Refactorig and initial documentation (e.g. ParticipantMsg.py)

DoxyGen/DoxyWarnLogfile.txt

@@ -1,39 +1,51 @@
-warning: source 'images' is not a readable file or directory... skipping.
-d:/Python/Control.Core/ClientMsg.py:16: warning: Member network_id (variable) of class Control.Core.ClientMsg.ClientMsg is not documented.
-d:/Python/Control.Core/ClientMsg.py:8: warning: Member id (variable) of class Control.Core.ClientMsg.ClientMsg is not documented.
-d:/Python/Control.Core/ClientMsg.py:9: warning: Member length (variable) of class Control.Core.ClientMsg.ClientMsg is not documented.
-d:/Python/Control.Core/Participant.py:9: warning: Member __init__(self, ipAddress="0.0.0.0", port=7168) (function) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:48: warning: Member Publish(self, msg) (function) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:56: warning: Member Update(self, currentTime) (function) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:64: warning: Member ProcessClientMsg(self, bytearray data) (function) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:66: warning: Member ProcessNetworkIdMsg(self, bytearray data) (function) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:68: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:71: warning: Member ReceiveData(self, data) (function) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:10: warning: Member buffer (variable) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:11: warning: Member ipAddress (variable) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:12: warning: Member port (variable) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:13: warning: Member udp_socket (variable) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:18: warning: Member network_id (variable) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:19: warning: Member nextPublishMe (variable) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Participant.py:8: warning: Member publishInterval (variable) of class Control.Core.Participant.Participant is not documented.
-d:/Python/Control.Core/Thing.py:20: warning: Member __init__(self, type=Type.Undetermined, parent=None, name=None) (function) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:41: warning: Member update(self, currentTime) (function) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:44: warning: Member ProcessBinary(self, data) (function) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:50: warning: Member Add(thing) (function) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:55: warning: Member Get(networkId, thingId) (function) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:21: warning: Member networkId (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:22: warning: Member id (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:23: warning: Member type (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:25: warning: Member parent_id (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:29: warning: Member name (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:30: warning: Member model_url (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:32: warning: Member position (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:33: warning: Member orientation (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:34: warning: Member linearVelocity (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:35: warning: Member angularVelocity (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:37: warning: Member pose_updated (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:15: warning: Member Position (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:16: warning: Member Orientation (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:17: warning: Member LinearVelocity (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:18: warning: Member AngularVelocity (variable) of class Control.Core.Thing.Thing is not documented.
-d:/Python/Control.Core/Thing.py:47: warning: Member allThings (variable) of class Control.Core.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:31: warning: documented symbol 'controlcore.Participant.Participant::bool' was not declared or defined.
+error: Project logo '//intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRight100.png' specified by PROJECT_LOGO does not exist!
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:26: warning: Member __init__(self, ipAddress="0.0.0.0", port=7681, remote=False, udp_socket=None) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:47: warning: Member GetParticipant(self, ip_address, port) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:57: warning: Member AddParticipant(self, ip_address, port) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:64: warning: Member Update(self, currentTimeMs) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:76: warning: Member SendThingInfo(self, thing) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:81: warning: Member Send(self, msg) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:90: warning: Member Publish(self, msg) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:103: warning: Member Receiver(self) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:115: warning: Member ReceiveData(self, data, remote_participant) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:135: warning: Member ProcessClientMsg(self, sender, ParticipantMsg msg) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:138: warning: Member ProcessNetworkIdMsg(self, sender, NetworkIdMsg msg) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:147: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:150: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:153: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:156: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:27: warning: Member ip_address (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:28: warning: Member port (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:34: warning: Member udp_socket (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:16: warning: Member publishInterval (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:18: warning: Member buffer (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:21: warning: Member nextPublishMe (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:22: warning: Member others (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:23: warning: Member thread (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Participant.py:24: warning: Member name (variable) of class controlcore.Participant.Participant is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:21: warning: Member __init__(self, type=Type.Undetermined, parent=None, name=None) (function) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:42: warning: Member update(self, currentTime) (function) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:45: warning: Member ProcessBinary(self, data) (function) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:51: warning: Member Add(thing) (function) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:56: warning: Member Get(networkId, thingId) (function) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:22: warning: Member networkId (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:23: warning: Member id (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:24: warning: Member type (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:26: warning: Member parent_id (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:30: warning: Member name (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:31: warning: Member model_url (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:33: warning: Member position (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:34: warning: Member orientation (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:35: warning: Member linearVelocity (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:36: warning: Member angularVelocity (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:38: warning: Member pose_updated (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:16: warning: Member Position (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:17: warning: Member Orientation (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:18: warning: Member LinearVelocity (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:19: warning: Member AngularVelocity (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Thing.py:48: warning: Member allThings (variable) of class controlcore.Thing.Thing is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Messages/NetworkIdMsg.py:7: warning: Member id (variable) of class NetworkIdMsg.NetworkIdMsg is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Messages/NetworkIdMsg.py:8: warning: Member length (variable) of class NetworkIdMsg.NetworkIdMsg is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/Messages/NetworkIdMsg.py:10: warning: Member network_id (variable) of class NetworkIdMsg.NetworkIdMsg is not documented.
+/Users/pascal/Documents/Dev/Python/controlcore/LinearAlgebra/SwingTwist.py:6: warning: Member __init__(self, Direction swing, float twist) (function) of class SwingTwist.SwingTwist is not documented.

