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DoxyGen/DoxyWarnLogfile.txt

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-warning: source 'images' is not a readable file or directory... skipping.
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:77: warning: @copybrief or @copydoc target 'Thing::Update' not found
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:61: warning: Found unknown command '@params'
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:47: warning: Member FromVector3(Vector3 v) (function) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:100: warning: Member __repr__(self) (function) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/Direction.py:47: warning: Member FromVector3(Vector3 v) (function) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/LinearAlgebra/LinearAlgebra/Direction.py:105: warning: Member __repr__(self) (function) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:75: warning: Member horizontal (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:76: warning: Member vertical (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:103: warning: Member zero (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:104: warning: Member forward (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:105: warning: Member backward (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:106: warning: Member up (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:107: warning: Member down (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:108: warning: Member left (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Direction.py:109: warning: Member right (variable) of class LinearAlgebra.Direction.Direction is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:87: warning: Member Magnitude(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:90: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/LinearAlgebra/LinearAlgebra/Spherical.py:94: warning: Member Magnitude(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/Spherical.py:97: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Polar is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:22: warning: Member direction (variable) of class LinearAlgebra.Spherical.Polar is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:226: warning: Member zero (variable) of class LinearAlgebra.Spherical.Polar is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:27: warning: argument 'horizontal' of command @param is not found in the argument list of Polar::Degrees(float distance, float degrees)
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:27: warning: The following parameter of LinearAlgebra.Spherical.Polar.Degrees(float distance, float degrees) is not documented:
-  parameter 'degrees'
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:38: warning: argument 'horizontal' of command @param is not found in the argument list of Polar::Radians(float distance, float radians)
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:38: warning: argument 'vertical' of command @param is not found in the argument list of Polar::Radians(float distance, float radians)
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:38: warning: The following parameter of LinearAlgebra.Spherical.Polar.Radians(float distance, float radians) is not documented:
-  parameter 'radians'
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:77: warning: argument 'v' of command @param is not found in the argument list of Polar::__eq__(self, other)
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:77: warning: The following parameter of LinearAlgebra.Spherical.Polar.__eq__(self, other) is not documented:
-  parameter 'other'
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/LinearAlgebra/LinearAlgebra/Spherical.py:78: warning: The following parameter of LinearAlgebra.Spherical.Polar.__eq__(self, other) is not documented:
-  parameter 'other'
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:316: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:428: warning: Member __repr__(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/LinearAlgebra/LinearAlgebra/Spherical.py:328: warning: Member Normalized(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/Spherical.py:440: warning: Member __repr__(self) (function) of class LinearAlgebra.Spherical.Spherical is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:245: warning: Member direction (variable) of class LinearAlgebra.Spherical.Spherical is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:431: warning: Member zero (variable) of class LinearAlgebra.Spherical.Spherical is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:306: warning: argument 'v' of command @param is not found in the argument list of Spherical::__eq__(self, other)
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:306: warning: The following parameter of LinearAlgebra.Spherical.Spherical.__eq__(self, other) is not documented:
-  parameter 'other'
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:376: warning: argument 's1' of command @param is not found in the argument list of Spherical::Distance(v1, v2)
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:376: warning: argument 's2' of command @param is not found in the argument list of Spherical::Distance(v1, v2)
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/Spherical.py:376: warning: The following parameters of LinearAlgebra.Spherical.Spherical.Distance(v1, v2) are not documented:
-  parameter 'v1'
-  parameter 'v2'
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/LinearAlgebra/LinearAlgebra/Spherical.py:313: warning: The following parameter of LinearAlgebra.Spherical.Spherical.__eq__(self, other) is not documented:
-  parameter 'other'
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/LinearAlgebra/LinearAlgebra/SwingTwist.py:65: warning: Member FromAngleAxis(Angle angle, Direction axis) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/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/RoboidControl/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/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:54: warning: Member FromQuaternion(Quaternion q) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/build/lib/LinearAlgebra/SwingTwist.py:84: warning: Member Angle(r1, r2) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
