RoboidControl/RoboidControl-python
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pose sync is working

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This commit is contained in:
Pascal Serrarens 2025-03-14 16:51:57 +01:00
parent a252ff5b33
commit ba926a780c
10 changed files with 242 additions and 151 deletions
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@ -1,87 +1,105 @@
warning: source 'images' is not a readable file or directory... skipping.
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:22: warning: Member SetDriveDimensions(self, wheel_diameter, wheel_separation) (function) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:33: warning: Member SetMotors(self, wheel_left, wheel_right) (function) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:19: warning: Member wheel_left (variable) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:20: warning: Member wheel_right (variable) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:47: warning: Found unknown command '@params'
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:57: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:58: warning: @copydetails or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl-python/LocalParticipant.py:61: warning: Member GetParticipant(self, ip_address, port) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:71: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:93: warning: Member SendThingInfo(self, thing) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:98: warning: Member Send(self, msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:107: warning: Member Publish(self, msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:120: warning: Member Receiver(self) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:132: warning: Member ReceiveData(self, data, remote_participant) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:152: warning: Member ProcessClientMsg(self, sender, ParticipantMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:155: warning: Member ProcessNetworkIdMsg(self, sender, NetworkIdMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:164: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:167: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:179: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:182: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:185: warning: Member ProcessBinary(self, BinaryMsg msg) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:191: warning: Member Register(self, constructor, thing_type) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:194: warning: Member OnNewThing(self, event_handler) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:197: warning: Member OnNewThingType(self, thing_type, event_handler) (function) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:39: warning: Member ip_address (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:40: warning: Member port (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:44: warning: Member thing_msg_processors (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:45: warning: Member new_thing_handlers (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:48: warning: Member udp_socket (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:85: warning: Member nextPublishMe (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:27: warning: Member publishInterval (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:29: warning: Member buffer (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:32: warning: Member nextPublishMe (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:33: warning: Member others (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:34: warning: Member thread (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/LocalParticipant.py:35: warning: Member name (variable) of class RoboidControl-python.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl-python/Messages/Messages.py:115: warning: Member __init__(self, network_id, thing) (function) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl-python/Messages/Messages.py:119: warning: Member Serialize(self, buffer_ref) (function) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl-python/Messages/Messages.py:116: warning: Member network_id (variable) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl-python/Messages/Messages.py:117: warning: Member thing (variable) of class RoboidControl-python.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl-python/Messages/NetworkIdMsg.py:7: warning: Member id (variable) of class RoboidControl-python.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
d:/Python/RoboidControl-python/Messages/NetworkIdMsg.py:8: warning: Member length (variable) of class RoboidControl-python.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
d:/Python/RoboidControl-python/Messages/NetworkIdMsg.py:10: warning: Member network_id (variable) of class RoboidControl-python.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:53: warning: Member SendTo(participant, network_id) (function) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:64: warning: Member Publish(participant, network_id) (function) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:41: warning: Member Serialized(buffer_ref, network_id) (function) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl-python/Messages/ParticipantMsg.py:21: warning: Member network_id (variable) of class RoboidControl-python.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl-python/SiteServer.py:42: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:49: warning: Member ProcessClientMsg(self, sender, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:56: warning: Member ProcessNetworkId(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:60: warning: Member Register(self, ThingClass, thing_type) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:63: warning: Member Process(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:69: warning: Member ProcessThingMsg(self, msg) (function) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:20: warning: Member ip_address (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:21: warning: Member port (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:22: warning: Member publishInterval (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:23: warning: Member others (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:24: warning: Member network_id (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:25: warning: Member buffer (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:26: warning: Member thing_msg_constructors (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:29: warning: Member udp_socket (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:34: warning: Member thread (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:14: warning: Member name (variable) of class RoboidControl-python.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/SiteServer.py:18: warning: The following parameters of RoboidControl-python.SiteServer.SiteServer.__init__(self, port=7681, remote=False, udp_socket=None) are not documented:
