Fixed parenting

Arduino/Things/DRV8833.cpp

@@ -9,11 +9,13 @@ namespace Arduino {
 uint8_t DRV8833Motor::nextAvailablePwmChannel = 0;
 #endif
 
-DRV8833Motor::DRV8833Motor(Participant* participant,
+DRV8833Motor::DRV8833Motor(DRV8833* driver,
                            unsigned char pinIn1,
                            unsigned char pinIn2,
                            bool reverse)
-    : Thing(participant) {
+    : Thing(driver->owner) {
+  this->parent = driver;
+  
   this->pinIn1 = pinIn1;
   this->pinIn2 = pinIn2;
 
@@ -120,11 +122,30 @@ DRV8833::DRV8833(Participant* participant,
   if (pinStandby != 255)
     pinMode(pinStandby, OUTPUT);
 
-  this->motorA = new DRV8833Motor(participant, pinAIn1, pinAIn2, reverseA);
+  this->motorA = new DRV8833Motor(this, pinAIn1, pinAIn2, reverseA);
   this->motorA->name = "Motor A";
-  this->motorB = new DRV8833Motor(participant, pinBIn1, pinBIn2, reverseB);
+  this->motorB = new DRV8833Motor(this, pinBIn1, pinBIn2, reverseB);
   this->motorB->name = "Motor B";
 }
 
+DRV8833::DRV8833(Thing* parent,
+                 unsigned char pinAIn1,
+                 unsigned char pinAIn2,
+                 unsigned char pinBIn1,
+                 unsigned char pinBIn2,
+                 unsigned char pinStandby,
+                 bool reverseA,
+                 bool reverseB)
+    : DRV8833(parent->owner,
+              pinAIn1,
+              pinAIn2,
+              pinBIn1,
+              pinBIn2,
+              pinStandby,
+              reverseA,
+              reverseB) {
+  this->parent = parent;
+}
+
 }  // namespace Arduino
 }  // namespace RoboidControl

Arduino/Things/DRV8833.h

@@ -7,6 +7,42 @@
 namespace RoboidControl {
 namespace Arduino {
 
+class DRV8833Motor;
+
+class DRV8833 : public Thing {
+ public:
+  /// @brief Setup a DRV8833 motor controller
+  /// @param pinAIn1 The pin number connected to the AIn1 port
+  /// @param pinAIn2 The pin number connected to the AIn2 port
+  /// @param pinBIn1 The pin number connected to the BIn1 port
+  /// @param pinBIn2 The pin number connceted to the BIn2 port
+  /// @param pinStandby The pin number connected to the standby port, 255
+  /// indicated that the port is not connected
+  /// @param reverseA The forward turning direction of motor A
+  /// @param reverseB The forward turning direction of motor B
+  DRV8833(Participant* participant,
+          unsigned char pinAIn1,
+          unsigned char pinAIn2,
+          unsigned char pinBIn1,
+          unsigned char pinBIn2,
+          unsigned char pinStandby = 255,
+          bool reverseA = false,
+          bool reverseB = false);
+  DRV8833(Thing* parent,
+          unsigned char pinAIn1,
+          unsigned char pinAIn2,
+          unsigned char pinBIn1,
+          unsigned char pinBIn2,
+          unsigned char pinStandby = 255,
+          bool reverseA = false,
+          bool reverseB = false);
+  DRV8833Motor* motorA = nullptr;
+  DRV8833Motor* motorB = nullptr;
+
+ protected:
+  unsigned char pinStandby = 255;
+};
+
 /// @brief Support for a DRV8833 motor controller
 class DRV8833Motor : public Thing {
  public:
@@ -17,7 +53,7 @@ class DRV8833Motor : public Thing {
   /// @param pinIn1 the pin number for the in1 signal
   /// @param pinIn2 the pin number for the in2 signal
   /// @param direction the forward turning direction of the motor
-  DRV8833Motor(Participant* participant,
+  DRV8833Motor(DRV8833* driver,
                unsigned char pinIn1,
                unsigned char pinIn2,
                bool reverse = false);
@@ -39,32 +75,5 @@ class DRV8833Motor : public Thing {
 #endif
 };
 