-d:/Python/RoboidControl/RoboidControl/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/RoboidControl/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/RoboidControl/LinearAlgebra/LinearAlgebra/SwingTwist.py:54: warning: Member FromQuaternion(Quaternion q) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
-d:/Python/RoboidControl/RoboidControl/LinearAlgebra/LinearAlgebra/SwingTwist.py:90: warning: Member Angle(r1, r2) (function) of class LinearAlgebra.SwingTwist.SwingTwist is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:114: warning: Member UpdateMyThings(self, int currentTimeMs) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:141: warning: Member SendThingInfo(self, Participant owner, 'Thing' thing, bool recursively=False) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:152: warning: Member PublishThingInfo(self, Thing thing) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:159: warning: Member Send(self, Participant owner, IMessage msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:168: warning: Member Publish(self, IMessage msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:181: warning: Member Receiver(self) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:197: warning: Member ReceiveData(self, bytes data, Participant sender) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:218: warning: Member ProcessParticipantMsg(self, Participant sender, ParticipantMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:221: warning: Member ProcessSiteIdMsg(self, Participant sender, NetworkIdMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:229: warning: Member ProcessInvestigateMsg(self, Participant sender, InvestigateMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:232: warning: Member ProcessThingMsg(self, Participant sender, ThingMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:235: warning: Member ProcessNameMsg(self, Participant sender, NameMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:248: warning: Member ProcessModelUrlMsg(self, Participant sender, ModelUrlMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:251: warning: Member ProcessPoseMsg(self, Participant sender, PoseMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:271: warning: Member ProcessBinaryMsg(self, Participant sender, BinaryMsg msg) (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:85: warning: Member Isolated() (function) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:68: warning: Member is_isolated (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:70: warning: Member remote_site (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:76: warning: Member udp_socket (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:78: warning: Member port (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:80: warning: Member thread (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:108: warning: Member nextPublishMe (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:125: warning: Member network_id (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:43: warning: Member name (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:92: warning: Member isolated_participant (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:112: warning: Member nextPublishMe (variable) of class ParticipantUDP.ParticipantUDP is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:52: warning: argument 'ipAddress' of command @param is not found in the argument list of ParticipantUDP::__init__(self, int port=7681, Optional[str] ip_address=None, int local_port=7681)
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:52: warning: argument 'localPort' of command @param is not found in the argument list of ParticipantUDP::__init__(self, int port=7681, Optional[str] ip_address=None, int local_port=7681)
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:52: warning: The following parameters of ParticipantUDP.ParticipantUDP.__init__(self, int port=7681, Optional[str] ip_address=None, int local_port=7681) are not documented:
-  parameter 'ip_address'
-  parameter 'local_port'
-d:/Python/RoboidControl/RoboidControl/Participants/ParticipantUDP.py:96: warning: argument 'The' of command @param is not found in the argument list of ParticipantUDP::Update(self, Optional[int] currentTimeMs=None) inherited from member Update at line 63 in file d:/Python/RoboidControl/RoboidControl/Participant.py
-d:/Python/RoboidControl/RoboidControl/Participant.py:63: warning: The following parameter of ParticipantUDP.ParticipantUDP.Update(self, Optional[int] currentTimeMs=None) is not documented:
-  parameter 'currentTimeMs'
-d:/Python/RoboidControl/RoboidControl/Messages/DestroyMsg.py:26: warning: Member network_id (variable) of class RoboidControl.Messages.DestroyMsg.DestroyMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/DestroyMsg.py:27: warning: Member thing_id (variable) of class RoboidControl.Messages.DestroyMsg.DestroyMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/IMessage.py:9: warning: argument 'ref_buffer' of command @param is not found in the argument list of IMessage::Serialize(self, list[bytearray] buffer_ref)
-d:/Python/RoboidControl/RoboidControl/Messages/IMessage.py:9: warning: The following parameter of RoboidControl.Messages.IMessage.IMessage.Serialize(self, list[bytearray] buffer_ref) is not documented:
-  parameter 'buffer_ref'
-d:/Python/RoboidControl/RoboidControl/Messages/InvestigateMsg.py:44: warning: Member network_id (variable) of class RoboidControl.Messages.InvestigateMsg.InvestigateMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/ModelUrlMsg.py:49: warning: argument 'ref_buffer' of command @param is not found in the argument list of ModelUrlMsg::Serialize(self, list[bytearray] buffer_ref)
-d:/Python/RoboidControl/RoboidControl/Messages/ModelUrlMsg.py:49: warning: The following parameter of RoboidControl.Messages.ModelUrlMsg.ModelUrlMsg.Serialize(self, list[bytearray] buffer_ref) is not documented:
-  parameter 'buffer_ref'
-d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:23: warning: Member network_id (variable) of class RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:30: warning: argument 'ref_buffer' of command @param is not found in the argument list of NetworkIdMsg::Serialize(self, list[bytearray] buffer_ref)