d:/Python/RoboidControl/Things/DifferentialDrive.py:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
d:/Python/RoboidControl/Things/DifferentialDrive.py:22: warning: Member SetDriveDimensions(self, wheel_diameter, wheel_separation) (function) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl/Things/DifferentialDrive.py:33: warning: Member SetMotors(self, wheel_left, wheel_right) (function) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
d:/Python/RoboidControl/Things/DifferentialDrive.py:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl/Things/DifferentialDrive.py:31: warning: Member wheel_left (variable) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl/Things/DifferentialDrive.py:31: warning: Member wheel_right (variable) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl/Things/DifferentialDrive.py:46: warning: Found unknown command '@params'
d:/Python/RoboidControl/Things/DifferentialDrive.py:47: warning: Found unknown command '@params'
d:/Python/RoboidControl/Things/DifferentialDrive.py:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl/Things/DifferentialDrive.py:63: warning: @copydetails or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl/LocalParticipant.py:76: warning: Member GetParticipant(self, ip_address, port) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:86: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:119: warning: Member SendThingInfo(self, owner, thing, bool recursively=False) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:129: warning: Member Send(self, owner, msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:138: warning: Member Publish(self, msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:151: warning: Member Receiver(self) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:163: warning: Member ReceiveData(self, data, sender) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:183: warning: Member ProcessClientMsg(self, sender, ParticipantMsg msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:186: warning: Member ProcessNetworkIdMsg(self, sender, NetworkIdMsg msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:196: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:199: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:211: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:214: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:217: warning: Member ProcessBinary(self, BinaryMsg msg) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:223: warning: Member Register(self, constructor, thing_type) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:226: warning: Member OnNewThing(self, event_handler) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:229: warning: Member OnNewThingType(self, thing_type, event_handler) (function) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:42: warning: Member local_port (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:58: warning: Member thing_msg_processors (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:59: warning: Member new_thing_handlers (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:60: warning: Member publishInterval (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:64: warning: Member udp_socket (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:105: warning: Member nextPublishMe (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:144: warning: Member port (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:29: warning: Member buffer (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:32: warning: Member nextPublishMe (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:33: warning: Member others (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:34: warning: Member thread (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/LocalParticipant.py:35: warning: Member name (variable) of class RoboidControl.LocalParticipant.LocalParticipant is not documented.
d:/Python/RoboidControl/Messages/Messages.py:115: warning: Member __init__(self, network_id, thing) (function) of class RoboidControl.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl/Messages/Messages.py:119: warning: Member Serialize(self, buffer_ref) (function) of class RoboidControl.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl/Messages/Messages.py:116: warning: Member network_id (variable) of class RoboidControl.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl/Messages/Messages.py:117: warning: Member thing (variable) of class RoboidControl.Messages.Messages.PoseMsg is not documented.
d:/Python/RoboidControl/Messages/NetworkIdMsg.py:7: warning: Member id (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
d:/Python/RoboidControl/Messages/NetworkIdMsg.py:8: warning: Member length (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
d:/Python/RoboidControl/Messages/NetworkIdMsg.py:10: warning: Member network_id (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
d:/Python/RoboidControl/Messages/ParticipantMsg.py:53: warning: Member SendTo(participant, network_id) (function) of class RoboidControl.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl/Messages/ParticipantMsg.py:64: warning: Member Publish(participant, network_id) (function) of class RoboidControl.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl/Messages/ParticipantMsg.py:41: warning: Member Serialized(buffer_ref, network_id) (function) of class RoboidControl.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl/Messages/ParticipantMsg.py:21: warning: Member network_id (variable) of class RoboidControl.Messages.ParticipantMsg.ParticipantMsg is not documented.