LinearAlgebra/Spherical.py

@@ -1,5 +1,5 @@
 import math
-from Direction import Direction
+from LinearAlgebra.Direction import Direction
 
 class Spherical:
     def __init__(self, distance, direction):

LinearAlgebra/SwingTwist.py

@@ -1,17 +1,21 @@
-from Direction import Direction
-from Quaternion import Quaternion
+from LinearAlgebra.Direction import Direction
+from LinearAlgebra.Quaternion import Quaternion
 
 class SwingTwist:
+    """A rotation using swing and twist angle components"""
     def __init__(self, swing: Direction, twist: float):
         if swing.vertical > 90 or swing.vertical < -90:
             swing.horizontal += 180
             swing.vertical = 180 - swing.vertical
             twist += 180        
 
+        ## Swing component of the rotation
         self.swing = swing
+        ## The twist component of the rotation
         self.twist = twist
     
     def ToQuaternion(self) -> Quaternion:
+        """Convert the SwingTwist rotation to a Quaternion"""
         q = Quaternion.Euler(-self.swing.vertical,
                              self.swing.horizontal,
                              self.twist)

Messages/LowLevelMessages.py

@@ -1,5 +1,5 @@
 import numpy as np
-from SwingTwist import SwingTwist
+from LinearAlgebra.SwingTwist import SwingTwist
 
 def SendAngle8(buffer, ix_ref, angle):
     # Normalize angle

Messages/Messages.py

@@ -1,4 +1,4 @@
-import LowLevelMessages
+import Messages.LowLevelMessages as LowLevelMessages
 from Thing import Thing
 
 class IMessage:

Messages/ModelUrlMsg.py

@@ -1,4 +1,4 @@
-from Messages import IMessage
+from Messages.Messages import IMessage
 
 class ModelUrlMsg(IMessage):
     id = 0x90

Messages/NameMsg.py

@@ -1,4 +1,4 @@
-from Messages import IMessage
+from Messages.Messages import IMessage
 
 class NameMsg(IMessage):
     id = 0x91

Messages/NetworkIdMsg.py

@@ -1,4 +1,4 @@
-from Messages import IMessage
+from Messages.Messages import IMessage
 
 ## A network id message invites another participant to a site
 #

Messages/ParticipantMsg.py

@@ -1,39 +1,41 @@
-from Messages import IMessage
+from Messages.Messages import IMessage
 
-## A client message announces the presence of a participant
-#
-## When received by another participant, it can be followed by a NetworkIdMsg
-## to announce that participant to this client such that it can join privately
-class ClientMsg(IMessage):
-    id = 0xA0
-    length = 2
+class ParticipantMsg(IMessage):
+    """! A participant messages notifies other participants of its presence.
 
-    network_id = None
+    When received by another participant, it can be followed by a NetworkIdMsg
+    to announce that participant to this client such that it can join privately
+    """
+    ## The message ID
+    id: int = 0xA0
+    ## The length of the message
+    length: int = 2
+    ## The network ID known by the participant. 
+    network_id: int = None
 
-    ## Create a Client message
-    #
-    # @param network_id The network id of the local participant. Use 0 if it is unknown
-    def __init__(self, network_id):
-        
+    def __init__(self, network_id: int):
+        """! Create a new message for sending
+        @param network_id The network ID known by the participant. Use 0 if it is unknown
+        """
         if isinstance(network_id, int):
             self.network_id = network_id
         elif isinstance(network_id, bytes):
             self.network_id = network_id[1]
 
