ID of the parent thing in the hierarchy. This is zero for root things
|
||||
self.parent_id: int = buffer[4]
|
||||
else:
|
||||
## The network ID of the thing
|
||||
self.network_id = int(arg1)
|
||||
## The ID of the thing
|
||||
self.thing_id = thing.id
|
||||
## The type of thing
|
||||
self.thing_type = thing.type
|
||||
## The ID of the parent thing in the hierarchy. This is zero for root things
|
||||
if thing.parent is not None:
|
||||
self.parent_id = thing.parent.id
|
||||
else:
|
||||
self.parent_id = 0
|
||||
|
||||
def Serialize(self, buffer_ref: list[bytearray]):
|
||||
"""!
|
||||
@copydoc RoboidControl::Messages::IMessage::IMessage::Serialize
|
||||
"""
|
||||
|
||||
print(f'Send ThingMsg [{self.network_id}/{self.thing_id}] {self.thing_type} {self.parent_id}')
|
||||
logger.debug(f'Send ThingMsg [{self.network_id}/{self.thing_id}] {self.thing_type} {self.parent_id}')
|
||||
|
||||
buffer: bytearray = buffer_ref[0]
|
||||
buffer[0:ThingMsg.length] = [
|
||||
|
||||
@ -1,9 +1,10 @@
|
||||
__all__ = ['BinaryMsg',
|
||||
'NetworkIdMsg',
|
||||
'DestroyMsg',
|
||||
'InvestigateMsg',
|
||||
'ThingMsg',
|
||||
'NameMsg',
|
||||
'IMessage',
|
||||
'ModelUrlMsg',
|
||||
'NameMsg',
|
||||
'NetworkIdMsg',
|
||||
'ParticipantMsg',
|
||||
'PoseMsg',
|
||||
'IMessage']
|
||||
'ThingMsg']
|
||||
|
||||
@ -10,6 +10,7 @@ class Participant:
|
||||
It also maintains the communcation information to contact the participant.
|
||||
It is used as a basis for the local participant, but also as a reference to remote participants.
|
||||
"""
|
||||
|
||||
def __init__(self, ip_address: str, port: int) -> None:
|
||||
"""! Create a new participant with the given communcation info
|
||||
@param ip_address The IP address of the participant
|
||||
@ -64,7 +65,7 @@ class Participant:
|
||||
for thing in list(self.things):
|
||||
thing.Update(currentTimeMs)
|
||||
|
||||
participants: set['Participant']
|
||||
participants: set['Participant'] = set()
|
||||
|
||||
@staticmethod
|
||||
def GetParticipant(arg1: Union[str, int], port: Optional[int]) -> Optional['Participant']:
|
||||
@ -81,7 +82,7 @@ class Participant:
|
||||
return participant
|
||||
return None
|
||||
|
||||
def AddParticipant(arg1: Union[str, int], port: Optional[int]) -> 'Participant':
|
||||
def AddParticipant(arg1: Union[str, 'Participant'], port: Optional[int] = None) -> 'Participant':
|
||||
if port is not None:
|
||||
ip_address = str(arg1)
|
||||
participant = Participant(ip_address, port)
|
||||
@ -89,8 +90,8 @@ class Participant:
|
||||
Participant.AddParticipant(participant)
|
||||
return participant
|
||||
else:
|
||||
participant = Participant(arg1)
|
||||
foundParticipant = Participant.GetParticipant(participant.network_id)
|
||||
participant: Participant = arg1
|
||||
foundParticipant = Participant.GetParticipant(participant.network_id, participant.port)
|
||||
if foundParticipant is not None:
|
||||
Participant.participants.add(participant)
|
||||
return participant
|
||||
|
||||
@ -1,6 +1,5 @@
|
||||
from RoboidControl.Participant import Participant
|
||||
from RoboidControl.Thing import Thing
|
||||
# from RoboidControl.Messages.ParticipantMsg import ParticipantMsg
|
||||
# from RoboidControl.Messages.NetworkIdMsg import NetworkIdMsg
|
||||
# from RoboidControl.Messages.ThingMsg import ThingMsg
|
||||
# from RoboidControl.Messages.NameMsg import NameMsg
|
||||
@ -9,6 +8,7 @@ from RoboidControl.Thing import Thing
|
||||
# from RoboidControl.Messages.InvestigateMsg import InvestigateMsg
|
||||
# from RoboidControl.Messages.PoseMsg import PoseMsg
|
||||
from RoboidControl.Messages import *
|
||||
from RoboidControl.Messages.ParticipantMsg import ParticipantMsg
|
||||
|
||||
import socket
|
||||
import threading
|
||||
@ -89,21 +89,21 @@ class ParticipantUDP(Participant):
|
||||
|
||||
isolated_participant = None
|
||||
|
||||
def GetParticipant(self, ip_address: str, port: int):
|
||||
# print(f'{self.name} Get participant {ip_address} {port}')
|