-d:/Python/RoboidControl/RoboidControl/Messages/NetworkIdMsg.py:30: warning: The following parameter of RoboidControl.Messages.NetworkIdMsg.NetworkIdMsg.Serialize(self, list[bytearray] buffer_ref) is not documented:
-  parameter 'buffer_ref'
-d:/Python/RoboidControl/RoboidControl/Messages/ParticipantMsg.py:19: warning: Member network_id (variable) of class RoboidControl.Messages.ParticipantMsg.ParticipantMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/PoseMsg.py:60: warning: Member position (variable) of class RoboidControl.Messages.PoseMsg.PoseMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/PoseMsg.py:62: warning: Member orientation (variable) of class RoboidControl.Messages.PoseMsg.PoseMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/PoseMsg.py:64: warning: Member linear_velocity (variable) of class RoboidControl.Messages.PoseMsg.PoseMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/PoseMsg.py:66: warning: Member angular_velocity (variable) of class RoboidControl.Messages.PoseMsg.PoseMsg is not documented.
-d:/Python/RoboidControl/RoboidControl/Messages/PoseMsg.py:87: warning: argument 'ref_buffer' of command @param is not found in the argument list of PoseMsg::Serialize(self, buffer_ref)
-d:/Python/RoboidControl/RoboidControl/Messages/PoseMsg.py:87: warning: The following parameter of RoboidControl.Messages.PoseMsg.PoseMsg.Serialize(self, buffer_ref) is not documented:
-  parameter 'buffer_ref'
-d:/Python/RoboidControl/RoboidControl/Messages/TextMsg.py:37: warning: argument 'ref_buffer' of command @param is not found in the argument list of TextMsg::Serialize(self, buffer_ref)
-d:/Python/RoboidControl/RoboidControl/Messages/TextMsg.py:37: warning: The following parameter of RoboidControl.Messages.TextMsg.TextMsg.Serialize(self, buffer_ref) is not documented:
-  parameter 'buffer_ref'
-d:/Python/RoboidControl/RoboidControl/Messages/ThingMsg.py:49: warning: argument 'ref_buffer' of command @param is not found in the argument list of ThingMsg::Serialize(self, list[bytearray] buffer_ref)
-d:/Python/RoboidControl/RoboidControl/Messages/ThingMsg.py:49: warning: The following parameter of RoboidControl.Messages.ThingMsg.ThingMsg.Serialize(self, list[bytearray] buffer_ref) is not documented:
-  parameter 'buffer_ref'
-d:/Python/RoboidControl/RoboidControl/Participant.py:65: warning: Member things (variable) of class RoboidControl.Participant.Participant is not documented.
-d:/Python/RoboidControl/RoboidControl/Participant.py:68: warning: Member participants (variable) of class RoboidControl.Participant.Participant is not documented.
-d:/Python/RoboidControl/RoboidControl/Participant.py:63: warning: argument 'The' of command @param is not found in the argument list of Participant::Update(self, int currentTimeMs=0)
-d:/Python/RoboidControl/RoboidControl/Participant.py:63: warning: The following parameter of RoboidControl.Participant.Participant.Update(self, int currentTimeMs=0) is not documented:
-  parameter 'currentTimeMs'
-d:/Python/RoboidControl/RoboidControl/Thing.py:57: warning: Member owner (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:111: warning: Member parent (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:170: warning: Member position (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:171: warning: Member position_updated (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:177: warning: Member orientation (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:178: warning: Member orientation_updated (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:185: warning: Member linear_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:187: warning: Member linear_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:194: warning: Member angular_velocity_updated (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:196: warning: Member angular_velocity (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:31: warning: Member Position (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:32: warning: Member Orientation (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:33: warning: Member LinearVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:34: warning: Member AngularVelocity (variable) of class RoboidControl.Thing.Thing is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:40: warning: argument 'thingId' of command @param is not found in the argument list of Thing::__init__(self, Optional[ 'Participant'] owner=None, Optional[ 'Thing'] parent=None, int thing_type=Type.Undetermined, int thing_id=0)
-d:/Python/RoboidControl/RoboidControl/Thing.py:40: warning: The following parameter of RoboidControl.Thing.Thing.__init__(self, Optional[ 'Participant'] owner=None, Optional[ 'Thing'] parent=None, int thing_type=Type.Undetermined, int thing_id=0) is not documented:
-  parameter 'thing_id'
-d:/Python/RoboidControl/RoboidControl/Thing.py:104: warning: argument 'The' of command @param is not found in the argument list of Thing::SetParent(self, Optional[ 'Thing'] parent)
-d:/Python/RoboidControl/RoboidControl/Thing.py:104: warning: The following parameter of RoboidControl.Thing.Thing.SetParent(self, Optional[ 'Thing'] parent) is not documented:
-  parameter 'parent'
-d:/Python/RoboidControl/RoboidControl/Thing.py:135: warning: argument 'id' of command @param is not found in the argument list of Thing::GetChild(self, int thing_id, bool recurse=False)
-d:/Python/RoboidControl/RoboidControl/Thing.py:135: warning: The following parameter of RoboidControl.Thing.Thing.GetChild(self, int thing_id, bool recurse=False) is not documented:
-  parameter 'thing_id'
-d:/Python/RoboidControl/RoboidControl/Thing.py:182: warning: argument 'linearVelocity' of command @param is not found in the argument list of Thing::SetLinearVelocity(self, Spherical linear_velocity)
-d:/Python/RoboidControl/RoboidControl/Thing.py:182: warning: The following parameter of RoboidControl.Thing.Thing.SetLinearVelocity(self, Spherical linear_velocity) is not documented:
-  parameter 'linear_velocity'
-d:/Python/RoboidControl/RoboidControl/Thing.py:191: warning: argument 'angularVelocity' of command @param is not found in the argument list of Thing::SetAngularVelocity(self, Spherical angular_velocity)