d:/Python/RoboidControl/SiteServer.py:42: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:49: warning: Member ProcessClientMsg(self, sender, msg) (function) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:56: warning: Member ProcessNetworkId(self, msg) (function) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:60: warning: Member Register(self, ThingClass, thing_type) (function) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:63: warning: Member Process(self, msg) (function) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:69: warning: Member ProcessThingMsg(self, msg) (function) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:20: warning: Member ip_address (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:21: warning: Member port (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:22: warning: Member publishInterval (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:23: warning: Member others (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:24: warning: Member network_id (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:25: warning: Member buffer (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:26: warning: Member thing_msg_constructors (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:29: warning: Member udp_socket (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:34: warning: Member thread (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:14: warning: Member name (variable) of class RoboidControl.SiteServer.SiteServer is not documented.
d:/Python/RoboidControl/SiteServer.py:18: warning: The following parameters of RoboidControl.SiteServer.SiteServer.__init__(self, port=7681, remote=False, udp_socket=None) are not documented:
parameter 'remote'
parameter 'udp_socket'
d:/Python/RoboidControl-python/Thing.py:57: warning: Member update(self, currentTime) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:60: warning: Member ProcessBinary(self, data) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:38: warning: Member parent_id (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:54: warning: Member pose_updated (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:17: warning: Member Position (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:18: warning: Member Orientation (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:19: warning: Member LinearVelocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:20: warning: Member AngularVelocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:9: warning: Member Undetermined (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:11: warning: Member Switch (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:12: warning: Member DistanceSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:13: warning: Member DirectionalSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:14: warning: Member TemperatureSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:15: warning: Member Animator (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/SwingTwist.py:6: warning: Member __init__(self, Direction swing, float twist) (function) of class SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl/Thing.py:92: warning: Member Update(self, currentTime) (function) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:95: warning: Member ProcessBinary(self, data) (function) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:99: warning: Member SetParent(self, parent) (function) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:108: warning: Member AddChild(self, child) (function) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:115: warning: Member RemoveChild(self, child) (function) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:31: warning: Member children (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:61: warning: Member pose_updated (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:68: warning: Member position (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:69: warning: Member position_updated (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:75: warning: Member orientation (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:76: warning: Member orientation_updated (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:82: warning: Member linear_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:83: warning: Member linear_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:89: warning: Member angular_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:90: warning: Member angular_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:18: warning: Member Position (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:19: warning: Member Orientation (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:20: warning: Member LinearVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:21: warning: Member AngularVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
d:/Python/RoboidControl/Thing.py:80: warning: argument 'linearVelocity' of command @param is not found in the argument list of Thing::SetLinearVelocity(self, linear_velocity)
d:/Python/RoboidControl/Thing.py:80: warning: The following parameter of RoboidControl.Thing.Thing.SetLinearVelocity(self, linear_velocity) is not documented:
parameter 'linear_velocity'
d:/Python/RoboidControl/Thing.py:87: warning: argument 'angularVelocity' of command @param is not found in the argument list of Thing::SetAngularVelocity(self, angular_velocity)
d:/Python/RoboidControl/Thing.py:87: warning: The following parameter of RoboidControl.Thing.Thing.SetAngularVelocity(self, angular_velocity) is not documented:
parameter 'angular_velocity'
d:/Python/RoboidControl/Thing.py:10: warning: Member Undetermined (variable) of class RoboidControl.Thing.Thing.Type is not documented.
d:/Python/RoboidControl/Thing.py:12: warning: Member Switch (variable) of class RoboidControl.Thing.Thing.Type is not documented.
d:/Python/RoboidControl/Thing.py:13: warning: Member DistanceSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
d:/Python/RoboidControl/Thing.py:14: warning: Member DirectionalSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
d:/Python/RoboidControl/Thing.py:15: warning: Member TemperatureSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
d:/Python/RoboidControl/Thing.py:16: warning: Member Animator (variable) of class RoboidControl.Thing.Thing.Type is not documented.
d:/Python/RoboidControl/LinearAlgebra/SwingTwist.py:6: warning: Member __init__(self, Direction swing, float twist) (function) of class SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl/LinearAlgebra/SwingTwist.py:18: warning: Member Degrees(float horizontal, float vertical, float twist) (function) of class SwingTwist.SwingTwist is not documented.