||||
# for item in self.others:
|
||||
# print(f'- {item.ip_address} {item.port}')
|
||||
# def GetParticipant(self, ip_address: str, port: int):
|
||||
# # print(f'{self.name} Get participant {ip_address} {port}')
|
||||
# # for item in self.others:
|
||||
# # print(f'- {item.ip_address} {item.port}')
|
||||
|
||||
found_participants = (item for item in self.others
|
||||
if item.ip_address == ip_address and item.port == port)
|
||||
participant = next(found_participants, None)
|
||||
return participant
|
||||
# found_participants = (item for item in self.others
|
||||
# if item.ip_address == ip_address and item.port == port)
|
||||
# participant = next(found_participants, None)
|
||||
# return participant
|
||||
|
||||
def AddParticipant(self, ip_address: str, port: int):
|
||||
print(f'{self.name} Add participant {ip_address} {port}')
|
||||
remote_participant = Participant(ip_address = ip_address, port = port)
|
||||
self.others.append(remote_participant)
|
||||
return remote_participant
|
||||
# def AddParticipant(self, ip_address: str, port: int):
|
||||
# print(f'{self.name} Add participant {ip_address} {port}')
|
||||
# remote_participant = Participant(ip_address = ip_address, port = port)
|
||||
# self.others.append(remote_participant)
|
||||
# return remote_participant
|
||||
|
||||
#region Update
|
||||
|
||||
@ -137,10 +137,10 @@ class ParticipantUDP(Participant):
|
||||
|
||||
thing.Update(currentTimeMs, False)
|
||||
if not(self.is_isolated or self.network_id == 0):
|
||||
# if thing.terminate:
|
||||
# destroyMsg = DestroyMsg(self.network_id, thing)
|
||||
# self.Send(self.remote_site, destroyMsg)
|
||||
# else:
|
||||
if thing.terminate:
|
||||
destroyMsg = DestroyMsg.Create(self.network_id, thing)
|
||||
self.Send(self.remote_site, destroyMsg)
|
||||
else:
|
||||
if self.remote_site is not None and thing.owner is not None:
|
||||
# Send to remote site
|
||||
poseMsg = PoseMsg(thing.owner.network_id, thing)
|
||||
@ -201,10 +201,10 @@ class ParticipantUDP(Participant):
|
||||
remote_ip_address = addr[0]
|
||||
remote_port = addr[1]
|
||||
# print(f'msg received from {remote_ip_address}:{remote_port}')
|
||||
remote_participant = self.GetParticipant(remote_ip_address, remote_port)
|
||||
remote_participant = Participant.GetParticipant(remote_ip_address, remote_port)
|
||||
if remote_participant is None:
|
||||
# print(f'new participant')
|
||||
remote_participant = self.AddParticipant(remote_ip_address, remote_port)
|
||||
remote_participant = Participant.AddParticipant(remote_ip_address, remote_port)
|
||||
self.ReceiveData(data, remote_participant)
|
||||
except ConnectionError:
|
||||
self.network_id = 0
|
||||
@ -223,7 +223,7 @@ class ParticipantUDP(Participant):
|
||||
case ThingMsg.id:
|
||||
self.ProcessThingMsg(ThingMsg(data))
|
||||
case NameMsg.id:
|
||||
self.ProcessNameMsg(NameMsg(data))
|
||||
self.ProcessNameMsg(NameMsg.NameMsg.Deserialize(data))
|
||||
case ModelUrlMsg.id:
|
||||
self.ProcessModelUrlMsg(ModelUrlMsg(data))
|
||||
case BinaryMsg.id:
|
||||
@ -251,6 +251,16 @@ class ParticipantUDP(Participant):
|
||||
def ProcessNameMsg(self, msg: NameMsg):
|
||||
logger.debug(f'{self.name}: Process NameMsg [{msg.networkId}/{msg.thingId}] {msg.nameLength} {msg.name}')
|
||||
|
||||
owner: Optional[Participant] = Participant.GetParticipant(msg.network_id)
|
||||
if owner is None:
|
||||
return
|
||||
|
||||
thing: Optional[Thing] = self.Get(msg.thing_id)
|
||||
if thing is None:
|
||||
return
|
||||
|
||||
thing.name = msg.name
|
||||
|
||||
def ProcessModelUrlMsg(self, msg: ModelUrlMsg):
|
||||
logger.debug(f'{self.name}: Process ModelUrlMsg [{msg.networkId}/{msg.thingId}] {msg.urlLength} {msg.url}')
|
||||
|
||||
|
||||
@ -1,5 +1,2 @@
|
||||
__all__ = ['Thing',
|
||||
'ParticipantUDP']
|
||||
|
||||
from .Participants.ParticipantUDP import ParticipantUDP
|
||||
from .Thing import Thing
|
||||
'Participant']
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user