-d:/Python/RoboidControl/RoboidControl/Thing.py:191: warning: The following parameter of RoboidControl.Thing.Thing.SetAngularVelocity(self, Spherical angular_velocity) is not documented:
-  parameter 'angular_velocity'
-d:/Python/RoboidControl/RoboidControl/Thing.py:227: warning: argument 'buffer' of command @param is not found in the argument list of Thing::GenerateBinary(self, bytearray bytes, set[int] ix_ref)
-d:/Python/RoboidControl/RoboidControl/Thing.py:227: warning: The following parameter of RoboidControl.Thing.Thing.GenerateBinary(self, bytearray bytes, set[int] ix_ref) is not documented:
-  parameter 'bytes'
-d:/Python/RoboidControl/RoboidControl/Thing.py:235: warning: argument 'bytes' of command @param is not found in the argument list of Thing::ProcessBinary(self, bytes data)
-d:/Python/RoboidControl/RoboidControl/Thing.py:235: warning: The following parameter of RoboidControl.Thing.Thing.ProcessBinary(self, bytes data) is not documented:
-  parameter 'data'
-d:/Python/RoboidControl/RoboidControl/Thing.py:13: warning: Member Undetermined (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:15: warning: Member Switch (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:16: warning: Member DistanceSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:17: warning: Member DirectionalSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:18: warning: Member TemperatureSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:19: warning: Member TouchSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:21: warning: Member ControlledMotor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:22: warning: Member UncontrolledMotor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:23: warning: Member Servo (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:25: warning: Member Roboid (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:26: warning: Member Humanoid (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:27: warning: Member ExternalSensor (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:28: warning: Member Animator (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Thing.py:29: warning: Member DifferentialDrive (variable) of class RoboidControl.Thing.Thing.Type is not documented.
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:76: warning: unable to resolve link to 'https://en.wikipedia.org/wiki/Differential_wheeled_robot' for \link command
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:61: warning: Found unknown command '@params'
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:77: warning: @copybrief or @copydoc target 'Thing::Update' not found
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:42: warning: Member wheel_left (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:42: warning: Member wheel_right (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:79: warning: Member angular_velocity_updated (variable) of class RoboidControl.Things.DifferentialDrive.DifferentialDrive is not documented.
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:27: warning: argument 'wheelDiameter' of command @param is not found in the argument list of DifferentialDrive::SetDriveDimensions(self, wheel_diameter, wheel_separation)
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:27: warning: argument 'wheelSeparation' of command @param is not found in the argument list of DifferentialDrive::SetDriveDimensions(self, wheel_diameter, wheel_separation)
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:27: warning: The following parameters of RoboidControl.Things.DifferentialDrive.DifferentialDrive.SetDriveDimensions(self, wheel_diameter, wheel_separation) are not documented:
-  parameter 'wheel_diameter'
-  parameter 'wheel_separation'
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: argument 'leftWheel' of command @param is not found in the argument list of DifferentialDrive::SetMotors(self, wheel_left, wheel_right)
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: argument 'rightWheel' of command @param is not found in the argument list of DifferentialDrive::SetMotors(self, wheel_left, wheel_right)
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:46: warning: The following parameters of RoboidControl.Things.DifferentialDrive.DifferentialDrive.SetMotors(self, wheel_left, wheel_right) are not documented:
-  parameter 'wheel_left'
-  parameter 'wheel_right'
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:61: warning: Found unknown command '@params'
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:62: warning: Found unknown command '@params'
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:77: warning: @copybrief or @copydoc target 'Thing::Update' not found
-d:/Python/RoboidControl/RoboidControl/Things/DifferentialDrive.py:78: warning: @copydetails or @copydoc target 'Thing::Update' not found
-d:/Python/RoboidControl/RoboidControl/Things/TemperatureSensor.py:7: warning: argument 'thingId' of command @param is not found in the argument list of TemperatureSensor::__init__(self, owner=None, parent=None, thing_type=0) inherited from member __init__ at line 40 in file d:/Python/RoboidControl/RoboidControl/Thing.py
-d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:33: warning: Member ProcessParticipantMsg(self, sender, msg) (function) of class SiteServer.SiteServer is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:38: warning: Member ProcessNetworkIdMsg(self, sender, msg) (function) of class SiteServer.SiteServer is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:41: warning: Member ProcessThingMsg(self, sender, ThingMsg msg) (function) of class SiteServer.SiteServer is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:23: warning: Member isolated (variable) of class SiteServer.SiteServer is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:24: warning: Member publishInterval (variable) of class SiteServer.SiteServer is not documented.
-d:/Python/RoboidControl/RoboidControl/Participants/SiteServer.py:14: warning: Member name (variable) of class SiteServer.SiteServer is not documented.
-d:/Python/RoboidControl/README.md:13: warning: unable to resolve reference to 'RoboidControl::ParticipantUDP::ParticipantUDP' for \ref command