11
Examples/BB2B_networking.py
View File

@ -1,20 +1,25 @@
import sys
from os import path
sys.path.append(path.abspath(path.join(path.dirname(__file__), '..')))
import time
from LocalParticipant import LocalParticipant
from Thing import *
from Things.DifferentialDrive import DifferentialDrive
from Things.TouchSensor import TouchSensor
import time
# Create a local participant for handling communcation
# using default settings (UDP communciation over port 7681)
participant = LocalParticipant(port=7681, local_port=7682)
participant = LocalParticipant(port=7681, local_port=7682, ip_address="127.0.0.1")
# The robot's propulsion is a differential drive
bb2b = DifferentialDrive(participant)
bb2b.name = "BB2B"
bb2b.model_url = "https://passer.life/extras/ant1_transparent.png"
bb2b.SetDriveDimensions(0.064, 0.128)
bb2b.SetPosition(Spherical(0.15, Direction.up))
model = Thing(parent=bb2b)
model.model_url = "https://passer.life/extras/Roller1anim1.png"
model.SetOrientation(SwingTwist.Degrees(90, 0, 0))
# It has a touch sensor at the front left of the roboid
touch_left = TouchSensor(parent=bb2b)

6
LinearAlgebra/SwingTwist.py
View File

@ -14,6 +14,12 @@ class SwingTwist:
## The twist component of the rotation
self.twist = twist
@staticmethod
def Degrees(horizontal: float, vertical: float, twist: float):
direction = Direction(horizontal, vertical)
swing_twist = SwingTwist(direction, twist)
return swing_twist
def ToQuaternion(self) -> Quaternion:
"""Convert the SwingTwist rotation to a Quaternion"""
q = Quaternion.Euler(-self.swing.vertical,

47
LocalParticipant.py
View File

@ -34,13 +34,24 @@ class LocalParticipant(Participant):
thread = None
name = "Participant"
def __init__(self, port=7681, ip_address="0.0.0.0", local_port=0, remote=False, udp_socket = None):
super().__init__(ip_address = ip_address, port = port)
# self.ip_address = ip_address
# self.port = port
def __init__(self, port=7681, ip_address="0.0.0.0", local_port=0): #, remote=False, udp_socket = None):
super().__init__(ip_address = "0.0.0.0", port = port)
if local_port == 0:
local_port = port
self.local_port = local_port
## True if the participant is running isolated.
# Isolated participants do not communicate with other participants
self.isolated = True
## The remote site when this participant is connected to a site
self.remote_site = None
if self.port != 0:
self.isolated = False
self.remote_site = Participant(ip_address, port)
self.others = []
self.network_id = 0
self.buffer = bytearray(256)
@ -49,17 +60,16 @@ class LocalParticipant(Participant):
self.publishInterval = 3000 # 3 seconds
if remote == False:
#if remote == False:
self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.udp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
self.udp_socket.bind(("0.0.0.0", self.local_port))
#self.AddParticipant(self.ip_address, self.port)
self.thread = threading.Thread(target = self.Receiver)
self.thread.daemon = True
self.thread.start()
else:
self.udp_socket = udp_socket
# else:
# self.udp_socket = udp_socket
#region Update
@ -85,15 +95,20 @@ class LocalParticipant(Participant):
currentTimeMs = time.time() * 1000
if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
self.Publish(ParticipantMsg(self.network_id))
print(f'Publish ClientMsg {self.network_id}')
msg = ParticipantMsg(self.network_id)
if self.remote_site is None:
self.Publish(msg)
else:
self.Send(self.remote_site, msg)
print(f'Publish ParticipantMsg {self.network_id}')
self.nextPublishMe = currentTimeMs + self.publishInterval
for thing in self.things:
thing.Update(currentTimeMs)
pose_msg = PoseMsg(self.network_id, thing)
for other in self.others:
self.Send(other, pose_msg)
# pose_msg = PoseMsg(self.network_id, thing)
# for other in self.others:
# self.Send(other, pose_msg)
super().Update(currentTimeMs)
@ -105,6 +120,8 @@ class LocalParticipant(Participant):
self.Send(owner, ThingMsg(self.network_id, thing))
self.Send(owner, NameMsg(self.network_id, thing))
self.Send(owner, ModelUrlMsg(self.network_id, thing))
self.Send(owner, PoseMsg(self.network_id, thing, True))
# self.Send(owner, BinaryMsg(self.network_id, thing))
if recursively:
for child in thing.children:
@ -150,7 +167,7 @@ class LocalParticipant(Participant):
# print(f'msg {msgId} ')
match msgId:
case ParticipantMsg.id:
self.ProcessClientMsg(sender, ParticipantMsg(data))
self.ProcessParticipantMsg(sender, ParticipantMsg(data))
case NetworkIdMsg.id:
self.ProcessNetworkIdMsg(sender, NetworkIdMsg(data))
# case InvestigateMsg.id:
@ -165,7 +182,7 @@ class LocalParticipant(Participant):
# msg = Messages.BinaryMsg(data)
# msg.thing.ProcessBinary(msg.data)
def ProcessClientMsg(self, sender, msg: ParticipantMsg):
def ProcessParticipantMsg(self, sender, msg: ParticipantMsg):
pass
def ProcessNetworkIdMsg(self, sender, msg: NetworkIdMsg):

