RoboidControl/RoboidControl-python
RoboidControl/RoboidControl-python
1
0
Fork 0
Code Issues Pull Requests Actions Packages Releases Activity

Merge branch 'main' of https://git.passer.life/RoboidControl/RoboidControl-python

Browse Source
This commit is contained in:
Pascal Serrarens 2025-04-07 09:46:23 +02:00
commit fe09a5695d
23 changed files with 335 additions and 483 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

280
DoxyGen/DoxyWarnLogfile.txt
View File

@ -1,105 +1,181 @@
warning: source 'images' is not a readable file or directory... skipping.
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/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:
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:62: 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:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:31: warning: Member wheel_left (variable) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:31: warning: Member wheel_right (variable) of class DifferentialDrive.DifferentialDrive is not documented.
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:64: warning: Member angular_velocity_updated (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:62: warning: @copybrief or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl-python/Things/DifferentialDrive.py:63: warning: @copydetails or @copydoc target 'Thing::Update' not found
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:47: warning: Member FromVector3(Vector3 v) (function) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:77: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:105: warning: Member __repr__(self) (function) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Direction.py:47: warning: Member FromVector3(Vector3 v) (function) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Direction.py:77: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Direction.py:105: warning: Member __repr__(self) (function) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:75: warning: Member horizontal (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:76: warning: Member vertical (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:108: warning: Member zero (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:109: warning: Member forward (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:110: warning: Member backward (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:111: warning: Member up (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:112: warning: Member down (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:113: warning: Member left (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:114: warning: Member right (variable) of class LinearAlgebra.Direction.Direction is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:87: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:94: warning: Member Magnitude(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:97: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:87: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:94: warning: Member Magnitude(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:97: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:23: warning: Member direction (variable) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:233: warning: Member zero (variable) of class LinearAlgebra.Spherical.Polar is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:28: warning: argument 'horizontal' of command @param is not found in the argument list of Polar::Degrees(float distance, float degrees)
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:28: warning: The following parameter of LinearAlgebra.Spherical.Polar.Degrees(float distance, float degrees) is not documented:
parameter 'degrees'
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:39: warning: argument 'horizontal' of command @param is not found in the argument list of Polar::Radians(float distance, float radians)
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:39: warning: argument 'vertical' of command @param is not found in the argument list of Polar::Radians(float distance, float radians)
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:39: warning: The following parameter of LinearAlgebra.Spherical.Polar.Radians(float distance, float radians) is not documented:
parameter 'radians'
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:78: warning: argument 'v' of command @param is not found in the argument list of Polar::__eq__(self, other)
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:78: warning: The following parameter of LinearAlgebra.Spherical.Polar.__eq__(self, other) is not documented:
parameter 'other'
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:28: warning: argument 'horizontal' of command @param is not found in the argument list of Polar::Degrees(float distance, float degrees)
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:28: warning: The following parameter of LinearAlgebra.Spherical.Polar.Degrees(float distance, float degrees) is not documented:
parameter 'degrees'
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:39: warning: argument 'horizontal' of command @param is not found in the argument list of Polar::Radians(float distance, float radians)
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:39: warning: argument 'vertical' of command @param is not found in the argument list of Polar::Radians(float distance, float radians)
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:39: warning: The following parameter of LinearAlgebra.Spherical.Polar.Radians(float distance, float radians) is not documented:
parameter 'radians'
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:78: warning: argument 'v' of command @param is not found in the argument list of Polar::__eq__(self, other)
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:78: warning: The following parameter of LinearAlgebra.Spherical.Polar.__eq__(self, other) is not documented:
parameter 'other'
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:322: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:328: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:440: warning: Member __repr__(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:322: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:328: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:440: warning: Member __repr__(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:252: warning: Member direction (variable) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:443: warning: Member zero (variable) of class LinearAlgebra.Spherical.Spherical is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:313: warning: argument 'v' of command @param is not found in the argument list of Spherical::__eq__(self, other)
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:313: warning: The following parameter of LinearAlgebra.Spherical.Spherical.__eq__(self, other) is not documented:
parameter 'other'
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:388: warning: argument 's1' of command @param is not found in the argument list of Spherical::Distance(v1, v2)
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:388: warning: argument 's2' of command @param is not found in the argument list of Spherical::Distance(v1, v2)
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:388: warning: The following parameters of LinearAlgebra.Spherical.Spherical.Distance(v1, v2) are not documented:
parameter 'v1'
parameter 'v2'
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:313: warning: argument 'v' of command @param is not found in the argument list of Spherical::__eq__(self, other)
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:313: warning: The following parameter of LinearAlgebra.Spherical.Spherical.__eq__(self, other) is not documented:
parameter 'other'
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:388: warning: argument 's1' of command @param is not found in the argument list of Spherical::Distance(v1, v2)
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:388: warning: argument 's2' of command @param is not found in the argument list of Spherical::Distance(v1, v2)
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/Spherical.py:388: warning: The following parameters of LinearAlgebra.Spherical.Spherical.Distance(v1, v2) are not documented:
parameter 'v1'
parameter 'v2'
