Linking works

CMakeLists.txt

@@ -1,8 +1,21 @@
 cmake_minimum_required(VERSION 3.13)  # CMake version check
+
+file(GLOB srcs 
+    *.cpp
+    Things/*.cpp
+    Messages/*.cpp
+    Arduino/*.cpp
+    Posix/*.cpp
+    Windows/*.cpp
+    EspIdf/*.cpp
+    LinearAlgebra/*.cpp
+)
+
 if(ESP_PLATFORM)
     idf_component_register(
-        SRC_DIRS "." "LinearAlgebra"
+        SRCS ${srcs}
         INCLUDE_DIRS "." "LinearAlgebra"
+        REQUIRES esp_netif esp_wifi
     )
 else() 
     project(RoboidControl)
@@ -28,14 +41,6 @@ else()
         .
         LinearAlgebra
     )
-    file(GLOB srcs 
-        *.cpp
-        Things/*.cpp
-        Messages/*.cpp
-        Arduino/*.cpp
-        Posix/*.cpp
-        Windows/*.cpp
-    )
     add_library(RoboidControl STATIC ${srcs})
     
     enable_testing()

EspIdf/EspIdfParticipant.cpp

@@ -1,21 +1,11 @@
 #include "EspIdfParticipant.h"
 
+#include "esp_wifi.h"
+#include "lwip/sockets.h"
+
 namespace RoboidControl {
 namespace EspIdf {
 
-// #include <stdio.h>
-// #include <string.h>
-#include "esp_log.h"
-// #include "esp_system.h"
-#include "esp_netif.h"
-// #include "esp_event_loop.h"
-#include "esp_wifi.h"
-#include "lwip/sockets.h"
-// #include "lwip/err.h"
-// #include "lwip/sys.h"
-// #include "lwip/ip_addr.h"
-// #include "lwip/inet.h"
-
 void LocalParticipant::Setup(int localPort,
                              const char* remoteIpAddress,
                              int remotePort) {
@@ -31,10 +21,10 @@ void LocalParticipant::Setup(int localPort,
     return;
   }
 
-  struct sockaddr_in server_addr, client_addr;
-  socklen_t addr_len = sizeof(client_addr);
-  char recv_buffer[1024];
-  //   int sockfd;
+  struct sockaddr_in server_addr; //, client_addr;
+  // socklen_t addr_len = sizeof(client_addr);
+  // char recv_buffer[1024];
+  //    int sockfd;
 
   // Create a UDP socket
   sockfd = socket(AF_INET, SOCK_DGRAM, 0);
@@ -96,7 +86,6 @@ void LocalParticipant::Receive() {
   int packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0,
                             (struct sockaddr*)&client_addr, &addr_len);
   while (packetSize > 0) {
-
     char sender_ipAddress[16];
     inet_ntoa_r(client_addr.sin_addr, sender_ipAddress, INET_ADDRSTRLEN);
     unsigned int sender_port = client_addr.sin_port;
@@ -116,7 +105,7 @@ void LocalParticipant::Receive() {
     // ReceiveData(packetSize, remoteParticipant);
     ReceiveData(packetSize, sender_ipAddress, sender_port);
     packetSize = recvfrom(sockfd, buffer, sizeof(buffer) - 1, 0,
-                            (struct sockaddr*)&client_addr, &addr_len);
+                          (struct sockaddr*)&client_addr, &addr_len);
   }
 #endif
 }
@@ -127,10 +116,13 @@ bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
   // << remoteParticipant->port << "\n";
 
   struct sockaddr_in dest_addr;
-    dest_addr.sin_family = AF_INET;
-    dest_addr.sin_port = htons(remoteParticipant->port);
-    inet_pton(AF_INET, remoteParticipant->ipAddress, &dest_addr.sin_addr.s_addr);
-  int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr));
+  dest_addr.sin_family = AF_INET;
+  dest_addr.sin_port = htons(remoteParticipant->port);
+  inet_pton(AF_INET, remoteParticipant->ipAddress, &dest_addr.sin_addr.s_addr);
+  int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+                   sizeof(dest_addr));
+  if (err != 0)
+    std::cout << "Send error\n";
 
 #endif
   return true;
@@ -142,14 +134,17 @@ bool LocalParticipant::Publish(IMessage* msg) {
   if (bufferSize <= 0)
     return true;
 