-    ## 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):
+        """! Serialize the message into a byte array. 
+        @param buffer_ref The buffer to serialize into
+        @return The length of the message in the buffer
+        """
         if buffer_ref is None or self.network_id is None:
             return 0
         
         buffer: bytearray = buffer_ref[0]
-        buffer[0:ClientMsg.length] = [
-            ClientMsg.id,
+        buffer[0:ParticipantMsg.length] = [
+            ParticipantMsg.id,
             self.network_id
         ]
-        return ClientMsg.length
+        return ParticipantMsg.length
 
     # @staticmethod
     # def Serialized(buffer_ref, network_id):

Messages/ThingMsg.py

@@ -1,4 +1,4 @@
-from Messages import IMessage
+from Messages.Messages import IMessage
 
 class ThingMsg(IMessage):
     id = 0x80

Participant.py

@@ -1,20 +1,22 @@
 import socket
 import threading
 
-from ClientMsg import ClientMsg
-from NetworkIdMsg import NetworkIdMsg
-from ThingMsg import ThingMsg
-from NameMsg import NameMsg
-from ModelUrlMsg import ModelUrlMsg
+from Messages.ParticipantMsg import ParticipantMsg
+from Messages.NetworkIdMsg import NetworkIdMsg
+from Messages.ThingMsg import ThingMsg
+from Messages.NameMsg import NameMsg
+from Messages.ModelUrlMsg import ModelUrlMsg
 from Thing import Thing
 
-## A participant is device which can communicate with other participants
-#
-## Currently only UDP communication is supported
 class Participant:
+    """! A participant is used for communcation between things.
+
+    Currently, only UDP communication is supported
+    """
     publishInterval = 3000 # 3 seconds
 
     buffer = None
+    ## The network ID of the participant
     network_id = None
     nextPublishMe = 0
     others = None
@@ -61,7 +63,7 @@ class Participant:
 
     def Update(self, currentTimeMs):
         if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
-            self.Publish(ClientMsg(self.network_id))
+            self.Publish(ParticipantMsg(self.network_id))
             print(f'Publish ClientMsg {self.network_id}')
             self.nextPublishMe = currentTimeMs + self.publishInterval
 
@@ -114,8 +116,8 @@ class Participant:
         msgId = data[0]
         # print(f'msg {msgId} ')
         match msgId:
-            case ClientMsg.id:
-                self.ProcessClientMsg(remote_participant, ClientMsg(data))
+            case ParticipantMsg.id:
+                self.ProcessClientMsg(remote_participant, ParticipantMsg(data))
             case NetworkIdMsg.id:
                 self.ProcessNetworkIdMsg(remote_participant, NetworkIdMsg(data))
             # case InvestigateMsg.id:
@@ -130,7 +132,7 @@ class Participant:
             #     msg = Messages.BinaryMsg(data)
             #     msg.thing.ProcessBinary(msg.data)
 
-    def ProcessClientMsg(self, sender, msg: ClientMsg):
+    def ProcessClientMsg(self, sender, msg: ParticipantMsg):
         pass
 
     def ProcessNetworkIdMsg(self, sender, msg: NetworkIdMsg):

SiteServer.py

@@ -1,6 +1,6 @@
 from Participant import Participant
-from ClientMsg import ClientMsg
-from NetworkIdMsg import NetworkIdMsg
+from Messages.ParticipantMsg import ParticipantMsg
+from Messages.NetworkIdMsg import NetworkIdMsg
 
 import socket
 import threading

Thing.py

@@ -1,10 +1,11 @@
-from Spherical import Spherical
-from Quaternion import Quaternion
+from LinearAlgebra.Spherical import Spherical
+from LinearAlgebra.Quaternion import Quaternion
 
 ## A thing is the basic building block
 #
 ## A thing is the basic building block
 class Thing:
+    """ A thing is the basic building block"""
     class Type:
         Undetermined = 0x00
         Switch = 0x01

__init__.py

@@ -6,9 +6,9 @@ __all__ = ['Direction',
            'SiteServer', 
            'SwingTwist']
 
-from .Direction import Direction
+from .LinearAlgebra.Direction import Direction
 from .Participant import Participant
 from .Thing import Thing
-from .Spherical import Spherical
-from .SwingTwist import SwingTwist
+from .LinearAlgebra.Spherical import Spherical
+from .LinearAlgebra.SwingTwist import SwingTwist
 from .SiteServer import SiteServer