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:6: warning: Member __init__(self, Direction swing, Angle twist) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:65: warning: Member FromAngleAxis(Angle angle, Direction axis) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:82: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/SwingTwist.py:6: warning: Member __init__(self, Direction swing, Angle twist) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/SwingTwist.py:65: warning: Member FromAngleAxis(Angle angle, Direction axis) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/SwingTwist.py:82: warning: Member isclose(self, other, rel_tol=1e-9, abs_tol=1e-8) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:13: warning: Member Degrees(float horizontal, float vertical, float twist) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:29: warning: Member Radians(float horizontal, float vertical, float twist) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:54: warning: Member FromQuaternion(Quaternion q) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:90: warning: Member Angle(r1, r2) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/SwingTwist.py:13: warning: Member Degrees(float horizontal, float vertical, float twist) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/SwingTwist.py:29: warning: Member Radians(float horizontal, float vertical, float twist) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/SwingTwist.py:54: warning: Member FromQuaternion(Quaternion q) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
d:/Python/RoboidControl-python/LinearAlgebra/LinearAlgebra/SwingTwist.py:90: warning: Member Angle(r1, r2) (function) of class LinearAlgebra.SwingTwist.SwingTwist 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/ParticipantUDP.py:71: warning: Member Isolated() (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:78: warning: Member GetParticipant(self, ip_address, port) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:88: warning: Member AddParticipant(self, ip_address, port) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:123: warning: Member SendThingInfo(self, owner, thing, bool recursively=False) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:135: warning: Member Send(self, owner, msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:144: warning: Member Publish(self, msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:157: warning: Member Receiver(self) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:169: warning: Member ReceiveData(self, data, sender) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:188: warning: Member ProcessParticipantMsg(self, sender, ParticipantMsg msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:191: warning: Member ProcessNetworkIdMsg(self, sender, NetworkIdMsg msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:201: warning: Member ProcessInvestigateMsg(self, bytearray data) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:204: warning: Member ProcessThingMsg(self, ThingMsg msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:216: warning: Member ProcessNameMsg(self, NameMsg msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:219: warning: Member ProcessModelUrlMsg(self, ModelUrlMsg msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:222: warning: Member ProcessBinaryMsg(self, BinaryMsg msg) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:228: warning: Member Register(self, constructor, thing_type) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:231: warning: Member OnNewThing(self, event_handler) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:234: warning: Member OnNewThingType(self, thing_type, event_handler) (function) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:43: warning: Member local_port (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:61: warning: Member publishInterval (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:63: warning: Member udp_socket (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:109: warning: Member nextPublishMe (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:150: warning: Member port (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:29: warning: Member buffer (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:32: warning: Member nextPublishMe (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:34: warning: Member thread (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:35: warning: Member name (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/ParticipantUDP.py:36: warning: Member isolated_participant (variable) of class RoboidControl-python.ParticipantUDP.ParticipantUDP is not documented.
d:/Python/RoboidControl-python/Thing.py:106: warning: Member Update(self, currentTime) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:111: warning: Member ProcessBinary(self, data) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:115: warning: Member SetParent(self, parent) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:124: warning: Member AddChild(self, child) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:131: warning: Member RemoveChild(self, child) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:134: warning: Member GenerateBinary(self, buffer, ix_ref) (function) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:45: warning: Member children (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:75: warning: Member pose_updated (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:82: warning: Member position (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:83: warning: Member position_updated (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:89: warning: Member orientation (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:90: warning: Member orientation_updated (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:96: warning: Member linear_velocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:97: warning: Member linear_velocity_updated (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:103: warning: Member angular_velocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:104: warning: Member angular_velocity_updated (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:28: warning: Member Position (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:29: warning: Member Orientation (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:30: warning: Member LinearVelocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:31: warning: Member AngularVelocity (variable) of class RoboidControl-python.Thing.Thing is not documented.
d:/Python/RoboidControl-python/Thing.py:94: warning: argument 'linearVelocity' of command @param is not found in the argument list of Thing::SetLinearVelocity(self, linear_velocity)
d:/Python/RoboidControl-python/Thing.py:94: warning: The following parameter of RoboidControl-python.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:
d:/Python/RoboidControl-python/Thing.py:101: warning: argument 'angularVelocity' of command @param is not found in the argument list of Thing::SetAngularVelocity(self, angular_velocity)
d:/Python/RoboidControl-python/Thing.py:101: warning: The following parameter of RoboidControl-python.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.
d:/Python/RoboidControl-python/Thing.py:11: warning: Member Undetermined (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:13: warning: Member Switch (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:14: warning: Member DistanceSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:15: warning: Member DirectionalSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:16: warning: Member TemperatureSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:17: warning: Member TouchSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:19: warning: Member ControlledMotor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:20: warning: Member UncontrolledMotor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:21: warning: Member Servo (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:23: warning: Member Roboid (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:24: warning: Member Humanoid (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:25: warning: Member ExternalSensor (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Thing.py:26: warning: Member Animator (variable) of class RoboidControl-python.Thing.Thing.Type is not documented.
d:/Python/RoboidControl-python/Participants/SiteServer.py:44: warning: Member ProcessParticipantMsg(self, sender, msg) (function) of class SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/Participants/SiteServer.py:51: warning: Member ProcessNetworkId(self, msg) (function) of class SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/Participants/SiteServer.py:24: warning: Member isolated (variable) of class SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/Participants/SiteServer.py:25: warning: Member remote_site (variable) of class SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/Participants/SiteServer.py:32: warning: Member publishInterval (variable) of class SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/Participants/SiteServer.py:14: warning: Member name (variable) of class SiteServer.SiteServer is not documented.
d:/Python/RoboidControl-python/README.md:12: warning: unable to resolve reference to 'RoboidControl::Thing::Thing' for \ref command
d:/Python/RoboidControl-python/README.md:13: warning: unable to resolve reference to 'RoboidControl::ParticipantUDP::ParticipantUDP' for \ref command

