Change how different sensor types ar handled

networking/scripts/udp_broadcast.gd

@@ -5,7 +5,7 @@ extends Node
 var udp = PacketPeerUDP.new()
 var connected = false
 
-var fast_broadcast_rate = 1.0
+var fast_broadcast_rate = 0.5
 var slow_broadcast_rate = 10.0
 var current_broadcast_rate = fast_broadcast_rate
 var last_broadcast = 0
@@ -16,6 +16,7 @@ var thread: Thread
 var mutex: Mutex
 var signal_queue = []
 var exit_thread = false
+var use_thread = true
 
 func _ready():
 	_try_set_ip()
@@ -23,44 +24,54 @@ func _ready():
 	udp.set_dest_address("192.168.0.255", 5000)
 	SensorSignals.new_sensor_connected.connect(_on_sensor_connected)
 	
-	thread = Thread.new()
+	use_thread = OS.get_processor_count() > 1
 	mutex = Mutex.new()
-	
-	thread.start(_thread_function)
+	if use_thread:
+		thread = Thread.new()
+		print('Starting UDP Broadcast thread')
+		thread.start(_thread_function)
+	else:
+		print('UDP server running in single threaded mode')
 
 func _process(delta: float) -> void:
 	mutex.lock()
 	last_broadcast += delta
 	mutex.unlock()
+	if not use_thread:
+		_process_broadcast()
 
 func _exit_tree() -> void:
-	mutex.lock()
-	exit_thread = true
-	mutex.unlock()
-	thread.wait_to_finish()
+	if use_thread:
+		mutex.lock()
+		exit_thread = true
+		mutex.unlock()
+		thread.wait_to_finish()
 
 func _thread_function():
+	print('UDP Broadcast thread started')
 	while true:
 		mutex.lock()
 		var should_exit = exit_thread
 		mutex.unlock()
 		if should_exit:
 			break
-		
-		if ip_address.length() == 0:
-			_try_set_ip()
-			return
 		mutex.lock()
 		var do_broadcast = last_broadcast >= current_broadcast_rate
 		mutex.unlock()
 		if do_broadcast:
-			# Try to contact server
 			mutex.lock()
 			last_broadcast = 0
 			mutex.unlock()
-			var broadcast_str = ip_address + "|%s" % Time.get_datetime_string_from_system(true)
-			print('Broadcasting to UDP: ', broadcast_str)
-			udp.put_packet(broadcast_str.to_utf8_buffer())
+			_process_broadcast()
+
+func _process_broadcast():
+	if ip_address.length() == 0:
+		_try_set_ip()
+		return
+		# Try to contact server
+	var broadcast_str = ip_address + "|%s" % Time.get_datetime_string_from_system(true)
+	print('Broadcasting to UDP: ', broadcast_str)
+	udp.put_packet(broadcast_str.to_utf8_buffer())
 
 func _try_set_ip():
 	for address in IP.get_local_addresses():

networking/scripts/udp_server.gd

@@ -12,9 +12,10 @@ var awaiting_sensors = {}
 var invalid_sensors = {}
 var valid_sensors = {}
 
+var use_thread: bool = false
 var thread: Thread
 var mutex: Mutex
-var exit_thread = false
+var exit_thread = true
 
 var signal_queue = []
 
@@ -27,10 +28,16 @@ func _ready():
 	print('Listening on port: ', port)
 	
 	mutex = Mutex.new()
-	thread = Thread.new()
-	thread.start(_thread_function)
+	if use_thread:
+		thread = Thread.new()
+		print('Starting UDP Server thread')
+		thread.start(_thread_function)
+	else:
+		print('UDP server running in single threaded mode')
 
 func _process(delta: float) -> void:
+	if not use_thread:
+		_process_connections()
 	while signal_queue.size() > 0:
 		mutex.lock()
 		var signal_data = signal_queue.pop_front()
@@ -51,10 +58,11 @@ func _process(delta: float) -> void:
 			DataSignals.magnetometer_data_received.emit(signal_data[1], signal_data[2], signal_data[3])
 
 func _exit_tree() -> void:
-	mutex.lock()
-	exit_thread = true
-	mutex.unlock()
-	thread.wait_to_finish()
+	if use_thread:
+		mutex.lock()
+		exit_thread = true
+		mutex.unlock()
+		thread.wait_to_finish()
 
 func _on_sensor_approved(sensor_ip: String):
 	mutex.lock()
@@ -72,6 +80,7 @@ func _on_sensor_declined(sensor_ip: String):
 	mutex.unlock()
 
 func _thread_function():
+	print('UDP Server thread started')
 	while true:
 		mutex.lock()
 		var should_exit = exit_thread
@@ -177,15 +186,13 @@ func _handle_new_peer_request(peer_ip: String, packet: PackedByteArray):
 	10     | 1 byte | bool | peer provides quaternion orientation
 	"""
 	mutex.lock()
-	awaiting_sensors[peer_ip] = [
-		#packet.decode_u8(4),
-		packet.decode_u8(5),
-		packet.decode_u8(6),
-		packet.decode_u8(7),
-		packet.decode_u8(8),
-		#packet.decode_u8(9),
-		#packet.decode_u8(10),
-		]
+	print(packet)
+	print(packet.get(4))
+	print(0xf1)
+	if packet.get(4) == 0xf1:
+		awaiting_sensors[peer_ip] = "VEHICLE"
+	elif packet.get(4) == 0x23:
+		awaiting_sensors[peer_ip] = "LIDAR_2D"
 	signal_queue.append(["sensor_request_received", peer_ip, awaiting_sensors[peer_ip]])
 	mutex.unlock()