Fix issue multiple local participants

Participant.cpp

@@ -4,7 +4,9 @@
 
 namespace RoboidControl {
 
-std::list<Participant*> Participant::participants;
+#pragma region Participant
+
+ParticipantRegistry Participant::registry;
 
 Participant::Participant(const char* ipAddress, int port) {
   // make a copy of the ip address string
@@ -24,6 +26,7 @@ Participant::Participant(const char* ipAddress, int port) {
 }
 
 Participant::~Participant() {
+  registry.Remove(this);
   delete[] this->ipAddress;
 }
 
@@ -34,56 +37,6 @@ void Participant::Update(unsigned long currentTimeMs) {
   }
 }
 
-Participant* Participant::GetParticipant(const char* ipAddress,
-                                         unsigned int port) {
-  for (Participant* participant : Participant::participants) {
-    if (participant == nullptr)
-      continue;
-    if (strcmp(participant->ipAddress, ipAddress) == 0 &&
-        participant->port == port)
-      return participant;
-  }
-  // std::cout << "Could not find participant " << ipAddress << ":" << (int)port
-  //           << std::endl;
-  return nullptr;
-}
-
-Participant* Participant::GetParticipant(unsigned char participantId) {
-  for (Participant* participant : Participant::participants) {
-    if (participant == nullptr)
-      continue;
-    if (participant->networkId == participantId)
-      return participant;
-  }
-  // std::cout << "Could not find participant " << (int)participantId << std::endl;
-  return nullptr;
-}
-
-Participant* Participant::AddParticipant(const char* ipAddress, unsigned int port) {
-  Participant* participant = new Participant(ipAddress, port);
-  Participant::AddParticipant(participant);
-  return participant;
-}
-
-void Participant::AddParticipant(Participant* participant) {
-  Participant* foundParticipant =
-      Participant::GetParticipant(participant->ipAddress, participant->port);
-  if (foundParticipant == nullptr) {
-#if defined(NO_STD)
-    this->things[this->thingCount++] = thing;
-#else
-    Participant::participants.push_back(participant);
-#endif
-    std::cout << "Add participant " << participant->ipAddress << ":"
-              << participant->port << "[" << (int)participant->networkId
-              << "]\n";
-  } else {
-    std::cout << "Did not add, existing participant " << participant->ipAddress << ":"
-              << participant->port << "[" << (int)participant->networkId
-              << "]\n";
-  }
-}
-
 Thing* Participant::Get(unsigned char thingId) {
   for (Thing* thing : this->things) {
     if (thing->id == thingId)
@@ -154,4 +107,75 @@ void Participant::Remove(Thing* thing) {
 #endif
 }
 
+#pragma endregion
+
+#pragma region ParticipantRegistry
+
+Participant* ParticipantRegistry::GetParticipant(const char* ipAddress,
+                                                 unsigned int port) {
+  for (Participant* participant : ParticipantRegistry::participants) {
+    if (participant == nullptr)
+      continue;
+    if (strcmp(participant->ipAddress, ipAddress) == 0 &&
+        participant->port == port) {
+      std::cout << "found participant " << participant->ipAddress << ":"
+                << (int)participant->port << std::endl;
+      return participant;
+    }
+  }
+  std::cout << "Could not find participant " << ipAddress << ":" << (int)port
+            << std::endl;
+  return nullptr;
+}
+
+Participant* ParticipantRegistry::GetParticipant(unsigned char participantId) {
+  for (Participant* participant : ParticipantRegistry::participants) {
+    if (participant == nullptr)
+      continue;
+    if (participant->networkId == participantId)
+      return participant;
+  }
+  std::cout << "Could not find participant " << (int)participantId << std::endl;
+  return nullptr;
+}
+
+Participant* ParticipantRegistry::AddParticipant(const char* ipAddress,
+                                                 unsigned int port) {
+  Participant* participant = new Participant(ipAddress, port);
+  AddParticipant(participant);
+  return participant;
+}
+
+void ParticipantRegistry::AddParticipant(Participant* participant) {
+  Participant* foundParticipant =
+      GetParticipant(participant->ipAddress, participant->port);
+
+  if (foundParticipant == nullptr) {
+#if defined(NO_STD)
+    this->things[this->thingCount++] = thing;
+#else
+    ParticipantRegistry::participants.push_back(participant);
+#endif
+    std::cout << "Add participant " << participant->ipAddress << ":"
+              << participant->port << "[" << (int)participant->networkId
+              << "]\n";
+    std::cout << "participants " << ParticipantRegistry::participants.size()
+              << "\n";
+  } else {
+    std::cout << "Did not add, existing participant " << participant->ipAddress
+              << ":" << participant->port << "[" << (int)participant->networkId
+              << "]\n";
+  }
+}
+
+void ParticipantRegistry::Remove(Participant* participant) {
+  // participants.remove(participant);
+}
+
+const std::list<Participant*>& ParticipantRegistry::GetAll() const {
+  return ParticipantRegistry::participants;
+}
+
+#pragma endregion ParticipantRegistry
+
 }  // namespace RoboidControl

Participant.h

@@ -5,6 +5,24 @@ namespace RoboidControl {
 
 constexpr int MAX_THING_COUNT = 256;
 