DoxyGen/Doxyfile

@@ -61,7 +61,7 @@ PROJECT_BRIEF          =
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = //intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRight100.png
+PROJECT_LOGO           = //intranet/home/Afbeeldingen/PasserVR/Logos/PasserLife/PasserLifeLogoLeft_300.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is

README.md

@@ -8,8 +8,18 @@ Supporting:
 
 # Install
 
-- Go to the root folder of this repository (the folder containing this `README.md` and `setup.py`)
-- Execute the command.
+You can install the package directly from the git server using pip:
+```
+pip install git+https://git.passer.life/RoboidControl/RoboidControl-python.git
+```
+If you want to use a specific branch, you can use
+```
+pip install git+https://git.passer.life/RoboidControl/RoboidControl-python.git@v0.4_dev
+```
+
+Alternatively you can clone the repo to a folder in you project.
+Then you can install it by going to the root folder of the repository (the folder containing this `README.md` and `setup.py`)
+and execute the command.
 ```
 pip install .
 ``` 

RoboidControl/Examples/BB2B.py

@@ -28,4 +28,4 @@ while True:
     # Update the roboid state
     bb2b.Update(True)
     # and sleep for 100ms
-    time.sleep(100)
+    time.sleep(0.100)

RoboidControl/Messages/LowLevelMessages.py

@@ -4,12 +4,12 @@ from LinearAlgebra.Spherical import Spherical
 from LinearAlgebra.Quaternion import Quaternion
 from LinearAlgebra.Angle import Angle
 
-def SendSpherical(buffer, ix_ref, vector):
+def SendSpherical(buffer, ref_ix, vector: Spherical):
     """! Send a spherical vector 
     """
-    SendFloat16(buffer, ix_ref, vector.distance)
-    SendAngle8(buffer, ix_ref, vector.direction.horizontal)
-    SendAngle8(buffer, ix_ref, vector.direction.vertical)
+    SendFloat16(buffer, ref_ix, vector.distance)
+    SendAngle8(buffer, ref_ix, vector.direction.horizontal)
+    SendAngle8(buffer, ref_ix, vector.direction.vertical)
 def ReceiveSpherical(buffer: bytes, ref_ix: list[int]) -> Spherical:
     """! Receive a spherical vector
     """
@@ -19,6 +19,19 @@ def ReceiveSpherical(buffer: bytes, ref_ix: list[int]) -> Spherical:
     v: Spherical = Spherical.Degrees(distance, horizontal, vertical)
     return v
 
+def SendSwingTwist(buffer, ref_ix, orientation: SwingTwist):
+    """! Send a swing/twist orientation
+    """
+    SendAngle8(buffer, ref_ix, orientation.swing.horizontal)
+    SendAngle8(buffer, ref_ix, orientation.swing.vertical)
+    SendAngle8(buffer, ref_ix, orientation.twist)
+def ReceiveSwingTwist(buffer, ref_ix) -> SwingTwist:
+    horizontal = ReceiveAngle8(buffer, ref_ix)
+    vertical = ReceiveAngle8(buffer, ref_ix)
+    twist = ReceiveAngle8(buffer, ref_ix)
+    orientation: SwingTwist = SwingTwist.Degrees(horizontal, vertical, twist)
+    return orientation
+
 def SendQuat32(buffer, ref_ix, q):
     """! Send a 32-bit quaternion value """
     if isinstance(q, SwingTwist):

RoboidControl/Messages/PoseMsg.py

@@ -59,7 +59,7 @@ class PoseMsg(IMessage):
             if self.pose_type & PoseMsg.Pose_Position != 0:
                 self.position = LowLevelMessages.ReceiveSpherical(buffer, ix_ref)
             if self.pose_type & PoseMsg.Pose_Orientation != 0:
-                self.orientation = LowLevelMessages.ReceiveQuaternion(buffer, ix_ref)
+                self.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ix_ref)
             if self.pose_type & PoseMsg.Pose_LinearVelocity != 0:
                 self.linear_velocity = LowLevelMessages.ReceiveSpherical(buffer, ix_ref)
             if self.pose_type & PoseMsg.Pose_AngularVelocity != 0:
@@ -101,9 +101,9 @@ class PoseMsg(IMessage):
         if self.pose_type & PoseMsg.Pose_Position:
             LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
         if self.pose_type & PoseMsg.Pose_Orientation:
-            LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
+            LowLevelMessages.SendSwingTwist(buffer, ix, self.thing.orientation)
         if self.pose_type & PoseMsg.Pose_LinearVelocity:
             LowLevelMessages.SendSpherical(buffer, ix, self.thing.linear_velocity)
         if self.pose_type & PoseMsg.Pose_AngularVelocity:
             LowLevelMessages.SendSpherical(buffer, ix, self.thing.angular_velocity)
-        return PoseMsg.length + ix[0]
+        return ix[0]

RoboidControl/Participant.py

@@ -1,4 +1,4 @@
-from RoboidControl.Thing import Thing
+#from RoboidControl.Thing import Thing
 
 from typing import Union, Optional
 
@@ -11,7 +11,11 @@ class Participant:
     It is used as a basis for the local participant, but also as a reference to remote participants.
     """
 
-    def __init__(self, ip_address: str, port: int) -> None:
+# region Init
+
+    local_participant: 'Participant' = None
+    
+    def __init__(self, ip_address: str = None, port: int = None, local_participant: 'Participant' = None) -> None:
         """! Create a new participant with the given communcation info
         @param ip_address The IP address of the participant
         @param port The UDP port of the participant
@@ -22,15 +26,28 @@ class Participant:
         ## The port number for UDP communication with the participant. This is 0 for isolated participants.
         self.port: int = port
 
+        self.udp_socket = None
+        if local_participant is not None:
+            self.udp_socket = local_participant.udp_socket
+
         ## he network Id to identify the participant.
         self.network_id: int = 0
 
         ## The things managed by this participant
-        self.things: set[Thing] = set()
+        self.things: set['Thing'] = set()
 
-        self.root: Thing = Thing.CreateRoot(self)
+        from RoboidControl.Thing import Thing
+        Thing.CreateRoot(self)
 