4
Examples/BB2B_networking.py
View File

@ -3,14 +3,14 @@ from os import path
sys.path.append(path.abspath(path.join(path.dirname(__file__), '..')))
import time
from LocalParticipant import LocalParticipant
from ParticipantUDP import ParticipantUDP
from Thing import *
from Things.DifferentialDrive import DifferentialDrive
from Things.TouchSensor import TouchSensor
# Create a local participant for handling communcation
# using default settings (UDP communciation over port 7681)
participant = LocalParticipant(port=7681, local_port=7682, ip_address="127.0.0.1")
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"

24
Messages/BinaryMsg.py
View File

@ -6,17 +6,14 @@ class BinaryMsg():
def __init__(self, data, thing = None):
if isinstance(data, bytes):
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
def Serialize(self, buffer_ref):
if self.network_id is None or self.thing_id is None:
if self.thing_id is None:
return 0
buffer: bytearray = buffer_ref[0]
@ -26,23 +23,6 @@ class BinaryMsg():
return 0
buffer[0] = self.id
buffer[1] = self.network_id
buffer[1] = 0 # 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

1
Messages/InvestigateMsg.py
View File

@ -4,5 +4,4 @@ class InvestigateMsg():
length = 3
def __init__(self, buffer):
self.network_id = buffer[1]
self.thing_id = buffer[2]

4
Messages/LowLevelMessages.py
View File

@ -4,10 +4,10 @@ from LinearAlgebra.Angle import Angle
def SendAngle8(buffer, ix_ref, angle):
"""! Send an 8-bit angle value """
angle = Angle.Normalize(angle)
# angle = Angle.Normalize(angle)
ix = ix_ref[0]
buffer[ix] = int((angle / 360) * 256).to_bytes(1, 'big', signed=True)[0]
buffer[ix] = int((angle.InDegrees() / 360) * 256).to_bytes(1, 'big', signed=True)[0]
ix_ref[0] += 1
def SendFloat16(buffer, ix_ref, value):