-class DRV8833 : public Thing {
- public:
-  /// @brief Setup a DRV8833 motor controller
-  /// @param pinAIn1 The pin number connected to the AIn1 port
-  /// @param pinAIn2 The pin number connected to the AIn2 port
-  /// @param pinBIn1 The pin number connected to the BIn1 port
-  /// @param pinBIn2 The pin number connceted to the BIn2 port
-  /// @param pinStandby The pin number connected to the standby port, 255
-  /// indicated that the port is not connected
-  /// @param reverseA The forward turning direction of motor A
-  /// @param reverseB The forward turning direction of motor B
-  DRV8833(Participant* participant,
-          unsigned char pinAIn1,
-          unsigned char pinAIn2,
-          unsigned char pinBIn1,
-          unsigned char pinBIn2,
-          unsigned char pinStandby = 255,
-          bool reverseA = false,
-          bool reverseB = false);
-
-  DRV8833Motor* motorA = nullptr;
-  DRV8833Motor* motorB = nullptr;
-
- protected:
-  unsigned char pinStandby = 255;
-};
-
 }  // namespace Arduino
 }  // namespace RoboidControl

Arduino/Things/UltrasonicSensor.cpp

@@ -16,6 +16,13 @@ UltrasonicSensor::UltrasonicSensor(Participant* participant,
   pinMode(pinEcho, INPUT);      // configure the echo pin to input mode
 }
 
+UltrasonicSensor::UltrasonicSensor(Thing* parent,
+                                   unsigned char pinTrigger,
+                                   unsigned char pinEcho)
+    : UltrasonicSensor(parent->owner, pinTrigger, pinEcho) {
+  this->parent = parent;
+}
+
 float UltrasonicSensor::GetDistance() {
   // Start the ultrasonic 'ping'
   digitalWrite(pinTrigger, LOW);

Arduino/Things/UltrasonicSensor.h

@@ -8,6 +8,9 @@ namespace Arduino {
 /// @brief An HC-SR04 ultrasonic distance sensor
 class UltrasonicSensor : public TouchSensor {
  public:
+  // Inherit all constructors
+  using TouchSensor::TouchSensor;
+
   /// @brief  Setup an ultrasonic sensor
   /// @param participant The participant to use
   /// @param pinTrigger The pin number of the trigger signal
@@ -15,6 +18,9 @@ class UltrasonicSensor : public TouchSensor {
   UltrasonicSensor(Participant* participant,
                    unsigned char pinTrigger,
                    unsigned char pinEcho);
+  UltrasonicSensor(Thing* parent,
+                   unsigned char pinTrigger,
+                   unsigned char pinEcho);
 
   // parameters
 

Participants/ParticipantUDP.cpp

@@ -179,12 +179,13 @@ void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
 }
 
 bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
-  // std::cout << "send msg " << (int)this->buffer[0] << " to "
-  //           << remoteParticipant->ipAddress << std::endl;
   int bufferSize = msg->Serialize(this->buffer);
   if (bufferSize <= 0)
     return true;
 
+    std::cout << "send msg " << (int)this->buffer[0] << " to "
+    << remoteParticipant->ipAddress << std::endl;
+
 #if defined(_WIN32) || defined(_WIN64)
   Windows::ParticipantUDP* thisWindows =
       static_cast<Windows::ParticipantUDP*>(this);
@@ -227,7 +228,7 @@ void ParticipantUDP::PublishThingInfo(Thing* thing) {
 }
 
 bool ParticipantUDP::Publish(IMessage* msg) {
-  // std::cout << "publish msg\n";
+  std::cout << "publish msg\n";
 #if defined(_WIN32) || defined(_WIN64)
   Windows::ParticipantUDP* thisWindows =
       static_cast<Windows::ParticipantUDP*>(this);

Thing.cpp

@@ -42,8 +42,14 @@ Thing::Thing(Participant* owner, int thingType, unsigned char thingId) {
   this->angularVelocity = Spherical::zero;
 
   // std::cout << "add thing [" << (int)this->id << "] to owner "
-  //           << this->owner->ipAddress << ":" << this->owner->port << std::endl;
+  //           << this->owner->ipAddress << ":" << this->owner->port <<
-  this->owner->Add(this, false);
+  //           std::endl;
+  this->owner->Add(this, true);
+}
+
+Thing::Thing(Thing* parent, int thingType, unsigned char thingId)
+    : Thing(parent->owner, thingType, thingId) {
+  this->parent = parent;
 }
 
 // Thing::Thing(Participant* owner,

Thing.h

@@ -58,6 +58,7 @@ class Thing {
   //       unsigned char networkId,
   //       unsigned char thingId,
   //       Type thingType = Type::Undetermined);
+  Thing(Thing* parent, int thingType = 0, unsigned char thingId = 0);
 
   /// @brief The participant managing this thing
   Participant* owner;

Things/TouchSensor.h

@@ -7,6 +7,9 @@ namespace RoboidControl {
 /// @brief A sensor which can detect touches
 class TouchSensor : public Thing {
  public:
+  // Inherit all constructors
+  using Thing::Thing;
+  
   /// @brief Create a touch sensor with isolated participant
   TouchSensor();
   /// @brief Create a touch sensor