Detailed Description

A participant using UDP communication.

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. An participant can be isolated. In that case it is standalong and does not communicate with other participants.

It is possible to work with an hidden participant by creating things without specifying a participant in the constructor. In that case an hidden isolated participant is created which can be obtained using RoboidControl::IsolatedParticipant::Isolated().

See also: RoboidControl::Thing::Thing()

Inheritance diagram for RoboidControl.ParticipantUDP:

Public Member Functions
	ParticipantUDP (int port=0)
	Create a participant without connecting to a site.

	ParticipantUDP (string ipAddress, int port=7681, int localPort=7681)
	Create a participant which will try to connect to a site.

	ParticipantUDP (string ipAddress, int port, ParticipantUDP localParticipant)

override void	Update ()
	Update all things for this participant.

override bool	Send (IMessage msg)

void	PublishThingInfo (Thing thing)

bool	Publish (IMessage msg)

void	ReceiveData (byte[] data, Participant sender)

Thing	Get (byte networkId, byte thingId)
	Get the thing with the given properties.

void	Add (Thing thing, bool checkId=true)
	Add a new thing for this participant.

void	Remove (Thing thing)
	Remove a thing for this participant.

void	SendThingInfo (Thing thing)

Static Public Member Functions
static ParticipantUDP	GetParticipant (string ipAddress, int port)
	Retrieve a participant using ip address and port number.

static ParticipantUDP	AddParticipant (string ipAddress, int port, ParticipantUDP localParticipant=null)
	Add a new participant to the collection of participants.

static void	ReplaceLocalParticipant (Participant newParticipant)
	Replace the local participant.

static Participant	GetParticipant (int networkId)
	Retrieve a participant using ip address and port number.

static void	AddParticipant (Participant participant)
	Add a new participant to the collection of participants.

Public Attributes
string	name = "ParticipantUDP"
	The name of the participant.

string	ipAddress = "0.0.0.0"
	The Ip Address of a participant. When the participant is local, this contains 0.0.0.0.

int	port = 0
	The port number for UDP communication with the participant. This is 0 for isolated participants.

UdpClient	udpClient = null
	The udpClient for this participant.

bool	isIsolated = false
	True if the participant is running isolated.

Participant	remoteSite = null
	The remote site when this participant is connected to a site.

ulong	publishIntervalMS = 3000
	The interval in milliseconds for publishing (broadcasting) data on the local network.

ulong	sendUpdateIntervalMS = 100

IPEndPoint	endPoint = null

string	broadcastIpAddress = "255.255.255.255"

readonly ConcurrentQueue< IMessage >	messageQueue = new ConcurrentQueue<IMessage>()

byte	networkId = 0
	The network Id to identify the participant.

bool	isRemote = false

Thing	root = null
	The root thing for this participant.

readonly List< Thing >	things = new()
	The things managed by this participant.

Unity.Participant	component = null
	A reference to the representation of the thing in Unity.

ConcurrentQueue< UpdateEvent >	updateQueue = new()
	Queue containing events happened to this participant.

byte[]	buffer = new byte[1024]

Static Public Attributes
static Participant	localParticipant = new()
	The local participant for this application.

static readonly List< Participant >	participants = new()
	The collection of known participants.

Protected Member Functions
void	GetBroadcastAddress (IPAddress ip, IPAddress subnetMask)

virtual void	UpdateMyThings (ulong currentTimeMS)

virtual void	UpdateOtherThings (ulong currentTimeMS)

void	ReceiveUDP (IAsyncResult result)

virtual void	Process (Participant sender, ParticipantMsg msg)

virtual void	Process (Participant sender, NetworkIdMsg msg)

virtual void	Process (Participant sender, InvestigateMsg msg)

virtual void	Process (Participant sender, ThingMsg msg)

virtual Thing	ProcessNewThing (Participant owner, ThingMsg msg, bool isRemote)

virtual void	Process (Participant sender, NameMsg msg)

virtual void	Process (Participant sender, ModelUrlMsg msg)

virtual void	Process (Participant sender, PoseMsg msg)

virtual void	Process (Participant sender, BinaryMsg msg)

virtual void	Process (Participant sender, TextMsg msg)

virtual void	Process (Participant sender, DestroyMsg msg)

Protected Attributes
ulong	nextPublishMe = 0

ulong	nextSendUpdate = 0

Constructor & Destructor Documentation

◆ ParticipantUDP() [1/2]

RoboidControl.ParticipantUDP.ParticipantUDP ( int port = 0 )

Create a participant without connecting to a site.

Parameters

port	The port number on which to communicate

These participant typically broadcast Participant messages to let site servers on the local network know their presence. Alternatively they can broadcast information which can be used directly by other participants.

◆ ParticipantUDP() [2/2]

RoboidControl.ParticipantUDP.ParticipantUDP	(	string	ipAddress,
		int	port = `7681`,
		int	localPort = `7681`
	)

Create a participant which will try to connect to a site.

Parameters

ipAddress	The ip address of the site server
port	The port number of the site server
localPort	The port used by the local participant

Member Function Documentation

◆ Update()

override void RoboidControl.ParticipantUDP.Update ( )

virtual

Update all things for this participant.

Reimplemented from RoboidControl.Participant.

Reimplemented in RoboidControl.SiteServer.

◆ Send()

override bool RoboidControl.ParticipantUDP.Send ( IMessage msg )

virtual

Reimplemented from RoboidControl.Participant.

◆ GetParticipant() [1/2]

static ParticipantUDP RoboidControl.ParticipantUDP.GetParticipant	(	string	ipAddress,
		int	port
	)

static

Retrieve a participant using ip address and port number.

Parameters

ipAddress	The ip address of the participant
port	The port number used to send messages to the participant

Returns: The participant or null if it is not found.

◆ AddParticipant() [1/2]

static ParticipantUDP RoboidControl.ParticipantUDP.AddParticipant	(	string	ipAddress,
		int	port,
		ParticipantUDP	localParticipant = `null`
	)

static

Add a new participant to the collection of participants.

Parameters

ipAddress	The IP address of the participant
port	The port used to send messages to this participant

Returns: The added participant

◆ ReplaceLocalParticipant()

static void RoboidControl.Participant.ReplaceLocalParticipant ( Participant newParticipant )

staticinherited

Replace the local participant.

Parameters

newParticipant The new local participant

◆ Get()

Thing RoboidControl.Participant.Get	(	byte	networkId,
		byte	thingId
	)

inherited

Get the thing with the given properties.

Parameters

thingId The ID of the thing

Returns: The thing when it is found, null in other cases.

◆ Add()

void RoboidControl.Participant.Add	(	Thing	thing,
		bool	checkId = `true`
	)

inherited

Add a new thing for this participant.

Parameters

thing	The thing to add
checkId	If true, the thing.id is regenerated if it is zero

◆ Remove()

void RoboidControl.Participant.Remove ( Thing thing )

inherited

Remove a thing for this participant.

Parameters

thing The thing to remove

◆ GetParticipant() [2/2]

static Participant RoboidControl.Participant.GetParticipant ( int networkId )

staticinherited

Retrieve a participant using ip address and port number.

Parameters

ipAddress	The ip address of the participant
port	The port number used to send messages to the participant

Returns: The participant or null if it is not found.

Retrieve a participant using a network ID

Parameters

networkId The network ID of the participant

Returns: The participant or null if it is not found.

◆ AddParticipant() [2/2]

static void RoboidControl.Participant.AddParticipant ( Participant participant )

staticinherited

Add a new participant to the collection of participants.

Parameters

participant The participant to add

<note>This function only adds the participant if it is not yet in the collection</note>

Member Data Documentation

◆ ipAddress

string RoboidControl.ParticipantUDP.ipAddress = "0.0.0.0"

The Ip Address of a participant. When the participant is local, this contains 0.0.0.0.

This does not belong here, it should move to ParticipantUDP or something like that in the future

◆ port

int RoboidControl.ParticipantUDP.port = 0

The port number for UDP communication with the participant. This is 0 for isolated participants.

This does not belong here, it should move to ParticipantUDP or something like that in the future

◆ udpClient

UdpClient RoboidControl.ParticipantUDP.udpClient = null

The udpClient for this participant.

This does not belong here, it should move to ParticipantUDP or something like that in the future

◆ isIsolated

bool RoboidControl.ParticipantUDP.isIsolated = false

True if the participant is running isolated.

Isolated participants do not communicate with other participants

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ParticipantUDP() [1/2]

◆ ParticipantUDP() [2/2]

Member Function Documentation

◆ Update()

◆ Send()

◆ GetParticipant() [1/2]

◆ AddParticipant() [1/2]

◆ ReplaceLocalParticipant()

◆ Get()

◆ Add()

◆ Remove()

◆ GetParticipant() [2/2]

◆ AddParticipant() [2/2]

Member Data Documentation

◆ ipAddress

◆ port

◆ udpClient

◆ isIsolated