-    struct sockaddr_in dest_addr;
-    dest_addr.sin_family = AF_INET;
-    dest_addr.sin_port = htons(this->remotePort);
-    inet_pton(AF_INET, this->broadcastIpAddress, &dest_addr.sin_addr.s_addr);
-  int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr));
-//   udp.beginPacket(this->broadcastIpAddress, this->remotePort);
-//   udp.write((unsigned char*)buffer, bufferSize);
-//   udp.endPacket();
+  struct sockaddr_in dest_addr;
+  dest_addr.sin_family = AF_INET;
+  dest_addr.sin_port = htons(this->remotePort);
+  inet_pton(AF_INET, this->broadcastIpAddress, &dest_addr.sin_addr.s_addr);
+  int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+                   sizeof(dest_addr));
+  if (err != 0)
+    std::cout << "Publish error\n";
+  //   udp.beginPacket(this->broadcastIpAddress, this->remotePort);
+  //   udp.write((unsigned char*)buffer, bufferSize);
+  //   udp.endPacket();
 
   //   std::cout << "Publish to " << this->broadcastIpAddress << ":"
   //             << this->remotePort << "\n";

EspIdf/EspIdfParticipant.h

@@ -2,10 +2,6 @@
 
 #include "../LocalParticipant.h"
 
-// #if defined(HAS_WIFI)
-// #include <WiFiUdp.h>
-// #endif
-
 namespace RoboidControl {
 namespace EspIdf {
 

EspIdf/EspIdfUtils.cpp

@@ -2,7 +2,7 @@
 
 #if defined(IDF_VER)
 #include <iostream>
-#include "esp_event.h"
+// #include "esp_event.h"
 #include "esp_netif.h"
 #include "esp_wifi.h"
 #include "string.h"
@@ -26,9 +26,9 @@ static void wifi_event_handler(void* arg,
       esp_wifi_connect();
   } else if (event_base == IP_EVENT) {
     if (event_id == IP_EVENT_STA_GOT_IP) {
-      ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data;
-      std::cout << "Wifi connected, IP address " << (IP2STR(&event->ip_info.ip))
-                << "\n";
+      //ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data;
+      //const char* ipaddr = IP2STR(&event->ip_info.ip);
+      std::cout << "Wifi connected, IP address (tbd)\n";
       wifi_connected = true;
       xSemaphoreGive(wifi_semaphore);  // Signal that connection is established
     }
@@ -82,7 +82,7 @@ bool StartWifi(const char* wifiSsid, const char* wifiPassword) {
   }
 
   if (!wifi_connected)
-    std::cout << "\nCould not connect to home network.\n";  
+    std::cout << "\nCould not connect to home network.\n";
 
   return success;
 }

LinearAlgebra/Angle.h

@@ -209,7 +209,7 @@ class AngleOf {
  private:
   T value;
 
-  AngleOf<T>(T rawValue);
+  AngleOf(T rawValue);
 };
 
 using AngleSingle = AngleOf<float>;

LinearAlgebra/Direction.h

@@ -30,11 +30,11 @@ class DirectionOf {
   AngleOf<T> vertical;
 
   /// @brief Create a new direction with zero angles
-  DirectionOf<T>();
+  DirectionOf();
   /// @brief Create a new direction
   /// @param horizontal The horizontal angle
   /// @param vertical The vertical angle.
-  DirectionOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical);
+  DirectionOf(AngleOf<T> horizontal, AngleOf<T> vertical);
 
   /// @brief Convert the direction into a carthesian vector
   /// @return The carthesian vector corresponding to this direction.

LinearAlgebra/Spherical.h

@@ -24,9 +24,9 @@ class SphericalOf {
   /// @brief The direction of the vector
   DirectionOf<T> direction;
 
-  SphericalOf<T>();
-  SphericalOf<T>(float distance, AngleOf<T> horizontal, AngleOf<T> vertical);
-  SphericalOf<T>(float distance, DirectionOf<T> direction);
+  SphericalOf();
+  SphericalOf(float distance, AngleOf<T> horizontal, AngleOf<T> vertical);
+  SphericalOf(float distance, DirectionOf<T> direction);
 
   /// @brief Create spherical vector without using AngleOf type. All given
   /// angles are in degrees

LinearAlgebra/SwingTwist.h

@@ -21,9 +21,9 @@ class SwingTwistOf {
   DirectionOf<T> swing;
   AngleOf<T> twist;
 
-  SwingTwistOf<T>();
-  SwingTwistOf<T>(DirectionOf<T> swing, AngleOf<T> twist);
-  SwingTwistOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
+  SwingTwistOf();
+  SwingTwistOf(DirectionOf<T> swing, AngleOf<T> twist);
+  SwingTwistOf(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
 
   static SwingTwistOf<T> Degrees(float horizontal,
                                  float vertical = 0,