-    def Get(self, thing_id: int) -> Optional[Thing]:
+        self.buffer: bytearray = bytearray(256)
+    
+    def GetLocalParticipant():
+        return Participant.local_participant
+    
+    def ReplaceLocalParticipant(newParticipant: 'Participant'):
+        Participant.localParticipant = newParticipant
+    
+    def Get(self, thing_id: int) -> Optional['Thing']:
         """!  Get the thing with the given properties
 
         @param thing_id The ID of the thing
@@ -41,7 +58,7 @@ class Participant:
                 return thing
         return None
 
-    def Add(self, thing: Thing, check_id: bool = True):
+    def Add(self, thing: 'Thing', check_id: bool = True):
         """! Add a new thing for this participant. 
         @param thing The thing to add
         @param check_id If true, the thing.id is regenerated if it is zero
@@ -54,7 +71,7 @@ class Participant:
             if found_thing == None:
                 self.things.add(thing)
     
-    def Remove(self, thing: Thing) -> None:
+    def Remove(self, thing: 'Thing') -> None:
         """! Remove a thing for this participant
         @param thing The thing to remove
         """
@@ -67,6 +84,33 @@ class Participant:
         for thing in list(self.things):
             thing.Update(currentTimeMs)
 
+# endregion Init
+
+# region Update
+
+    def Update(self):
+        """! Update all things for this participant
+        """
+        for thing in self.things:
+            thing.Update(True)        
+
+# endregion Update
+
+# region Send
+
+    def Send(self, msg) -> bool:
+        buffer_size = msg.Serialize([self.buffer])
+        if buffer_size <= 0:
+            return True
+        
+        # print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
+        self.udp_socket.sendto(self.buffer[:buffer_size], (self.ip_address, self.port))
+        return True
+
+# endregion Send
+
+# region Participant Registry
+
     participants: set['Participant'] = set()
 
     @staticmethod
@@ -90,7 +134,7 @@ class Participant:
                     return participant
             return None
 
-    def AddParticipant(arg1: Union[str, 'Participant'], port: Optional[int] = None) -> 'Participant':
+    def AddParticipant(arg1: Union[str, 'Participant'], port: Optional[int] = None, local_participant: 'Participant' = None) -> 'Participant':
         """! Add a participant
         @param arg1 Either:
         - str: The IP address of the participant
@@ -99,13 +143,17 @@ class Participant:
         """
         if port is not None:
             ip_address = str(arg1)
-            participant = Participant(ip_address, port)
+            participant = Participant(ip_address, port, local_participant)
             participant.network_id = len(Participant.participants) + 1
             Participant.AddParticipant(participant)
             return participant
         else:
             participant: Participant = arg1
             foundParticipant = Participant.GetParticipant(participant.network_id, participant.port)
-            if foundParticipant is not None:
+            if foundParticipant is None:
                 Participant.participants.add(participant)
             return participant
+
+# endergion Participant Registry
+
+Participant.local_participant = Participant()

RoboidControl/Participants/ParticipantUDP.py

@@ -43,6 +43,7 @@ class ParticipantUDP(Participant):
     name = "Participant"
 
 #region Init
+
     def __init__(self, 
                  port: int = 7681,
                  ip_address: Optional[str] = None,
@@ -64,46 +65,47 @@ class ParticipantUDP(Participant):
         ## The interval in milliseconds for publishing (broadcasting) data on the local network
         self.publishInterval = 3000 # 3 seconds
 
-        if port != 0:
-            self.is_isolated = False
-            if ip_address is not None:
-                self.remote_site = Participant(ip_address, port)
-
-        Participant.AddParticipant(self)
-
         self.buffer: bytearray = bytearray(256)
 
         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.port))
+        self.udp_socket.bind(("0.0.0.0", local_port))
+
+        if port != 0:
+            self.is_isolated = False
+            if ip_address is not None:
+                self.remote_site = Participant(ip_address, port, self)
 
         self.thread = threading.Thread(target = self.Receiver)
         self.thread.daemon = True
         self.thread.start()
 
-    @staticmethod
-    def Isolated() -> 'ParticipantUDP':
-        if ParticipantUDP.isolated_participant == None:
-            ParticipantUDP.isolated_participant = ParticipantUDP(0)
-        return ParticipantUDP.isolated_participant
+        Participant.AddParticipant(self)
+        Participant.ReplaceLocalParticipant(self)
+
+    # @staticmethod
+    # def Isolated() -> 'ParticipantUDP':
+    #     if ParticipantUDP.isolated_participant == None:
+    #         ParticipantUDP.isolated_participant = ParticipantUDP(0)
+    #     return ParticipantUDP.isolated_participant
 
 #endregion Init
 
-    isolated_participant = None
+    # isolated_participant = None
 
 #region Update
 
-    def Update(self, currentTimeMs: Optional[int] = None):
-        if currentTimeMs is None:
+    def Update(self):
         currentTimeMs = int(time.time() * 1000)
 
