Event handling

.gitattributes

@@ -0,0 +1 @@
+* text=auto

.gitignore

@@ -1,2 +1,5 @@
 __pycache__/*
-test/__pycache__/*
+test/__pycache__/*
+.vscode/*
+DoxyGen/DoxyWarnLogfile.txt
+**/__pycache__

BinaryMsg.py

@@ -0,0 +1,27 @@
+from .Messages import IMessage
+from .Thing import Thing
+
+class BinaryMsg(IMessage):
+    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
+        
+        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

ClientMsg.py

@@ -1,4 +1,4 @@
-from Messages import IMessage
+from .Messages import IMessage
 
 ## A client message announces the presence of a participant
 #

LowLevelMessages.py

@@ -1,5 +1,5 @@
 import numpy as np
-from SwingTwist import SwingTwist
+from .SwingTwist import SwingTwist
 
 def SendAngle8(buffer, ix_ref, angle):
     # Normalize angle
@@ -24,7 +24,10 @@ def SendFloat16(buffer, ix_ref, value):
 
 def ReceiveFloat16(buffer, ix_ref) -> float:
     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)

Messages.py

@@ -1,5 +1,5 @@
-import LowLevelMessages
+from . import LowLevelMessages
-from Thing import Thing
+from .Thing import Thing
 
 class IMessage:
     id = 0x00
@@ -59,28 +59,3 @@ class PoseMsg(IMessage):
         if self.thing.pose_updated & Thing.AngularVelocity:
             LowLevelMessages.SendSpherical(buffer, ix, self.thing.angularVelocity)
         return ix[0]
-
-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
-        
-        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

ModelUrlMsg.py

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

NameMsg.py

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

NetworkIdMsg.py

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

Participant.py

@@ -1,12 +1,14 @@
 import socket
 import threading
+import time
 
-from ClientMsg import ClientMsg
+from .ClientMsg import ClientMsg
-from NetworkIdMsg import NetworkIdMsg
+from .NetworkIdMsg import NetworkIdMsg
-from ThingMsg import ThingMsg
+from .ThingMsg import ThingMsg
-from NameMsg import NameMsg
+from .NameMsg import NameMsg
-from ModelUrlMsg import ModelUrlMsg
+from .ModelUrlMsg import ModelUrlMsg
-from Thing import Thing
+from .BinaryMsg import BinaryMsg
+from .Thing import Thing
 
 ## A participant is device which can communicate with other participants
 #
@@ -27,11 +29,13 @@ class Participant:
         self.others = []
         self.network_id = 0
         self.buffer = bytearray(256)
+        self.thing_msg_processors = {}
+        self.new_thing_handlers = []
 
         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", 0))
+            self.udp_socket.bind(("0.0.0.0", port))
             self.AddParticipant(self.ip_address, self.port)
 
             self.thread = threading.Thread(target = self.Receiver)
@@ -59,7 +63,10 @@ class Participant:
         self.others.append(remote_participant)
         return remote_participant
 
-    def Update(self, currentTimeMs):
+    def Update(self, currentTimeMs = None):
+        if currentTimeMs is None:
+            currentTimeMs = time.time() * 1000
+
         if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
             self.Publish(ClientMsg(self.network_id))
             print(f'Publish ClientMsg {self.network_id}')
@@ -126,9 +133,11 @@ class Participant:
                 self.ProcessNameMsg(NameMsg(data))
             case ModelUrlMsg.id:
                 self.ProcessModelUrlMsg(ModelUrlMsg(data))
-            # case Messages.BinaryMsg.id:
+            case BinaryMsg.id:
-            #     msg = Messages.BinaryMsg(data)
+                self.ProcessBinary(BinaryMsg(data))
-            #     msg.thing.ProcessBinary(msg.data)
+                # msg = BinaryMsg(data)
+                # if msg.thing != None:
+                #     msg.thing.ProcessBinary(msg.data)
 
     def ProcessClientMsg(self, sender, msg: ClientMsg):
         pass
@@ -146,7 +155,16 @@ class Participant:
         pass
 
     def ProcessThingMsg(self, msg: ThingMsg):
-        print(f'received thing {msg.thing_id}')
+        print(f'received thing {msg.network_id} {msg.thing_id}')
+        if msg.thing_type in self.thing_msg_processors:
+            constructor = self.thing_msg_processors[msg.thing_type]
+            constructor(msg.network_id, msg.thing_id)
+
+        # not really 'new' thing, but it is a start
+        thing = Thing.Get(msg.network_id, msg.thing_id)
+        if thing is not None:
+            for handler in self.new_thing_handlers:
+                handler(thing)
 
     def ProcessNameMsg(self, msg: NameMsg):
         print(f'received name {msg.name}')
@@ -154,4 +172,22 @@ class Participant:
     def ProcessModelUrlMsg(self, msg: ModelUrlMsg):
         print(f'received model url: {msg.url}')
 