174
Messages/Messages.py
View File

@ -22,143 +22,69 @@ class IMessage:
return False
return participant.PublishBuffer(bufferSize)
# class ParticipantMsg(IMessage):
# """! A participant messages notifies other participants of its presence.
# class InvestigateMsg():
# id = 0x81
# length = 3
# 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
# def __init__(self, buffer):
# self.thing_id = buffer[2]
# class PoseMsg(IMessage):
# """! Message to communicate the pose of the thing
# The pose is in local space relative to the parent.
# If there is not parent (the thing is a root thing), the pose will be in world space.
# """
# ## The message ID
# id: int = 0xA0
# id = 0x10
# ## The length of the message
# length: int = 2
# ## The network ID known by the participant.
# network_id: int = None
# length = 4
# 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]
# def __init__(self, thing):
# self.thing = thing
# 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:
# if self.thing is None:
# return 0
# buffer: bytearray = buffer_ref[0]
# buffer[0:ParticipantMsg.length] = [
# ParticipantMsg.id,
# self.network_id
# buffer[0:PoseMsg.length] = [
# PoseMsg.id,
# 0, # Network id
# self.thing.id,
# self.thing.pose_updated
# ]
# return ParticipantMsg.length
# ix = [4]
# if self.thing.pose_updated & Thing.Position:
# LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
# if self.thing.pose_updated & Thing.Orientation:
# LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
# if self.thing.pose_updated & Thing.LinearVelocity:
# LowLevelMessages.SendSpherical(buffer, ix, self.thing.linearVelocity)
# if self.thing.pose_updated & Thing.AngularVelocity:
# LowLevelMessages.SendSpherical(buffer, ix, self.thing.angularVelocity)
# return ix[0]
# ## A network id message invites another participant to a site
# #
# ## This can be sent in response to a ClientMsg
# class NetworkIdMsg(IMessage):
# id = 0xA1
# length = 2
# class BinaryMsg():
# id = 0xB1
# network_id = None
# ## Create a network id message
# #
# # @param network_id The network id assigned to the remote participant.
# def __init__(self, network_id):
# self.network_id = None
# if isinstance(network_id, int):
# self.network_id = network_id
# elif isinstance(network_id, bytes):
# self.network_id = network_id[1]
# def __init__(self, buffer):
# self.thing_id = buffer[2]
# self.thing = Thing.Get(self.thing_id)
# self.data = buffer[3:]
# ## 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):
# if self.network_id is None:
# return 0
# def SendTo(participant, thing, data: bytearray):
# length = 3
# if thing is None or data is None:
# return False
# buffer: bytearray = buffer_ref[0]
# buffer[0:NetworkIdMsg.length] = [
# NetworkIdMsg.id,
# self.network_id
# participant.buffer[0:length] = [
# BinaryMsg.id,
# 0, # network_id,
# thing.id
# ]
# return NetworkIdMsg.length
class InvestigateMsg():
id = 0x81
length = 3
def __init__(self, buffer):
self.network_id = buffer[1]
self.thing_id = buffer[2]
class PoseMsg(IMessage):
"""! Message to communicate the pose of the thing
The pose is in local space relative to the parent.
If there is not parent (the thing is a root thing), the pose will be in world space.
"""
## The message ID
id = 0x10
## The length of the message
length = 4
def __init__(self, network_id, thing):
self.network_id = network_id
self.thing = thing
def Serialize(self, buffer_ref):
if (self.network_id is None) or (self.thing is None):
return 0
buffer: bytearray = buffer_ref[0]
buffer[0:PoseMsg.length] = [
PoseMsg.id,
self.network_id,
self.thing.id,
self.thing.pose_updated
]
ix = [4]
if self.thing.pose_updated & Thing.Position:
LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
if self.thing.pose_updated & Thing.Orientation:
LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
if self.thing.pose_updated & Thing.LinearVelocity:
LowLevelMessages.SendSpherical(buffer, ix, self.thing.linearVelocity)
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.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
# full_length = length + len(data)
# participant.buffer[length:full_length] = data
# participant.SendBuffer(full_length)
# return True

7
Messages/ModelUrlMsg.py
View File

@ -4,24 +4,21 @@ class ModelUrlMsg(IMessage):
id = 0x90
length = 4
network_id = None
thing_id = None
url = None
def __init__(self, data, thing = None):
if isinstance(data, bytes):
self.network_id = data[1]
self.thing_id = data[2]
# model url length is not needed here
self.url = data[ModelUrlMsg.length:].decode("utf-8")
else:
self.network_id = data
if thing is not None:
self.thing_id = thing.id
self.url = thing.model_url
def Serialize(self, buffer_ref):
if self.network_id is None or self.thing_id is None or self.url is None:
if self.thing_id is None or self.url is None:
return 0
buffer: bytearray = buffer_ref[0]
@ -34,7 +31,7 @@ class ModelUrlMsg(IMessage):
buffer[0:ModelUrlMsg.length] = [
ModelUrlMsg.id,
self.network_id,
0, # network_id,
self.thing_id,
url_length
]

