From 93b512885ea0d7ce96746f9f84df6b9c7a520d10 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 6 Apr 2025 12:00:42 +0200
Subject: [PATCH 1/4] Renamed LocalParticipant, removed Register

---
 Examples/BB2B_networking.py              |  4 +--
 LocalParticipant.py => ParticipantUDP.py | 42 ++++++++++++------------
 SiteServer.py                            |  4 +--
 Thing.py                                 |  4 +--
 __init__.py                              |  4 +--
 test/BB2B_dummytest.py                   |  4 +--
 test/thing_test.py                       |  8 ++---
 7 files changed, 35 insertions(+), 35 deletions(-)
 rename LocalParticipant.py => ParticipantUDP.py (88%)

diff --git a/Examples/BB2B_networking.py b/Examples/BB2B_networking.py
index 7f5ea8c..c65f749 100644
--- a/Examples/BB2B_networking.py
+++ b/Examples/BB2B_networking.py
@@ -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"
diff --git a/LocalParticipant.py b/ParticipantUDP.py
similarity index 88%
rename from LocalParticipant.py
rename to ParticipantUDP.py
index a18e113..d0ec54a 100644
--- a/LocalParticipant.py
+++ b/ParticipantUDP.py
@@ -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.
@@ -46,19 +46,18 @@ 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.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 +69,9 @@ 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
 
@@ -100,10 +99,11 @@ 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:
+                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}')
                 self.nextPublishMe = currentTimeMs + self.publishInterval
@@ -203,15 +203,15 @@ class LocalParticipant(Participant):
 
     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)
+        # 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)
+        # # 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}')
diff --git a/SiteServer.py b/SiteServer.py
index ca5356f..f5eead1 100644
--- a/SiteServer.py
+++ b/SiteServer.py
@@ -1,4 +1,4 @@
-from LocalParticipant import LocalParticipant
+from ParticipantUDP import ParticipantUDP
 from Messages.ParticipantMsg import ParticipantMsg
 from Messages.NetworkIdMsg import NetworkIdMsg
 from Things.TemperatureSensor import TemperatureSensor
@@ -7,7 +7,7 @@ from Thing import Thing
 import socket
 import threading
 
-class SiteServer(LocalParticipant):
+class SiteServer(ParticipantUDP):
     """! A site server is a participant which provides a shared simulated environment 
     """
 
diff --git a/Thing.py b/Thing.py
index 5fe59fd..c009eed 100644
--- a/Thing.py
+++ b/Thing.py
@@ -39,8 +39,8 @@ 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 = []
 
diff --git a/__init__.py b/__init__.py
index 0354ddf..5952521 100644
--- a/__init__.py
+++ b/__init__.py
@@ -1,9 +1,9 @@
 __all__ = ['Thing', 
-           'LocalParticipant', 
+           'ParticipantUDP', 
            'SiteServer']
 
 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
diff --git a/test/BB2B_dummytest.py b/test/BB2B_dummytest.py
index 00f7017..f418de9 100644
--- a/test/BB2B_dummytest.py
+++ b/test/BB2B_dummytest.py
@@ -5,7 +5,7 @@ sys.path.append(str(Path(__file__).resolve().parent.parent))
 import time
 
 from SiteServer import SiteServer
-from LocalParticipant import LocalParticipant
+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"
diff --git a/test/thing_test.py b/test/thing_test.py
index fc0be68..3bf9031 100644
--- a/test/thing_test.py
+++ b/test/thing_test.py
@@ -8,13 +8,13 @@ sys.path.append(str(Path(__file__).resolve().parent.parent))
 import unittest
 
 from Thing import Thing
-from LocalParticipant import LocalParticipant
+from ParticipantUDP import ParticipantUDP
 from 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"

From 552d6cab9651be0c3608e4b28dd58b28218838f0 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 6 Apr 2025 12:10:39 +0200
Subject: [PATCH 2/4] Fixes to support LinearAlgebra repo

---
 Messages/LowLevelMessages.py | 4 ++--
 Things/DifferentialDrive.py  | 5 +++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/Messages/LowLevelMessages.py b/Messages/LowLevelMessages.py
index 6183e44..c5a178d 100644
--- a/Messages/LowLevelMessages.py
+++ b/Messages/LowLevelMessages.py
@@ -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):
diff --git a/Things/DifferentialDrive.py b/Things/DifferentialDrive.py
index 6ed5ff1..097cf47 100644
--- a/Things/DifferentialDrive.py
+++ b/Things/DifferentialDrive.py
@@ -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:

