Updates to comply with C++/C#

Examples/BB2B_networking.py

@@ -11,15 +11,16 @@ from Things.TouchSensor import TouchSensor
 # Create a local participant for handling communcation
 # using default settings (UDP communciation over port 7681)
 participant = ParticipantUDP(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.SetDriveDimensions(0.064, 0.128)
 bb2b.SetOrientation(SwingTwist.Degrees(40, 0, 0))
-bb2b.SetPosition(Spherical(0.15, Direction.up))
+# bb2b.SetPosition(Spherical(0.15, Direction.up))
 
 model = Thing(parent=bb2b)
-model.model_url = "https://passer.life/extras/Roller1anim1.png"
+model.model_url = "https://passer.life/extras/Roller2anim1.png"
 model.SetOrientation(SwingTwist.Degrees(90, 0, 0))
 
 # It has a touch sensor at the front left of the roboid
@@ -49,4 +50,4 @@ while True:
     # Update the roboid state
     participant.Update()
     # and sleep for 100ms
-    time.sleep(0.1)
+    time.sleep(1)

Messages/BinaryMsg.py

@@ -9,6 +9,7 @@ class BinaryMsg():
             self.thing_id = data[2]
             self.data = data[3:]
         else:
+            self.network_id = data
             self.thing_id = thing.id
             self.thing = thing
 

Messages/ModelUrlMsg.py

@@ -14,6 +14,7 @@ class ModelUrlMsg(IMessage):
             self.url = data[ModelUrlMsg.length:].decode("utf-8")
         else:
             if thing is not None:
+                self.network_id = data
                 self.thing_id = thing.id
                 self.url = thing.model_url
     

Messages/NameMsg.py

@@ -14,6 +14,7 @@ class NameMsg(IMessage):
             self.name = data[NameMsg.length:].decode("utf-8")
         else:
             if thing is not None:
+                self.network_id = data
                 self.thing_id = thing.id
                 self.name = thing.name
 

Messages/NetworkIdMsg.py

@@ -7,10 +7,13 @@ class NetworkIdMsg(IMessage):
     id = 0xA1
     length = 2
     
-    
     ## Create a network id message
-    def __init__(self, data = None):
+    def __init__(self, arg1 = None):
-        pass
+        if isinstance(arg1, bytes):
+            buffer = arg1
+            self.network_id = buffer[1]
+        else:
+            self.network_id = arg1
 
     ## Serialize the message into the given buffer
     #
@@ -20,7 +23,7 @@ class NetworkIdMsg(IMessage):
         buffer: bytearray = buffer_ref[0]
         buffer[0:NetworkIdMsg.length] = [
             NetworkIdMsg.id,
-            0
+            self.network_id
         ]
         return NetworkIdMsg.length
 

Messages/ParticipantMsg.py

@@ -24,6 +24,8 @@ class ParticipantMsg(IMessage):
         if buffer_ref is None:
             return 0
         
+        print(f'Send ParticipantMsg [0]')
+        
         buffer: bytearray = buffer_ref[0]
         buffer[0:ParticipantMsg.length] = [
             ParticipantMsg.id,

Messages/PoseMsg.py

@@ -10,30 +10,39 @@ class PoseMsg():
     LinearVelocity = 0x04
     AngularVelocity = 0x08
 
-    def __init__(self, thing, force: bool = False):
+    def __init__(self, arg1, thing, force: bool = False):
-        self.thing = thing
+        if isinstance(arg1, bytes):
-        self.pose_type = 0
+            self.thing_id = arg1[2]
-        if thing.position_updated or force:
+            self.data = arg1[3:]
-            self.pose_type |= PoseMsg.Position
+        else:
-            thing.position_updated = False
+            self.network_id = arg1
-        if thing.orientation_updated or force:
+            self.thing = thing
-            self.pose_type |= PoseMsg.Orientation
+            self.network_id = 0
-            thing.orientation_updated = False
+
-        if thing.linear_velocity_updated:
+            self.pose_type = 0
-            self.pose_type |= PoseMsg.LinearVelocity
+            if thing.position_updated or force:
-            thing.linear_velocity_updated = False
+                self.pose_type |= PoseMsg.Position
-        if thing.angular_velocity_updated:
+                thing.position_updated = False
-            self.pose_type |= PoseMsg.AngularVelocity
+            if thing.orientation_updated or force:
-            thing.angular_velocity_updated = False
+                self.pose_type |= PoseMsg.Orientation
+                thing.orientation_updated = False
+            if thing.linear_velocity_updated:
+                self.pose_type |= PoseMsg.LinearVelocity
+                thing.linear_velocity_updated = False
+            if thing.angular_velocity_updated:
+                self.pose_type |= PoseMsg.AngularVelocity
+                thing.angular_velocity_updated = False
 
     def Serialize(self, buffer_ref):
         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}')
+
         buffer: bytearray = buffer_ref[0]
         buffer[0:PoseMsg.length] = [
             PoseMsg.id,
-            0, # network_id,
+            self.network_id,
             self.thing.id,
             self.pose_type
         ]