62
Messages/BinaryMsg.py
View File

@ -1,26 +1,48 @@
from Thing import Thing
#from Thing import Thing
class BinaryMsg():
id = 0xB1
def __init__(self, buffer):
self.network_id = buffer[1]
self.thing_id = buffer[2]
self.thing: Thing = Thing.Get(self.network_id, self.thing_id)
self.data = buffer[3:]
def SendTo(participant, thing, data: bytearray):
length = 3
if thing.network_id is None or thing is None or data is None:
return False
def __init__(self, data, thing = None):
if isinstance(data, bytearray):
self.network_id = data[1]
self.thing_id = data[2]
#self.thing: Thing = Thing.Get(self.network_id, self.thing_id)
self.data = data[3:]
else:
self.network_id = data
self.thing_id = thing.id
self.thing = thing
participant.buffer[0:length] = [
BinaryMsg.id,
participant.network_id,
thing.id
]
full_length = length + len(data)
participant.buffer[length:full_length] = data
participant.SendBuffer(full_length)
return True
def Serialize(self, buffer_ref):
if self.network_id is None or self.thing_id is None:
return 0
buffer: bytearray = buffer_ref[0]
ix = self.length
self.thing.GenerateBinary(buffer, {ix})
if ix <= self.length:
return 0
buffer[0] = self.id
buffer[1] = self.network_id
buffer[2] = self.thing_id
return ix
# def SendTo(participant, thing, data: bytearray):
# length = 3
# if thing.network_id is None or thing is None or data is None:
# return False
# participant.buffer[0:length] = [
# BinaryMsg.id,
# participant.network_id,
# thing.id
# ]
# full_length = length + len(data)
# participant.buffer[length:full_length] = data
# participant.SendBuffer(full_length)
# return True

2
Messages/Messages.py
View File

@ -1,5 +1,5 @@
import Messages.LowLevelMessages as LowLevelMessages
from Thing import Thing
#from Thing import Thing
class IMessage:
id = 0x00