6
Messages/NameMsg.py
View File

@ -9,18 +9,16 @@ class NameMsg(IMessage):
def __init__(self, data, thing = None):
if isinstance(data, bytes):
self.network_id = data[1]
self.thing_id = data[2]
# name_length is not needed here
self.name = data[NameMsg.length:].decode("utf-8")
else:
self.network_id = data
if thing is not None:
self.thing_id = thing.id
self.name = thing.name
def Serialize(self, buffer_ref):
if self.network_id is None or self.thing_id is None or self.name is None:
if self.thing_id is None or self.name is None:
return 0
buffer: bytearray = buffer_ref[0]
@ -33,7 +31,7 @@ class NameMsg(IMessage):
buffer[0:NameMsg.length] = [
NameMsg.id,
self.network_id,
0, #self.network_id,
self.thing_id,
name_length
]

18
Messages/NetworkIdMsg.py
View File

@ -7,30 +7,20 @@ class NetworkIdMsg(IMessage):
id = 0xA1
length = 2
network_id = None
## Create a network id message
#
# @param network_id The network id assigned to the remote participant.
def __init__(self, network_id):
self.network_id = None
if isinstance(network_id, int):
self.network_id = network_id
elif isinstance(network_id, bytes):
self.network_id = network_id[1]
def __init__(self, data = None):
pass
## 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):
if self.network_id is None:
return 0
def Serialize(self, buffer_ref):
buffer: bytearray = buffer_ref[0]
buffer[0:NetworkIdMsg.length] = [
NetworkIdMsg.id,
self.network_id
0
]
return NetworkIdMsg.length

48
Messages/ParticipantMsg.py
View File

@ -10,63 +10,23 @@ class ParticipantMsg(IMessage):
id: int = 0xA0
## The length of the message
length: int = 2
## The network ID known by the participant.
network_id: int = None
def __init__(self, network_id: int):
def __init__(self, data = None):
"""! 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]
pass
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:
if buffer_ref is None:
return 0
buffer: bytearray = buffer_ref[0]
buffer[0:ParticipantMsg.length] = [
ParticipantMsg.id,
self.network_id
0, # network_id
]
return ParticipantMsg.length
@staticmethod
def Serialized(buffer_ref, network_id):
if buffer_ref is None or network_id is None:
return 0
buffer: bytearray = buffer_ref[0]
buffer[0:ParticipantMsg.length] = [
ParticipantMsg.id,
network_id
]
return ParticipantMsg.length
# Send the network_id to the participant
def SendTo(participant, network_id):
if participant is None or network_id is None:
return False
participant.buffer[0:2] = [
ParticipantMsg.id,
network_id
]
participant.SendBuffer(ParticipantMsg.length)
# Publish the network_id
def Publish(participant, network_id):
if participant is None or network_id is None:
return False
participant.buffer[0:2] = [
ParticipantMsg.id,
network_id
]
participant.PublishBuffer(ParticipantMsg.length)

7
Messages/PoseMsg.py
View File

@ -10,8 +10,7 @@ class PoseMsg():
LinearVelocity = 0x04
AngularVelocity = 0x08
def __init__(self, network_id, thing, force: bool = False):
self.network_id = network_id
def __init__(self, thing, force: bool = False):
self.thing = thing
self.pose_type = 0
if thing.position_updated or force:
@ -28,13 +27,13 @@ class PoseMsg():
thing.angular_velocity_updated = False
def Serialize(self, buffer_ref):
if (self.network_id is None) or (self.thing is None) or (self.pose_type == 0):
if self.thing is None or self.pose_type == 0:
return 0
buffer: bytearray = buffer_ref[0]
buffer[0:PoseMsg.length] = [
PoseMsg.id,
self.network_id,
0, # network_id,
self.thing.id,
self.pose_type
]

7
Messages/ThingMsg.py
View File

@ -4,19 +4,16 @@ class ThingMsg(IMessage):
id = 0x80
length = 5
network_id = None
thing_id = None
thing_type = None
parent_id = None
def __init__(self, data, thing=None):
if isinstance(data, bytes):
self.network_id = data[1]
self.thing_id = data[2]
self.thing_type = data[3]
self.parent_id = data[4]
else:
self.network_id = data
if thing is not None:
self.thing_id = thing.id
self.thing_type = thing.type
@ -26,13 +23,13 @@ class ThingMsg(IMessage):
self.parent_id = 0
def Serialize(self, buffer_ref):
if self.network_id is None or self.thing_id is None:
if self.thing_id is None:
return 0
buffer: bytearray = buffer_ref[0]
buffer[0:ThingMsg.length] = [
ThingMsg.id,
self.network_id,
0, # network_id,
self.thing_id,
self.thing_type,
self.parent_id