From 10c9c68c6c25c0c6347357da3fa98df2b7c5a0fc Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 6 Apr 2025 12:13:16 +0200
Subject: [PATCH 3/4] Moved SiteServer

---
 SiteServer.py => Participants/SiteServer.py | 0
 README.md                                   | 4 +---
 __init__.py                                 | 7 +------
 3 files changed, 2 insertions(+), 9 deletions(-)
 rename SiteServer.py => Participants/SiteServer.py (100%)

diff --git a/SiteServer.py b/Participants/SiteServer.py
similarity index 100%
rename from SiteServer.py
rename to Participants/SiteServer.py
diff --git a/README.md b/README.md
index 19bec6e..fb83844 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,5 @@ Supporting:
 
 # Basic components
 
-
 - \ref RoboidControl::Thing::Thing "Thing"
-- \ref RoboidControl::LocalParticipant::LocalParticipant "LocalParticipant"
-- \ref RoboidControl::SiteServer::SiteServer "SiteServer"
\ No newline at end of file
+- \ref RoboidControl::ParticipantUDP::ParticipantUDP "ParticipantUDP"
diff --git a/__init__.py b/__init__.py
index 5952521..f92525e 100644
--- a/__init__.py
+++ b/__init__.py
@@ -1,10 +1,5 @@
 __all__ = ['Thing', 
-           'ParticipantUDP', 
-           'SiteServer']
+           'ParticipantUDP']
 
-from .LinearAlgebra.Direction import Direction
 from .ParticipantUDP import ParticipantUDP
 from .Thing import Thing
-from .LinearAlgebra.Spherical import Spherical
-from .LinearAlgebra.SwingTwist import SwingTwist
-from .SiteServer import SiteServer
\ No newline at end of file

From 8024bab5ffdef430263aa5fddcc9a2107bcba911 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Sun, 6 Apr 2025 12:42:10 +0200
Subject: [PATCH 4/4] Removed the user of network_id

---
 DoxyGen/DoxyWarnLogfile.txt | 280 +++++++++++++++++++++++-------------
 Messages/BinaryMsg.py       |  24 +---
 Messages/InvestigateMsg.py  |   1 -
 Messages/Messages.py        | 174 +++++++---------------
 Messages/ModelUrlMsg.py     |   7 +-
 Messages/NameMsg.py         |   6 +-
 Messages/NetworkIdMsg.py    |  18 +--
 Messages/ParticipantMsg.py  |  48 +------
 Messages/PoseMsg.py         |   7 +-
 Messages/ThingMsg.py        |   7 +-
 Participant.py              |  15 +-
 ParticipantUDP.py           |  59 ++------
 Participants/SiteServer.py  |  27 +---
 Thing.py                    |  17 +--
 Things/TemperatureSensor.py |   4 +-
 test/BB2B_dummytest.py      |   2 +-
 test/thing_test.py          |   2 +-
 17 files changed, 278 insertions(+), 420 deletions(-)

diff --git a/DoxyGen/DoxyWarnLogfile.txt b/DoxyGen/DoxyWarnLogfile.txt
index b194046..7d9587b 100644
--- a/DoxyGen/DoxyWarnLogfile.txt
+++ b/DoxyGen/DoxyWarnLogfile.txt
@@ -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
diff --git a/Messages/BinaryMsg.py b/Messages/BinaryMsg.py
index d3d5eda..1ef0fcb 100644
--- a/Messages/BinaryMsg.py
+++ b/Messages/BinaryMsg.py
@@ -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
\ No newline at end of file
diff --git a/Messages/InvestigateMsg.py b/Messages/InvestigateMsg.py
index bd7bfd0..fb75360 100644
--- a/Messages/InvestigateMsg.py
+++ b/Messages/InvestigateMsg.py
@@ -4,5 +4,4 @@ class InvestigateMsg():
     length = 3
 
     def __init__(self, buffer):
-        self.network_id = buffer[1]
         self.thing_id = buffer[2]
diff --git a/Messages/Messages.py b/Messages/Messages.py
index 23be391..852c9e5 100644
--- a/Messages/Messages.py
+++ b/Messages/Messages.py
@@ -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
\ No newline at end of file
+#         full_length = length + len(data)
+#         participant.buffer[length:full_length] = data
+#         participant.SendBuffer(full_length)
+#         return True
\ No newline at end of file
diff --git a/Messages/ModelUrlMsg.py b/Messages/ModelUrlMsg.py
index 5cc835e..e8cb031 100644
--- a/Messages/ModelUrlMsg.py
+++ b/Messages/ModelUrlMsg.py
@@ -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
         ]
diff --git a/Messages/NameMsg.py b/Messages/NameMsg.py
index 409f8b4..cc6b9d2 100644
--- a/Messages/NameMsg.py
+++ b/Messages/NameMsg.py
@@ -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
         ]
diff --git a/Messages/NetworkIdMsg.py b/Messages/NetworkIdMsg.py
index bb7d7ad..6e30d93 100644
--- a/Messages/NetworkIdMsg.py
+++ b/Messages/NetworkIdMsg.py
@@ -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
 