+    def ProcessBinary(self, msg: BinaryMsg):
+        print('received binary data')
+        if msg.thing != None:
+            msg.thing.ProcessBinary(msg.data)
+
+
+    def Register(self, constructor, thing_type):
+        self.thing_msg_processors[thing_type] = constructor 
+
+    def OnNewThing(self, event_handler):
+        self.new_thing_handlers.append(event_handler)
+    
+    def OnNewThingType(self, thing_type, event_handler):
+        def ConditionalHandler(thing):
+            if thing.type == thing_type:
+                event_handler(thing)
+        self.new_thing_handlers.append(ConditionalHandler)
+
 #endregion

Sensors/TemperatureSensor.py

@@ -0,0 +1,19 @@
+from ..Thing import Thing
+from .. import LowLevelMessages
+
+class TemperatureSensor(Thing):
+    def __init__(self, network_id, thing_id):
+        super().__init__(network_id, thing_id, type = Thing.Type.TemperatureSensor)
+        self.temp = 0
+        self._watchers = []
+    
+    def OnUpdate(self, handler):
+        self._watchers.append(handler)
+    def CancelOnUpdate(self, handler):
+        self._watchers.remove(handler)
+
+    def ProcessBinary(self, data):
+        ix = 0
+        self.temp = LowLevelMessages.ReceiveFloat16(data, [ix])
+        for watcher in self._watchers:
+            watcher(self.temp)

SiteServer.py

@@ -1,6 +1,6 @@
-from Participant import Participant
+from .Participant import Participant
-from ClientMsg import ClientMsg
+from .ClientMsg import ClientMsg
-from NetworkIdMsg import NetworkIdMsg
+from .NetworkIdMsg import NetworkIdMsg
 
 import socket
 import threading
@@ -19,7 +19,7 @@ class SiteServer(Participant):
         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", 7681))
+            self.udp_socket.bind(("0.0.0.0", port))
             self.AddParticipant(self.ip_address, self.port)
 
             self.thread = threading.Thread(target = self.Receiver)

Spherical.py

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

SwingTwist.py

@@ -1,5 +1,5 @@
-from Direction import Direction
+from .Direction import Direction
-from Quaternion import Quaternion
+from .Quaternion import Quaternion
 
 class SwingTwist:
     def __init__(self, swing: Direction, twist: float):

Thing.py

@@ -1,5 +1,5 @@
-from Spherical import Spherical
+from .Spherical import Spherical
-from Quaternion import Quaternion
+from .Quaternion import Quaternion
 
 ## A thing is the basic building block
 #
@@ -10,6 +10,7 @@ class Thing:
         Switch = 0x01
         DistanceSensor = 0x02
         DirectionalSensor = 0x03
+        TemperatureSensor = 0x04
         Animator = 0x40
 
     Position = 0x01
@@ -17,9 +18,9 @@ class Thing:
     LinearVelocity = 0x04
     AngularVelocity = 0x08
 
-    def __init__(self, type=Type.Undetermined, parent=None, name=None):
+    def __init__(self, network_id = 0, thing_id = 0, type=Type.Undetermined, parent=None, name=None):
-        self.networkId = 0
+        self.network_id = network_id
-        self.id = 0
+        self.id = thing_id
         self.type = type
         if parent is None:
             self.parent_id = 0
@@ -42,6 +43,7 @@ class Thing:
         pass
 
     def ProcessBinary(self, data):
+        print('default binary processor')
         pass
 
     allThings = set({ None })
@@ -52,16 +54,16 @@ class Thing:
         Thing.allThings.add(thing)
     
     @staticmethod
-    def Get(networkId, thingId):
+    def Get(network_id, thing_id):
         for thing in Thing.allThings:
             if thing is not None:
-                if thing.networkId == networkId and thing.id == thingId:
+                if thing.network_id == network_id and thing.id == thing_id:
                     return thing
         return None
 
     ## Update all things
     @staticmethod
     def UpdateAll(currentTime):
-        for thing in Thing.allThings:
+        for thing in list(Thing.allThings):
             if thing is not None:
                 thing.update(currentTime)

ThingMsg.py

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