+        # Send periodic ParticipantMsg
         if self.is_isolated == False:
             if self.publishInterval > 0 and currentTimeMs > self.nextPublishMe:
                 msg = ParticipantMsg(self.network_id)
                 if self.remote_site == None:
                     self.Publish(msg)
                 else:
-                    self.Send(self.remote_site, msg)
+                    self.remote_site.Send(msg)
                     
                 self.nextPublishMe = currentTimeMs + self.publishInterval
 
@@ -113,24 +115,11 @@ class ParticipantUDP(Participant):
 
     def UpdateMyThings(self, currentTimeMs: int):
         for thing in self.things:
-            # if thing.hierarchyChanged and not (self.isIsolated or self.network_id == ):
-            #     thingMsg = ThingMsg(self.network_id, thing)
-            #     self.Send(self.remote_site, thingMsg)
-            if thing.owner is not None:
-                poseMsg = PoseMsg(thing.owner.network_id, thing)
-                if self.remote_site is not None:
-                    self.Send(self.remote_site, poseMsg)
-
-            thing.Update(currentTimeMs, False)
+            thing.Update(False)
             if not(self.is_isolated or self.network_id == 0):
                 if thing.terminate:
                     destroyMsg = DestroyMsg.Create(self.network_id, thing)
-                    self.Send(self.remote_site, destroyMsg)
-                else:
-                    if self.remote_site is not None and thing.owner is not None:
-                        # Send to remote site
-                        self.Send(self.remote_site, PoseMsg(thing.owner.network_id, thing))
-                        self.Send(self.remote_site, BinaryMsg(thing.owner.network_id, thing))
+                    self.remote_site.Send(destroyMsg)
             if thing.terminate:
                 self.Remove(thing)
 
@@ -139,11 +128,11 @@ class ParticipantUDP(Participant):
 #region Send
 
     def SendThingInfo(self, owner: Participant, thing: '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))
+        owner.Send(ThingMsg(self.network_id, thing))
+        owner.Send(NameMsg(self.network_id, thing))
+        owner.Send(ModelUrlMsg(self.network_id, thing))
+        owner.Send(PoseMsg(self.network_id, thing, True))
+        owner.Send(BinaryMsg(self.network_id, thing))
 
         if recursively:
             for child in thing.children:
@@ -156,14 +145,9 @@ class ParticipantUDP(Participant):
         self.Publish(PoseMsg(self.network_id, thing))
         self.Publish(BinaryMsg(self.network_id, thing))
 
-    def Send(self, owner: Participant, msg: IMessage):
-        buffer_size = msg.Serialize([self.buffer])
-        if buffer_size <= 0:
-            return True
-        
-        # print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
-        self.udp_socket.sendto(self.buffer[:buffer_size], (owner.ip_address, owner.port))
-        return True
+    def Send(self, msg):
+        if self.remote_site is not None:
+            self.remote_site.Send(msg)
 
     def Publish(self, msg: IMessage):
         buffer_size = msg.Serialize([self.buffer])
@@ -188,7 +172,7 @@ class ParticipantUDP(Participant):
                 remote_participant = Participant.GetParticipant(remote_ip_address, remote_port)
                 if remote_participant is None:
                     # print(f'new participant')
-                    remote_participant = Participant.AddParticipant(remote_ip_address, remote_port)
+                    remote_participant = Participant.AddParticipant(remote_ip_address, remote_port, self)
                 self.ReceiveData(data, remote_participant)
             except ConnectionError:
                 self.network_id = 0

RoboidControl/Participants/SiteServer.py

@@ -22,7 +22,7 @@ class SiteServer(ParticipantUDP):
         """! Create a new site server
         @param port The port of which to receive the messages
         """
-        super().__init__(local_port = port)
+        super().__init__(port = port, local_port = port)
         self.isolated = False   # site servers are never isolated
         self.publishInterval = 0
 

RoboidControl/Thing.py

@@ -1,6 +1,6 @@
 #from RoboidControl.Participant import Participant
 from LinearAlgebra.Spherical import Spherical
-from LinearAlgebra.Quaternion import Quaternion
+from LinearAlgebra.SwingTwist import SwingTwist
 
 from typing import Optional
 import time
@@ -43,7 +43,9 @@ class Thing:
         @param parent The parent thing (will override owner if set)
         """
         ## The participant owning this thing
-        self.owner: Optional['Participant'] = None
+        #self.owner: Optional['Participant'] = None
+
+
         ## The ID of the thing
         self.id: int = 0
         ## The type of the thing
@@ -53,14 +55,6 @@ class Thing:
 
         ## The parent of this thing
         self.parent: Optional[Thing] = None
-        if parent is not None:
-            self.owner = parent.owner
-            self.SetParent(parent)
-        elif owner == None:
-            from RoboidControl.Participants.ParticipantUDP import ParticipantUDP            
-            self.owner = ParticipantUDP.Isolated()
-        else:
-            self.owner = owner
 
         ## The children of this thing
         self.children: list[Thing] = list()
@@ -70,13 +64,31 @@ class Thing:
         ##  An URL pointing to the location where a model of the thing can be found
         self.model_url: Optional[str] = None
 
+        if owner is not None:
+            # When owner is set, this will be a root thing
+            self.type = Thing.Type.Root
+            self.name = "Root"
+
+            ## The participant owning this thing
+            self.owner = owner
+            # self.owner.Add(self) missing????
+        else:
+            if parent is None:
+                from RoboidControl.Participant import Participant
+                self.SetParent(Participant.local_participant.root)
+            else:
+                self.SetParent(parent)
+            
+            ## The participant owning this thing
+            self.owner = self.parent.owner
+
         ## The position of the thing in local space, in meters
         self.position: Spherical = Spherical.zero
         ## Boolean indicating that the thing has an updated position
         self.position_updated: bool = False
 