Messages/ThingMsg.py

@@ -8,13 +8,16 @@ class ThingMsg(IMessage):
     thing_type = None
     parent_id = None
 
-    def __init__(self, data, thing=None):
+    def __init__(self, arg1, thing=None):
-        if isinstance(data, bytes):
+        if isinstance(arg1, bytes):
-            self.thing_id = data[2]
+            buffer = arg1
-            self.thing_type = data[3]
+            self.network_id = buffer[1]
-            self.parent_id = data[4]
+            self.thing_id = buffer[2]
+            self.thing_type = buffer[3]
+            self.parent_id = buffer[4]
         else:
             if thing is not None:
+                self.network_id = arg1
                 self.thing_id = thing.id
                 self.thing_type = thing.type
                 if thing.parent is not None:
@@ -26,10 +29,12 @@ class ThingMsg(IMessage):
         if self.thing_id is None:
             return 0
         
+        print(f'Send ThingMsg [{self.network_id}/{self.thing_id}] {self.thing_type} {self.parent_id}')
+
         buffer: bytearray = buffer_ref[0]
         buffer[0:ThingMsg.length] = [
             ThingMsg.id,
-            0, # network_id,
+            self.network_id,
             self.thing_id,
             self.thing_type,
             self.parent_id

Participant.py

@@ -15,6 +15,9 @@ class Participant:
         ## The port number for UDP communication with the participant. This is 0 for isolated participants.
         self.port = port
 
+        ## The network ID of the participant
+        self.network_id =0
+
         ## The things managed by this participant
         self.things = set()
 

ParticipantUDP.py

@@ -42,19 +42,19 @@ class ParticipantUDP(Participant):
 
         ## True if the participant is running isolated.
         # Isolated participants do not communicate with other participants
-        self.isolated = True
+        self.is_isolated = True
+        self.remote_site = None
 
         ## The other participants communicating with this participant
         self.others = []
 
         if self.port != 0:
-            self.isolated = False
+            self.is_isolated = False
             if ip_address is not None:
-                self.others.append(Participant(ip_address, port))
+                self.remote_site = Participant(ip_address, port)
+                self.others.append(self.remote_site)
 
         self.buffer = bytearray(256)
-        # self.thing_msg_processors = {}
-        # self.new_thing_handlers = []
         self.publishInterval = 3000 # 3 seconds
 
         self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)        
@@ -92,33 +92,55 @@ class ParticipantUDP(Participant):
         if currentTimeMs is None:
             currentTimeMs = time.time() * 1000
 
-        if self.isolated == False:
+        if self.is_isolated == False:
             if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
-                msg = ParticipantMsg()
+                msg = ParticipantMsg(self.network_id)
-                if self.others.count == 0: 
+                if self.remote_site == None:
                     self.Publish(msg)
                 else:
-                    for other_participant in self.others:
+                    self.Send(self.remote_site, msg)
-                        self.Send(other_participant, msg)
                     
-                print(f'Publish ParticipantMsg')
                 self.nextPublishMe = currentTimeMs + self.publishInterval
 
-        for thing in self.things:
+        self.UpdateMyThings(currentTimeMs)
-            thing.Update(currentTimeMs)
+        # for thing in self.things:
+        #     thing.Update(currentTimeMs)
 
-        super().Update(currentTimeMs)
+        # super().Update(currentTimeMs)
+    
+    def UpdateMyThings(self, currentTimeMs):
+        for thing in self.things:
+            if thing is None:
+                continue
+
+            # if thing.hierarchyChanged and not (self.isIsolated or self.network_id == ):
+            #     thingMsg = ThingMsg(self.network_id, thing)
+            #     self.Send(self.remote_site, thingMsg)
+
+            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:
+                    # Send to remote site
+                    poseMsg = PoseMsg(thing.owner.network_id, thing)
+                    self.Send(self.remote_site, poseMsg)
+                    binaryMsg = BinaryMsg(thing.owner.network_id, thing)
+                    self.Send(self.remote_site, binaryMsg)
+            # if thing.terminate:
+            #     self.Remove(thing)
 