diff --git a/Messages/ParticipantMsg.py b/Messages/ParticipantMsg.py
index ed496bb..29f4368 100644
--- a/Messages/ParticipantMsg.py
+++ b/Messages/ParticipantMsg.py
@@ -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)
\ No newline at end of file
diff --git a/Messages/PoseMsg.py b/Messages/PoseMsg.py
index 305cf11..86cd4f3 100644
--- a/Messages/PoseMsg.py
+++ b/Messages/PoseMsg.py
@@ -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
         ]
diff --git a/Messages/ThingMsg.py b/Messages/ThingMsg.py
index 133b115..0222521 100644
--- a/Messages/ThingMsg.py
+++ b/Messages/ThingMsg.py
@@ -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
diff --git a/Participant.py b/Participant.py
index fe1fb1a..be34f40 100644
--- a/Participant.py
+++ b/Participant.py
@@ -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):
diff --git a/ParticipantUDP.py b/ParticipantUDP.py
index d0ec54a..00bce1f 100644
--- a/ParticipantUDP.py
+++ b/ParticipantUDP.py
@@ -27,8 +27,6 @@ class ParticipantUDP(Participant):
     """
 
     buffer = None
-    ## The network ID of the participant
-    network_id = None
     nextPublishMe = 0
     others = None
     thread = None
@@ -54,7 +52,6 @@ class ParticipantUDP(Participant):
             if ip_address is not None:
                 self.others.append(Participant(ip_address, port))
 
-        # self.network_id = 0
         self.buffer = bytearray(256)
         # self.thing_msg_processors = {}
         # self.new_thing_handlers = []
@@ -88,7 +85,6 @@ class ParticipantUDP(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
 
@@ -98,21 +94,18 @@ class ParticipantUDP(Participant):
 
         if self.isolated == False:
             if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
-                msg = ParticipantMsg(self.network_id)
+                msg = ParticipantMsg()
                 if self.others.count == 0: 
                     self.Publish(msg)
                 else:
                     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 ParticipantUDP(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 ParticipantUDP(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 ParticipantUDP(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
\ No newline at end of file
diff --git a/Participants/SiteServer.py b/Participants/SiteServer.py
index f5eead1..0e09168 100644
--- a/Participants/SiteServer.py
+++ b/Participants/SiteServer.py
@@ -18,35 +18,12 @@ class SiteServer(ParticipantUDP):
         @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')
+        print(f'{self.name} received Participant ')
+        self.Send(sender, NetworkIdMsg())
     
     def ProcessNetworkId(self, msg):
         pass
\ No newline at end of file
diff --git a/Thing.py b/Thing.py
index c009eed..802e217 100644
--- a/Thing.py
+++ b/Thing.py
@@ -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
@@ -46,9 +46,6 @@ class Thing:
 
         ## 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
\ No newline at end of file
+        pass
+
+    def ProcessBinary(self, data):
+        print('default binary processor')
+        pass
diff --git a/Things/TemperatureSensor.py b/Things/TemperatureSensor.py
index 28f7067..5a6f650 100644
--- a/Things/TemperatureSensor.py
+++ b/Things/TemperatureSensor.py
@@ -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 = []
     
diff --git a/test/BB2B_dummytest.py b/test/BB2B_dummytest.py
index f418de9..5b7999b 100644
--- a/test/BB2B_dummytest.py
+++ b/test/BB2B_dummytest.py
@@ -4,7 +4,7 @@ from pathlib import Path
 sys.path.append(str(Path(__file__).resolve().parent.parent))
 import time
 
-from SiteServer import SiteServer
+from Participants.SiteServer import SiteServer
 from ParticipantUDP import ParticipantUDP
 from Thing import *
 from Things.DifferentialDrive import DifferentialDrive
diff --git a/test/thing_test.py b/test/thing_test.py
index 3bf9031..2350379 100644
--- a/test/thing_test.py
+++ b/test/thing_test.py
@@ -9,7 +9,7 @@ import unittest
 
 from Thing import Thing
 from ParticipantUDP import ParticipantUDP
-from SiteServer import SiteServer
+from Participants.SiteServer import SiteServer
 
 class ThingTest(unittest.TestCase):