         ## The orientation of the thing in local space
-        self.orientation: Quaternion = Quaternion.identity
+        self.orientation: SwingTwist = SwingTwist.identity
         ## Boolean indicating the thing has an updated orientation
         self.orientation_updated: bool = False
 
@@ -96,8 +108,12 @@ class Thing:
             self.owner.Add(self)
 
     @staticmethod
-    def CreateRoot(owner):
-        return Thing(owner = owner)
+    def CreateRoot(owner: 'Participant'):
+        owner.root = Thing(owner = owner)
+    
+    # def LocalRoot() -> 'Thing':
+    #     participant = Participant.GetLocalParticipant()
+    #     return participant.root
 
 # endregion Init
 
@@ -174,7 +190,7 @@ class Thing:
         self.position = position
         self.position_updated = True
     
-    def SetOrientation(self, orientation: Quaternion) -> None:
+    def SetOrientation(self, orientation: SwingTwist) -> None:
         """! Set the orientation of the thing
         @param orientation The new orientation in local space
         """
@@ -210,7 +226,7 @@ class Thing:
         """
         return int(time.time() * 1000)
 
-    def Update(self, currentTimeMs: int = 0, recurse: bool = False) -> None:
+    def Update(self, recurse: bool = False) -> None:
         """! Update de state of the thing
         @param currentTimeMs The current clock time in milliseconds; If this is zero, the current time is retrieved automatically
         @param recurse When true, this will Update the descendants recursively
@@ -222,7 +238,7 @@ class Thing:
 
         if recurse:
             for child in self.children:
-                child.Update(currentTimeMs, recurse)
+                child.Update(recurse)
 
 # endregion Update
 

RoboidControl/Things/DifferentialDrive.py

@@ -7,10 +7,10 @@ class DifferentialDrive(Thing):
     """! A thing which can move itself using a differential drive system
     @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
     """
-    def __init__(self, owner = None, parent = None, thing_id = 0):
+    def __init__(self, owner = None, parent = None):
         """! Create a differential drive
         """
-        super().__init__(owner = owner, parent = parent, thing_type = Thing.Type.DifferentialDrive, thing_id = thing_id)
+        super().__init__(owner = owner, parent = parent)
 
         ## The radius of a wheel in meters
         self.wheel_radius = 1.0

RoboidControl/Things/TouchSensor.py

@@ -6,8 +6,8 @@ class TouchSensor(Thing):
     def __init__(self, owner = None, parent = None, thing_id = 0):
         """! Create a touch sensor
         """
-        super().__init__(owner = owner, parent = parent, thing_type = Thing.Type.TouchSensor, thing_id = thing_id)
-        
+        super().__init__(owner = owner, parent = parent)
+        self.type = Thing.Type.TouchSensor
         ## Value which is true when the sensor is touching something, false otherwise
         self.touched_something = False
 

setup.py

@@ -2,9 +2,10 @@ from setuptools import setup, find_packages
 
 setup(
     name='RoboidControl',
-    version='0.3.0',
+    version='0.4.0-dev',
     packages=find_packages(),
-    install_requires=['LinearAlgebra @ git+https://git.passer.life/LinearAlgebra/LinearAlgebra-python.git@main#egg=LinearAlgebra'],
+    install_requires=['LinearAlgebra @ git+https://git.passer.life/LinearAlgebra/LinearAlgebra-python.git@main#egg=LinearAlgebra',
+                      'numpy'],
     author='Passer Life',
     author_email='support@passer.life',
     description='Control lightweight networked robots',

test/thing_test.py

@@ -20,7 +20,7 @@ class ThingTest(unittest.TestCase):
         start_time = milliseconds
         while milliseconds < start_time + 5000:
             milliseconds = time.time() * 1000
-            participant.Update(milliseconds)
+            participant.Update()
 
     def test_site_server(self):
         site = SiteServer(port=7681)
@@ -29,7 +29,7 @@ class ThingTest(unittest.TestCase):
         start_time = milliseconds
         while milliseconds < start_time + 5000:
             milliseconds = time.time() * 1000
-            site.Update(milliseconds)
+            site.Update()
 
     def test_site_participant(self):
         site = SiteServer(port=7681)
@@ -39,8 +39,8 @@ class ThingTest(unittest.TestCase):
         start_time = milliseconds
         while milliseconds < start_time + 7000:
             milliseconds = time.time() * 1000
-            site.Update(milliseconds)
-            participant.Update(milliseconds)
+            site.Update()
+            participant.Update()
             time.sleep(0.1)
 
     def test_thing_msg(self):
@@ -55,8 +55,8 @@ class ThingTest(unittest.TestCase):
         start_time = milliseconds
         while milliseconds < start_time + 7000:
             milliseconds = time.time() * 1000
-            site.Update(milliseconds)
-            participant.Update(milliseconds)
+            site.Update()
+            participant.Update()
 
 if __name__ == '__main__':
     unittest.main()