28
Messages/PoseMsg.py
View File

@ -1,30 +1,30 @@
import Messages.LowLevelMessages
from Thing import Thing
#from Thing import Thing
class PoseMsg():
id = 0x10
length = 4
Pose_Position = 0x01
Pose_Orientation = 0x02
Pose_LinearVelocity = 0x04
Pose_AngularVelocity = 0x08
Position = 0x01
Orientation = 0x02
LinearVelocity = 0x04
AngularVelocity = 0x08
def __init__(self, network_id, thing, force: bool = False):
self.network_id = network_id
self.thing: Thing = thing
self.thing = thing
self.pose_type = 0
if thing.position_updated or force:
self.pose_type |= Thing.Position
self.pose_type |= PoseMsg.Position
thing.position_updated = False
if thing.orientation_updated or force:
self.pose_type |= Thing.Orientation
self.pose_type |= PoseMsg.Orientation
thing.orientation_updated = False
if thing.linear_velocity_updated:
self.pose_type |= Thing.LinearVelocity
self.pose_type |= PoseMsg.LinearVelocity
thing.linear_velocity_updated = False
if thing.angular_velocity_updated:
self.pose_type |= Thing.AngularVelocity
self.pose_type |= PoseMsg.AngularVelocity
thing.angular_velocity_updated = False
def Serialize(self, buffer_ref):
@ -39,12 +39,12 @@ class PoseMsg():
self.pose_type
]
ix = [4]
if self.pose_type & Thing.Position:
if self.pose_type & PoseMsg.Position:
Messages.LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
if self.pose_type & Thing.Orientation:
if self.pose_type & PoseMsg.Orientation:
Messages.LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
if self.pose_type & Thing.LinearVelocity:
if self.pose_type & PoseMsg.LinearVelocity:
Messages.LowLevelMessages.SendSpherical(buffer, ix, self.thing.linear_velocity)
if self.pose_type & Thing.AngularVelocity:
if self.pose_type & PoseMsg.AngularVelocity:
Messages.LowLevelMessages.SendSpherical(buffer, ix, self.thing.angular_velocity)
return PoseMsg.length + ix[0]

6
README.md
View File

@ -10,6 +10,6 @@ Supporting:
# Basic components
- \ref RoboidControl-python::Thing::Thing "Thing.Thing"
- \ref RoboidControl-python::LocalParticipant::LocalParticipant "LocalParticipant.LocalParticipant"
- \ref RoboidControl-python::SiteServer::SiteServer "SiteServer.SiteServer"
- \ref RoboidControl::Thing::Thing "Thing"
- \ref RoboidControl::LocalParticipant::LocalParticipant "LocalParticipant"
- \ref RoboidControl::SiteServer::SiteServer "SiteServer"

2
SiteServer.py
View File

@ -46,7 +46,7 @@ class SiteServer(LocalParticipant):
self.others.append(remote_participant)
return remote_participant
def ProcessClientMsg(self, sender, msg):
def ProcessParticipantMsg(self, sender, msg):
if msg.network_id == 0:
print(f'{self.name} received New Client -> {sender.network_id}')
sender.Send(NetworkIdMsg(sender.network_id))

29
Thing.py
View File

@ -1,5 +1,7 @@
from LinearAlgebra.Spherical import Spherical
from LinearAlgebra.Quaternion import Quaternion
from LinearAlgebra.Spherical import *
from LinearAlgebra.Quaternion import *
from LinearAlgebra.SwingTwist import *
from Messages import *
class Thing:
"""! A thing is the basic building block"""
@ -61,19 +63,37 @@ class Thing:
self.owner.Add(self)
def SetPosition(self, position):
"""! Set the position of the thing
@param position The new position in local space, in meters
"""
self.position = position
self.position_updated = True
def SetOrientation(self, orientation):
"""! Set the orientation of the thing
@param orientation The new orientation in local space
"""
self.orientation = orientation
self.orientation_updated = True
def SetLinearVelocity(self, linear_velocity):
"""! Set the linear velocity of the thing
@param linearVelocity The new linear velocity in local space, in meters per second
"""
self.linear_velocity = linear_velocity
self.linear_velocity_updated = True
def SetAngularVelocity(self, angular_velocity):
"""! Set the angular velocity of the thing
@param angularVelocity the new angular velocity in local space
"""
self.angular_velocity = angular_velocity
self.angular_velocity_updated = True
def Update(self, currentTime):
pass
pose_msg = PoseMsg(self.network_id, self)
for other in self.owner.others:
self.owner.Send(other, pose_msg)
def ProcessBinary(self, data):
print('default binary processor')
@ -97,3 +117,6 @@ class Thing:
def RemoveChild(self, child):
self.children.remove(child)
def GenerateBinary(self, buffer, ix_ref):
pass