15
Participant.py
View File

@ -14,9 +14,6 @@ class Participant:
self.ip_address = ip_address
## The port number for UDP communication with the participant. This is 0 for isolated participants.
self.port = port
## The network Id to identify the participant.
## @note This field is likely to disappear in future versions
self.networkId = 0
## The things managed by this participant
self.things = set()
@ -30,23 +27,19 @@ class Participant:
thing.id = len(self.things) + 1
self.things.add(thing)
else:
found_thing = self.Get(thing.network_id, thing.id)
found_thing = self.Get(thing.id)
if found_thing == None:
self.things.add(thing)
def Get(self, network_id, thing_id):
def Get(self, thing_id):
"""! Find a thing managed by this participant
@param network_id The network ID for the thing
@param thing_id The ID of the thing
@return The thing if found or nullptr when no thing has been found
@note The use of the network ID is likely to disappear in future versions.
"""
for thing in self.things:
if thing is not None:
#if thing.network_id == network_id and thing.id == thing_id:
if thing.id == thing_id:
return thing
if thing is not None and thing.id == thing_id:
return thing
return None
def Remove(self, thing):

83
LocalParticipant.py → ParticipantUDP.py
View File

@ -17,7 +17,7 @@ micropython = 'micropython' in sys.modules
if micropython:
from MicroPython.uPythonParticipant import Bla
class LocalParticipant(Participant):
class ParticipantUDP(Participant):
"""! A local participant is the local device which can communicate with other participants.
It manages all local things and communcation with other participants. Each application has a local participant which is usually explicit in the code.
@ -27,8 +27,6 @@ class LocalParticipant(Participant):
"""
buffer = None
## The network ID of the participant
network_id = None
nextPublishMe = 0
others = None
thread = None
@ -46,19 +44,17 @@ class LocalParticipant(Participant):
# 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
## The other participants communicating with this participant
self.others = []
if self.port != 0:
self.isolated = False
if ip_address is not None:
self.remote_site = Participant(ip_address, port)
self.others.append(Participant(ip_address, port))
self.others = []
self.network_id = 0
self.buffer = bytearray(256)
self.thing_msg_processors = {}
self.new_thing_handlers = []
# self.thing_msg_processors = {}
# self.new_thing_handlers = []
self.publishInterval = 3000 # 3 seconds
self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@ -70,9 +66,9 @@ class LocalParticipant(Participant):
self.thread.start()
def Isolated():
if LocalParticipant.isolated_participant == None:
LocalParticipant.isolated_participant = LocalParticipant(0)
return LocalParticipant.isolated_participant
if ParticipantUDP.isolated_participant == None:
ParticipantUDP.isolated_participant = ParticipantUDP(0)
return ParticipantUDP.isolated_participant
#region Update
@ -89,7 +85,6 @@ class LocalParticipant(Participant):
def AddParticipant(self, ip_address, port):
print(f'{self.name} Add participant {ip_address} {port}')
remote_participant = Participant(ip_address = ip_address, port = port)
remote_participant.network_id = len(self.others)
self.others.append(remote_participant)
return remote_participant
@ -99,20 +94,18 @@ class LocalParticipant(Participant):
if self.isolated == False:
if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
msg = ParticipantMsg(self.network_id)
if self.remote_site is None:
msg = ParticipantMsg()
if self.others.count == 0:
self.Publish(msg)
else:
self.Send(self.remote_site, msg)
for other_participant in self.others:
self.Send(other_participant, msg)
print(f'Publish ParticipantMsg {self.network_id}')
print(f'Publish ParticipantMsg')
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)
super().Update(currentTimeMs)
@ -121,11 +114,11 @@ class LocalParticipant(Participant):
#region Send
def SendThingInfo(self, owner, thing, recursively: bool = False):
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))
self.Send(owner, ThingMsg(thing))
self.Send(owner, NameMsg(thing))
self.Send(owner, ModelUrlMsg(thing))
self.Send(owner, PoseMsg(thing, True))
self.Send(owner, BinaryMsg(thing))
if recursively:
for child in thing.children:
@ -189,29 +182,17 @@ class LocalParticipant(Participant):
pass
def ProcessNetworkIdMsg(self, sender, msg: NetworkIdMsg):
print(f'{self.name} receive network id {self.network_id} -> {msg.network_id}')
if self.network_id != msg.network_id:
self.network_id = msg.network_id
print(f'sending all things {len(self.things)}')
for thing in self.things:
if thing.parent is None:
self.SendThingInfo(sender, thing, recursively=True)
# self.Send(NameMsg(self.network_id, thing))
print(f'{self.name} receive network id')
print(f'sending all things {len(self.things)}')
for thing in self.things:
if thing.parent is None:
self.SendThingInfo(sender, thing, recursively=True)
def ProcessInvestigateMsg(self, data: bytearray):
pass
def ProcessThingMsg(self, msg: ThingMsg):
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)
print(f'received thing {msg.thing_id}')
def ProcessNameMsg(self, msg: NameMsg):
print(f'received name {msg.name}')
@ -221,20 +202,8 @@ class LocalParticipant(Participant):
def ProcessBinaryMsg(self, msg: BinaryMsg):
# print('received binary data')
thing: Thing = self.Get(msg.network_id, msg.thing_id)
thing: Thing = self.Get(msg.thing_id)
if thing != None:
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