 #endregion
 
 #region Send
 
     def SendThingInfo(self, owner, thing, recursively: bool = False):
-        self.Send(owner, ThingMsg(thing))
+        self.Send(owner, ThingMsg(self.network_id, thing))
-        self.Send(owner, NameMsg(thing))
+        self.Send(owner, NameMsg(self.network_id, thing))
-        self.Send(owner, ModelUrlMsg(thing))
+        self.Send(owner, ModelUrlMsg(self.network_id, thing))
-        self.Send(owner, PoseMsg(thing, True))
+        #self.Send(owner, PoseMsg(self.network_id, thing, True))
-        self.Send(owner, BinaryMsg(thing))
+        self.Send(owner, BinaryMsg(self.network_id, thing))
 
         if recursively:
             for child in thing.children:
@@ -130,7 +152,7 @@ class ParticipantUDP(Participant):
         if buffer_size <= 0:
             return True
         
-        print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
+        # print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
         self.udp_socket.sendto(self.buffer[:buffer_size], (owner.ip_address, owner.port))
         return True
 
@@ -149,15 +171,19 @@ class ParticipantUDP(Participant):
     
     def Receiver(self):
         while True:
-            data, addr = self.udp_socket.recvfrom(1024)
+            try:
-            remote_ip_address = addr[0]
+                data, addr = self.udp_socket.recvfrom(1024)
-            remote_port = addr[1]
+                remote_ip_address = addr[0]
-            # print(f'msg received from {remote_ip_address}:{remote_port}')
+                remote_port = addr[1]
-            remote_participant = self.GetParticipant(remote_ip_address, remote_port)
+                # print(f'msg received from {remote_ip_address}:{remote_port}')
-            if remote_participant is None:
+                remote_participant = self.GetParticipant(remote_ip_address, remote_port)
-                # print(f'new participant')
+                if remote_participant is None:
-                remote_participant = self.AddParticipant(remote_ip_address, remote_port)
+                    # print(f'new participant')
-            self.ReceiveData(data, remote_participant)
+                    remote_participant = self.AddParticipant(remote_ip_address, remote_port)
+                self.ReceiveData(data, remote_participant)
+            except ConnectionError:
+                self.network_id = 0
+                pass
 
     def ReceiveData(self, data, sender):
         msgId = data[0]
@@ -166,7 +192,7 @@ class ParticipantUDP(Participant):
             case ParticipantMsg.id:
                 self.ProcessParticipantMsg(sender, ParticipantMsg(data))
             case NetworkIdMsg.id:
-                self.ProcessNetworkIdMsg(sender, NetworkIdMsg(data))
+                self.ProcessSiteIdMsg(sender, NetworkIdMsg(data))
             # case InvestigateMsg.id:
             #     self.ProcessInvestigateMsg(InvestigateMsg(data))
             case ThingMsg.id:
@@ -181,11 +207,12 @@ class ParticipantUDP(Participant):
     def ProcessParticipantMsg(self, sender, msg: ParticipantMsg):
         pass
 
-    def ProcessNetworkIdMsg(self, sender, msg: NetworkIdMsg):
+    def ProcessSiteIdMsg(self, sender, msg: NetworkIdMsg):
-        print(f'{self.name} receive network id')
+        print(f'{self.name} Process SiteMsg {self.network_id} -> {msg.network_id}')
-        print(f'sending all things {len(self.things)}')
+        if self.network_id != msg.network_id:
-        for thing in self.things:
+            self.network_id = msg.network_id
-            if thing.parent is None:
+            for thing in self.things:
+                #if thing.parent is None:
                 self.SendThingInfo(sender, thing, recursively=True)
 
     def ProcessInvestigateMsg(self, data: bytearray):

Thing.py

@@ -100,10 +100,11 @@ class Thing:
         self.angular_velocity = angular_velocity
         self.angular_velocity_updated = True
 
-    def Update(self, currentTime):
+    def Update(self, currentTime, recurse = False):
-        pose_msg = PoseMsg(self)
+        # pose_msg = PoseMsg(self.owner.network_id, self)
-        for other in self.owner.others:
+        # for other in self.owner.others:
-            self.owner.Send(other, pose_msg)
+        #     self.owner.Send(other, pose_msg)
+        pass
 
     def SetParent(self, parent):
         if parent is None: