Revize 04839796

Re #8906 - Server and client refactor

deltarobot-vr/Assets/DeltaRobotVr/ActuatorScript.cs

@@ -1 @@
-using UnityEngine;
-
-namespace DeltaRobotVr
-{
-    public class ActuatorScript : MonoBehaviour
-    {
-        public const float LerpParam = 0.5f;
-        
-        private Transform _transform;
-    
-        void Start()
-        {
-            _transform = GetComponent<Transform>();
-        }
-    
-        void Update()
-        {
-            if (Client.Instance.IsConnected)
-            {
-                var actPosition = Client.Instance.ActuatorPosition;
-                var newPosition = Single3Utils.ToVector3(actPosition.X, actPosition.Y, actPosition.Z);
-                _transform.position = Vector3.Lerp(_transform.position, newPosition, LerpParam);
-            }
-        }
-    }
-}

deltarobot-vr/Assets/DeltaRobotVr/ActuatorScript.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/ArrowScript.cs

@@ -1 @@
-using UnityEngine;
-
-namespace DeltaRobotVr
-{
-    public abstract class ArrowScript : MonoBehaviour
-    {
-        public float lengthMultiplier = 2;
-        void Start()
-        {
-        }
-
-        void Update()
-        {
-            if (Client.Instance.IsConnected)
-            {
-                var vector = GetVector();
-
-                Vector3 v = Single3Utils.ToVector3(vector);
-                this.transform.rotation = Quaternion.FromToRotation(Vector3.forward, v);
-                this.transform.localScale = new Vector3(1, 1, v.magnitude * lengthMultiplier);
-            }
-        }
-
-        protected abstract Single3 GetVector();
-    }
-}

deltarobot-vr/Assets/DeltaRobotVr/ArrowScript.cs.meta

@@ -1 @@
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deltarobot-vr/Assets/DeltaRobotVr/Client.cs

@@ -8 +8 @@
 
 namespace DeltaRobotVr
 {
-    public readonly struct Single3
-    {
-        public float X { get; }
-        public float Y { get; }
-        public float Z { get; }
-
-        public Single3(float x, float y, float z)
-        {
-            X = x;
-            Y = y;
-            Z = z;
-        }
-
-        public override string ToString() => "Single3[ " + X + " " + Y + " " + Z + " ]";
-    }
-
+    
+    /// <summary>
+    /// Singleton class responsible for communication with the Deltarobot server.
+    /// </summary>
     public sealed class Client
     {
         // singleton instance
@@ -79 +67 @@
         private long _curveCounter = 0;
 
         private volatile bool _isConnected;
-        private volatile string _eotMsg = string.Empty;
+        private volatile string _eotReason = string.Empty;
 
         private readonly object _reconnectTimeLock = new object();
         private DateTime _reconnectTime = DateTime.Now;
@@ -92 +80 @@
         {
         }
 
+        /// <summary>
+        /// Starts the client thread and connects to the server.
+        /// </summary>
         public void Start()
         {
             IsRunning = true;
@@ -99 +90 @@
             _thread.Start();
         }
 
+        /// <summary>
+        /// Gracefully stops the client thread. Blocks until the thread actually stops.
+        /// </summary>
         public void Stop()
         {
             IsRunning = false;
@@ -109 +103 @@
             }
         }
 
-        public string EotMsg
+        /// <summary>
+        /// Contains a reason received in an end-of-transmission message.
+        /// </summary>
+        public string EotReason
         {
-            get => _eotMsg;
-            private set => _eotMsg = value;
+            get => _eotReason;
+            private set => _eotReason = value;
         }
 
+        /// <summary>
+        /// Whether the client is currently maintaining an active connection to the server.
+        /// </summary>
         public bool IsConnected
         {
             get => _isConnected;
             private set => _isConnected = value;
         }
 
+        /// <summary>
+        /// Current position of the actuator (in server's world space).
+        /// </summary>
         public Single3 ActuatorPosition
         {
             get
@@ -139 +142 @@
             } 
         }
 
-        public Single3 CurrentDirectionVector
+        /// <summary>
+        /// The actual direction the actuator is currently moving in.
+        /// </summary>
+        public Single3 ActualDirectionVector
         {
             get
             {
@@ -157 +163 @@
             }
         }
 
-        public Single3 DesiredDirectionVector
+        /// <summary>
+        /// The target direction the actuator should be moving in so that it draws the curve.
+        /// </summary>
+        public Single3 TargetDirectionVector
         {
             get
             {
@@ -175 +184 @@
             }
         }
 
+        /// <summary>
+        /// The current exercise curve.
+        /// </summary>
         public Single3[] Curve
         {
             get
@@ -193 +205 @@
             }
         }
 
+        /// <summary>
+        /// A counter used to determine whether the curve has changed. The curve remains the same while the counter is
+        /// the same.
+        /// </summary>
         public long CurveCounter
         {
             get
@@ -211 +227 @@
             }
         }
 
+        /// <summary>
+        /// Whether the client thread should keep on reading data from the server.
+        /// </summary>
         public bool IsRunning
         {
             get {
@@ -228 +247 @@
             }
         }
 
+        /// <summary>
+        /// The time at which the client will attempt to reconnect to the server again.
+        /// </summary>
         public DateTime ReconnectTime
         {
             get
@@ -246 +268 @@
             }
         }
 
+        /// <summary>
+        /// The client thread function.
+        /// </summary>
         private void ThreadProcedure()
         {
             while (IsRunning)
@@ -315 +340 @@
                     ProcessEot(reader);
                     break;
                 case CurrentActuatorPositionId:
-                    ProcessCurrentActuatorPosition(reader);
+                    ProcessActuatorPosition(reader);
                     break;
                 case CurrentDirectionVectorId:
-                    ProcessCurrentDirectionVector(reader);
+                    ProcessActualDirectionVector(reader);
                     break;
                 case DesiredDirectionVectorId:
-                    ProcessDesiredDirectionVector(reader);
+                    ProcessTargetDirectionVector(reader);
                     break;
                 case CurveId:
                     ProcessCurve(reader);
@@ -394 +419 @@
             reader.ReadBytes((int) numberOfBytes);
         }
 
-        private void ProcessCurrentActuatorPosition(BinaryReader reader)
+        private void ProcessActuatorPosition(BinaryReader reader)
         {
             var x = reader.ReadSingle();
             var y = reader.ReadSingle();
@@ -404 +429 @@
             ActuatorPosition = new Single3(x, y, z);
         }
 
-        private void ProcessCurrentDirectionVector(BinaryReader reader)
+        private void ProcessActualDirectionVector(BinaryReader reader)
         {
             var x = reader.ReadSingle();
             var y = reader.ReadSingle();
             var z = reader.ReadSingle();
             reader.ReadSingle(); // skip unused
 
-            CurrentDirectionVector = new Single3(x, y, z);
+            ActualDirectionVector = new Single3(x, y, z);
         }
 
-        private void ProcessDesiredDirectionVector(BinaryReader reader)
+        private void ProcessTargetDirectionVector(BinaryReader reader)
         {
             var x = reader.ReadSingle();
             var y = reader.ReadSingle();
             var z = reader.ReadSingle();
             reader.ReadSingle(); // skip unused
 
-            DesiredDirectionVector = new Single3(x, y, z);
+            TargetDirectionVector = new Single3(x, y, z);
         }
 
         private void ProcessCurve(BinaryReader reader)
@@ -449 +474 @@
         {
             UInt32 numberOfBytes = reader.ReadUInt32();
             Byte[] buffer = reader.ReadBytes((int) numberOfBytes);
-            EotMsg = Encoding.ASCII.GetString(buffer);
+            EotReason = Encoding.ASCII.GetString(buffer);
             IsConnected = false;
         }
 

deltarobot-vr/Assets/DeltaRobotVr/Components.meta

@@ +1 @@
+fileFormatVersion: 2
+guid: fc6bedc3421d40129835f279dbc661e2
+timeCreated: 1621693639

deltarobot-vr/Assets/DeltaRobotVr/Components/AbstractArrow.cs

@@ +1 @@
+using UnityEngine;
+
+namespace DeltaRobotVr.Components
+{
+    /// <summary>
+    /// A generic implementation of vector visualization. The vector is determined by the <c>GetVector</c> method.
+    /// </summary>
+    public abstract class AbstractArrow : MonoBehaviour
+    {
+        public float lengthMultiplier = 2;
+
+        void Update()
+        {
+            if (Client.Instance.IsConnected)
+            {
+                Vector3 v = Single3Utils.ToVector3(GetVector());
+                
+                var t = transform;
+                t.rotation = Quaternion.FromToRotation(Vector3.forward, v);
+                t.localScale = new Vector3(1, 1, v.magnitude * lengthMultiplier);
+            }
+        }
+
+        /// <summary>
+        /// Gets the vector that this component renders.
+        /// </summary>
+        protected abstract Single3 GetVector();
+    }
+}

deltarobot-vr/Assets/DeltaRobotVr/Components/AbstractArrow.cs.meta

@@ +1 @@
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deltarobot-vr/Assets/DeltaRobotVr/Components/ActualDirectionArrow.cs

@@ +1 @@
+namespace DeltaRobotVr.Components
+{
+    
+    /// <summary>
+    /// This arrow visualizes the actual direction the actuator is currently moving in.
+    /// </summary>
+    public class ActualDirectionArrow : AbstractArrow
+    {
+        protected override Single3 GetVector() => Client.Instance.ActualDirectionVector;
+    }
+}

deltarobot-vr/Assets/DeltaRobotVr/Components/ActualDirectionArrow.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/Components/Actuator.cs

@@ +1 @@
+using UnityEngine;
+
+namespace DeltaRobotVr.Components
+{
+    public class Actuator : MonoBehaviour
+    {
+        public const float LerpParam = 0.5f;
+        
+        private Transform _transform;
+    
+        void Start()
+        {
+            _transform = GetComponent<Transform>();
+        }
+    
+        void Update()
+        {
+            if (Client.Instance.IsConnected)
+            {
+                var actPosition = Client.Instance.ActuatorPosition;
+                var newPosition = Single3Utils.ToVector3(actPosition.X, actPosition.Y, actPosition.Z);
+                _transform.position = Vector3.Lerp(_transform.position, newPosition, LerpParam);
+            }
+        }
+    }
+}

deltarobot-vr/Assets/DeltaRobotVr/Components/Actuator.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/Components/Curve.cs

@@ +1 @@
+using UnityEngine;
+
+namespace DeltaRobotVr.Components
+{
+    public class Curve : MonoBehaviour
+    {
+        private long _currentCounter;
+        private LineRenderer _lineRenderer;
+        
+        void Start()
+        {
+            _currentCounter = Client.Instance.CurveCounter;
+            _lineRenderer = GetComponent<LineRenderer>();
+        }
+   
+        void Update()
+        {
+            if (Client.Instance.IsConnected)
+            {
+                var counter = Client.Instance.CurveCounter;
+                if(counter != _currentCounter && Client.Instance.Curve != null)
+                {
+                    _lineRenderer.positionCount = Client.Instance.Curve.Length;
+                    _lineRenderer.SetPositions(Single3Utils.ToVector3(Client.Instance.Curve));
+                }
+            }
+        }
+    }
+}

deltarobot-vr/Assets/DeltaRobotVr/Components/Curve.cs.meta

@@ +1 @@
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deltarobot-vr/Assets/DeltaRobotVr/Components/StatusDisplay.cs

@@ +1 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+using DeltaRobotVr;
+
+public class StatusDisplay : MonoBehaviour
+{
+    private const string STATUS = "Status:\n";
+    private const string CONNECTED = "<color=green>Connected</color>";
+    private const string CONNECTING = "<color=red>Connecting...</color>";
+    private Text _textComp;
+    // Start is called before the first frame update
+    void Start()
+    {
+        _textComp = GetComponent<Text>();
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        if (Client.Instance.IsConnected)
+        {
+            _textComp.text = STATUS + CONNECTED;
+        }
+        else
+        {
+            if (Client.Instance.EotReason.Length == 0)
+            {
+                _textComp.text = STATUS + CONNECTING;
+            }
+            else
+            {
+                _textComp.text = STATUS + CONNECTING + "\n" + Client.Instance.EotReason;
+            }
+        }
+    }
+}

deltarobot-vr/Assets/DeltaRobotVr/Components/StatusDisplay.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/Components/TargetDirectionArrow.cs

@@ +1 @@
+namespace DeltaRobotVr.Components
+{
+    
+    /// <summary>
+    /// This arrow visualizes the target direction the actuator should be moving in, in order to draw the curve.
+    /// </summary>
+    public class TargetDirectionArrow : AbstractArrow
+    {
+        protected override Single3 GetVector() => Client.Instance.TargetDirectionVector;
+    }
+}

deltarobot-vr/Assets/DeltaRobotVr/Components/TargetDirectionArrow.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/CurrentDirectionArrow.cs

@@ -1 @@
-namespace DeltaRobotVr
-{
-    public class CurrentDirectionArrow : ArrowScript
-    {
-        protected override Single3 GetVector() => Client.Instance.CurrentDirectionVector;
-    }
-}

deltarobot-vr/Assets/DeltaRobotVr/CurrentDirectionArrow.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/CurveScript.cs