29
Participants/SiteServer.py Normal file
View File

@ -0,0 +1,29 @@
from ParticipantUDP import ParticipantUDP
from Messages.ParticipantMsg import ParticipantMsg
from Messages.NetworkIdMsg import NetworkIdMsg
from Things.TemperatureSensor import TemperatureSensor
from Thing import Thing
import socket
import threading
class SiteServer(ParticipantUDP):
"""! A site server is a participant which provides a shared simulated environment
"""
name = "Site Server"
def __init__(self, port=7681):
"""! Create a new site server
@param port The UDP port on which communication is received
"""
super().__init__(ip_address = "127.0.0.1", port = port)
self.isolated = False # site servers are never isolated
self.publishInterval = 0
def ProcessParticipantMsg(self, sender, msg):
print(f'{self.name} received Participant ')
self.Send(sender, NetworkIdMsg())
def ProcessNetworkId(self, msg):
pass

4
README.md
View File

@ -9,7 +9,5 @@ Supporting:
# Basic components
- \ref RoboidControl::Thing::Thing "Thing"
- \ref RoboidControl::LocalParticipant::LocalParticipant "LocalParticipant"
- \ref RoboidControl::SiteServer::SiteServer "SiteServer"
- \ref RoboidControl::ParticipantUDP::ParticipantUDP "ParticipantUDP"

52
SiteServer.py
View File

@ -1,52 +0,0 @@
from LocalParticipant import LocalParticipant
from Messages.ParticipantMsg import ParticipantMsg
from Messages.NetworkIdMsg import NetworkIdMsg
from Things.TemperatureSensor import TemperatureSensor
from Thing import Thing
import socket
import threading
class SiteServer(LocalParticipant):
"""! A site server is a participant which provides a shared simulated environment
"""
name = "Site Server"
def __init__(self, port=7681):
"""! Create a new site server
@param port The UDP port on which communication is received
"""
super().__init__(ip_address = "127.0.0.1", port = port)
# self.ip_address = "0.0.0.0"
# self.port = port
# self.local_port = port
self.isolated = False # site servers are never isolated
self.remote_site = None # site servers never have remote sites
# self.others = []
# self.network_id = 0
# self.buffer = bytearray(256)
# self.thing_msg_processors = {}
# self.new_thing_handlers = []
self.publishInterval = 0
# 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.thread = threading.Thread(target = self.Receiver)
# self.thread.daemon = True
# self.thread.start()
self.Register(TemperatureSensor, Thing.Type.TemperatureSensor)
def ProcessParticipantMsg(self, sender, msg):
if msg.network_id == 0:
print(f'{self.name} received New Client -> {sender.network_id}')
self.Send(sender, NetworkIdMsg(sender.network_id))
# else:
# print(f'{self.name} Client')
def ProcessNetworkId(self, msg):
pass

21
Thing.py
View File

@ -30,7 +30,7 @@ class Thing:
LinearVelocity = 0x04
AngularVelocity = 0x08
def __init__(self, owner = None, network_id = 0, thing_id = 0, type = Type.Undetermined, parent = None, name = None):
def __init__(self, owner = None, thing_id = 0, type = Type.Undetermined, parent = None, name = None):
"""! Create a new thing """
## The parent thing
@ -39,16 +39,13 @@ class Thing:
owner = parent.owner
self.SetParent(parent)
elif owner == None:
from LocalParticipant import LocalParticipant
owner = LocalParticipant.Isolated()
from ParticipantUDP import ParticipantUDP
owner = ParticipantUDP.Isolated()
self.children = []
## The participant owning this thing
self.owner = owner
## The network ID of this thing
## @note This field will likely disappear in future versions
self.network_id = network_id
## The ID of the thing
self.id = thing_id
## The type of the thing
@ -104,14 +101,10 @@ class Thing:
self.angular_velocity_updated = True
def Update(self, currentTime):
pose_msg = PoseMsg(self.network_id, self)
pose_msg = PoseMsg(self)
for other in self.owner.others:
self.owner.Send(other, pose_msg)
def ProcessBinary(self, data):
print('default binary processor')
pass
def SetParent(self, parent):
if parent is None:
parentThing = self.parent
@ -132,4 +125,8 @@ class Thing:
self.children.remove(child)
def GenerateBinary(self, buffer, ix_ref):
pass
pass
def ProcessBinary(self, data):
print('default binary processor')
pass

5
Things/DifferentialDrive.py
View File

@ -65,13 +65,14 @@ class DifferentialDrive(Thing):
# This assumes no sideward velocity because diff drive does not support it
linear_speed = self.linear_velocity.distance
# When the direction is backwards...
if self.linear_velocity.direction.horizontal < -90 or self.linear_velocity.direction.horizontal > 90:
horizontalAngle = self.linear_velocity.direction.horizontal.InDegrees()
if horizontalAngle < -90 or horizontalAngle > 90:
linear_speed = -linear_speed
angular_velocity: Spherical = self.angular_velocity
angular_speed: float = angular_velocity.distance * Angle.Deg2Rad # in radians/sec
# Determine the rotation direction
if angular_velocity.direction.horizontal < 0:
if angular_velocity.direction.horizontal.InDegrees() < 0:
angular_speed = -angular_speed
if self.wheel_left is not None and self.wheel_right is not None:

4
Things/TemperatureSensor.py
View File

@ -2,8 +2,8 @@ from Thing import Thing
from Messages import LowLevelMessages
class TemperatureSensor(Thing):
def __init__(self, network_id, thing_id):
super().__init__(network_id, thing_id, type = Thing.Type.TemperatureSensor)
def __init__(self, thing_id):
super().__init__(thing_id, type = Thing.Type.TemperatureSensor)
self.temp = 0
self._watchers = []

9
__init__.py
View File

@ -1,10 +1,5 @@
__all__ = ['Thing',
'LocalParticipant',
'SiteServer']
'ParticipantUDP']
from .LinearAlgebra.Direction import Direction
from .LocalParticipant import LocalParticipant
from .ParticipantUDP import ParticipantUDP
from .Thing import Thing
from .LinearAlgebra.Spherical import Spherical
from .LinearAlgebra.SwingTwist import SwingTwist
from .SiteServer import SiteServer

6
test/BB2B_dummytest.py
View File

@ -4,8 +4,8 @@ from pathlib import Path
sys.path.append(str(Path(__file__).resolve().parent.parent))
import time
from SiteServer import SiteServer
from LocalParticipant import LocalParticipant
from Participants.SiteServer import SiteServer
from ParticipantUDP import ParticipantUDP
from Thing import *
from Things.DifferentialDrive import DifferentialDrive
from Things.TouchSensor import TouchSensor
@ -15,7 +15,7 @@ site = SiteServer(port=7691)
# Create a local participant for handling communcation
# using default settings (UDP communciation over port 7681)
participant = LocalParticipant(port=7691, local_port=7683, ip_address="127.0.0.1")
participant = ParticipantUDP(port=7691, local_port=7683, ip_address="127.0.0.1")
# The robot's propulsion is a differential drive
bb2b = DifferentialDrive(participant)
bb2b.name = "BB2B"

10
test/thing_test.py
View File

@ -8,13 +8,13 @@ sys.path.append(str(Path(__file__).resolve().parent.parent))
import unittest
from Thing import Thing
from LocalParticipant import LocalParticipant
from SiteServer import SiteServer
from ParticipantUDP import ParticipantUDP
from Participants.SiteServer import SiteServer
class ThingTest(unittest.TestCase):
def test_participant(self):
participant: LocalParticipant = LocalParticipant()
participant: ParticipantUDP = ParticipantUDP()
milliseconds = time.time() * 1000
start_time = milliseconds
@ -33,7 +33,7 @@ class ThingTest(unittest.TestCase):
def test_site_participant(self):
site = SiteServer(port=7681)
participant = LocalParticipant(port=7681, ip_address="127.0.0.1", local_port=7682)
participant = ParticipantUDP(port=7681, ip_address="127.0.0.1", local_port=7682)
milliseconds = time.time() * 1000
start_time = milliseconds
@ -46,7 +46,7 @@ class ThingTest(unittest.TestCase):
def test_thing_msg(self):
site = SiteServer()
participant = LocalParticipant(ip_address="127.0.0.1", port=7683)
participant = ParticipantUDP(ip_address="127.0.0.1", port=7683)
thing = Thing()
thing.name = "First thing"
thing.model_url = "https://passer.life/extras/ant.jpg"