@@ -1 @@
-using UnityEngine;
-
-namespace DeltaRobotVr
-{
-    public class CurveScript : MonoBehaviour
-    {
-        private long _curentCounter;
-        private LineRenderer lr;
-        void Start()
-        {
-            _curentCounter = Client.Instance.CurveCounter;
-            lr = GetComponent<LineRenderer>();
-        }
-   
-        void Update()
-        {
-            if (Client.Instance.IsConnected)
-            {
-                var _counter = Client.Instance.CurveCounter;
-                if(_counter != _curentCounter && Client.Instance.Curve != null)
-                {
-                    lr.positionCount = Client.Instance.Curve.Length;
-                    lr.SetPositions(Single3Utils.ToVector3(Client.Instance.Curve));
-                }
-            }
-        }
-    }
-}

deltarobot-vr/Assets/DeltaRobotVr/CurveScript.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/DesiredDirectionArrow.cs

@@ -1 @@
-namespace DeltaRobotVr
-{
-    public class DesiredDirectionArrow : ArrowScript
-    {
-        protected override Single3 GetVector() => Client.Instance.DesiredDirectionVector;
-    }
-}

deltarobot-vr/Assets/DeltaRobotVr/DesiredDirectionArrow.cs.meta

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deltarobot-vr/Assets/DeltaRobotVr/MainScript.cs

@@ -1 @@
-using System;
-using UnityEngine;
-using UnityEngine.SceneManagement;
-
-namespace DeltaRobotVr
-{
-    public class MainScript : MonoBehaviour
-    {
-        private void Start()
-        {
-            SceneManager.LoadScene("BasicRoomScene", LoadSceneMode.Additive);
-            Client.Instance.Start();
-        }
-
-        private void OnDestroy()
-        {
-            Client.Instance.Stop();
-        }
-    }
+using UnityEngine;
+using UnityEngine.SceneManagement;
+
+namespace DeltaRobotVr
+{
+    
+    /// <summary>
+    /// Global script for the main scene.
+    /// </summary>
+    public class MainScript : MonoBehaviour
+    {
+        private void Start()
+        {
+            SceneManager.LoadScene("BasicRoomScene", LoadSceneMode.Additive);
+            Client.Instance.Start();
+        }
+
+        private void OnDestroy()
+        {
+            Client.Instance.Stop();
+        }
+    }
 }

deltarobot-vr/Assets/DeltaRobotVr/Single3.cs

@@ +1 @@
+namespace DeltaRobotVr
+{
+    
+    /// <summary>
+    /// A simple 3D float vector.
+    /// </summary>
+    public readonly struct Single3
+    {
+        public float X { get; }
+        public float Y { get; }
+        public float Z { get; }
+
+        public Single3(float x, float y, float z)
+        {
+            X = x;
+            Y = y;
+            Z = z;
+        }
+
+        public override string ToString() => "Single3[ " + X + " " + Y + " " + Z + " ]";
+    }
+}

deltarobot-vr/Assets/DeltaRobotVr/Single3.cs.meta

@@ +1 @@
+fileFormatVersion: 2
+guid: 5e77e12132de42cdb006c02000deb1b1
+timeCreated: 1621783853

deltarobot-vr/Assets/DeltaRobotVr/Single3Utils.cs

@@ -2 +2 @@
 
 namespace DeltaRobotVr
 {
+    
+    /// <summary>
+    /// Utilities for the <c>Single3</c> struct.
+    /// </summary>
     public class Single3Utils
     {
         public const float PositionScale = 0.001f;

deltarobot-vr/Assets/DeltaRobotVr/StatusScript.cs

@@ -1 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using UnityEngine.UI;
-using DeltaRobotVr;
-
-public class StatusScript : MonoBehaviour
-{
-    private const string STATUS = "Status:\n";
-    private const string CONNECTED = "<color=green>Connected</color>";
-    private const string CONNECTING = "<color=red>Connecting...</color>\n";
-    private Text _textComp;
-    // Start is called before the first frame update
-    void Start()
-    {
-        _textComp = GetComponent<Text>();
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        if (Client.Instance.IsConnected)
-        {
-            _textComp.text = STATUS + CONNECTED;
-        }
-        else
-        {
-            _textComp.text = STATUS + CONNECTING + Client.Instance.EotMsg;
-        }
-    }
-}

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deltarobot-vr/Assets/Materials/ActualDirectionMaterial.mat

@@ +1 @@
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