+class ParticipantRegistry {
+  public:
+   Participant* GetParticipant(const char* ipAddress, unsigned int port);
+   Participant* GetParticipant(unsigned char participantId);
+   Participant* AddParticipant(const char* ipAddress, unsigned int port);
+   void AddParticipant(Participant* participant);
+
+   void Remove(Participant* participant);
+
+   const std::list<Participant*>& GetAll() const;
+  private:
+   #if defined(NO_STD)
+ #else
+   /// @brief The list of known participants
+   std::list<Participant*> participants;
+ #endif
+ };
+
 /// @brief A participant is a device which manages things.
 /// It can communicate with other participant to synchronise the state of
 /// things. This class is used to register the things the participant is
@@ -53,16 +71,7 @@ class Participant {
   virtual void Update(unsigned long currentTimeMs = 0);
 
 public:
-#if defined(NO_STD)
+  static ParticipantRegistry registry;
-#else
-  /// @brief The list of known participants
-  static std::list<Participant*> participants;
-#endif
-  static Participant* GetParticipant(const char* ipAddress, unsigned int port);
-  static Participant* GetParticipant(unsigned char participantId);
-  static Participant* AddParticipant(const char* ipAddress, unsigned int port);
-  static void AddParticipant(Participant* participant);
-
 };
 
 }  // namespace RoboidControl

Participants/ParticipantUDP.cpp

@@ -4,32 +4,18 @@
 
 #include "Arduino/ArduinoParticipant.h"
 #include "EspIdf/EspIdfParticipant.h"
-
-#if defined(_WIN32) || defined(_WIN64)
-#include <winsock2.h>
-#include <ws2tcpip.h>
 #include "Windows/WindowsParticipant.h"
-#pragma comment(lib, "ws2_32.lib")
-
-#elif defined(__unix__) || defined(__APPLE__)
-#include <arpa/inet.h>
-#include <fcntl.h>  // For fcntl
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include <unistd.h>
-#include <chrono>
 #include "Posix/PosixParticipant.h"
-#endif
 
 #include <string.h>
 
 namespace RoboidControl {
 
-ParticipantUDP::ParticipantUDP(int port) : Participant("0.0.0.0", port) {
+ParticipantUDP::ParticipantUDP(int port) : Participant("127.0.0.1", port) {
   this->remoteSite = nullptr;
   if (this->port == 0)
     this->isIsolated = true;
-  Participant::AddParticipant(this);
+  Participant::registry.AddParticipant(this);
 }
 
 ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
@@ -38,7 +24,7 @@ ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
     this->isIsolated = true;
   else
     this->remoteSite = new Participant(ipAddress, port);
-  Participant::AddParticipant(this);
+  Participant::registry.AddParticipant(this);
 }
 
 static ParticipantUDP* isolatedParticipant = nullptr;
@@ -50,7 +36,7 @@ ParticipantUDP* ParticipantUDP::Isolated() {
 }
 
 void ParticipantUDP::begin() {
-  if (this->isIsolated)
+  if (this->isIsolated || this->remoteSite == nullptr)
     return;
 
   SetupUDP(this->port, this->remoteSite->ipAddress, this->remoteSite->port);
@@ -157,11 +143,14 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
 }
 
 void ParticipantUDP::UpdateOtherThings(unsigned long currentTimeMs = 0) {
-  for (Participant* participant : Participant::participants) {
+  for (Participant* participant : Participant::registry.GetAll()) {
     if (participant == nullptr || participant == this)
       continue;
 
-    participant->Update(currentTimeMs);
+    // Call only the Participant version of the Update.
+    // This is to deal with the function where one of the (remote)
+    // participants is actually a local participant
+    participant->Participant::Update(currentTimeMs);
     if (this->isIsolated)
       continue;
 
@@ -301,9 +290,9 @@ void ParticipantUDP::ReceiveData(unsigned char packetSize,
                                  unsigned int senderPort) {
   // std::cout << "Receive data from " << senderIpAddress << ":" << senderPort
   //           << std::endl;
-  Participant* sender = this->GetParticipant(senderIpAddress, senderPort);
+  Participant* sender = this->registry.GetParticipant(senderIpAddress, senderPort);
   if (sender == nullptr) {
-    sender = this->AddParticipant(senderIpAddress, senderPort);
+    sender = this->registry.AddParticipant(senderIpAddress, senderPort);
 #if !defined(NO_STD)
     std::cout << "New remote participant " << sender->ipAddress << ":"
               << sender->port << std::endl;
@@ -456,7 +445,7 @@ void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
   std::cout << this->name << ": process PoseMsg [" << (int)this->networkId
             << "/" << (int)msg->networkId << "] " << (int)msg->poseType << "\n";
 #endif
-  Participant* owner = Participant::GetParticipant(msg->networkId);
+  Participant* owner = Participant::registry.GetParticipant(msg->networkId);
   if (owner == nullptr)
     return;
 
@@ -480,7 +469,7 @@ void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
             << "/" << (int)msg->thingId << "]\n";
 #endif
 
-  Participant* owner = Participant::GetParticipant(msg->networkId);
+  Participant* owner = Participant::registry.GetParticipant(msg->networkId);
   if (owner != nullptr) {
     Thing* thing = owner->Get(msg->thingId);
     if (thing != nullptr)

Participants/SiteServer.cpp

@@ -11,13 +11,10 @@ namespace RoboidControl {
 
 #pragma region Init
 
-SiteServer::SiteServer(int port) {
+SiteServer::SiteServer(int port) : ParticipantUDP(port) {
   this->name = "Site Server";
   this->publishInterval = 0;
 
-  this->ipAddress = "0.0.0.0";
-  this->port = port;
-
   SetupUDP(port, ipAddress, 0);
 }
 
@@ -34,7 +31,7 @@ void SiteServer::UpdateMyThings(unsigned long currentTimeMs) {
 
     if (this->isIsolated == false) {
       // Send to all other participants
-      for (Participant* participant : Participant::participants) {
+      for (Participant* participant : Participant::registry.GetAll()) {
         if (participant == nullptr || participant == this)
           continue;
 

Thing.h

@@ -66,7 +66,6 @@ class Thing {
 
  public:
   /// @brief Terminated things are no longer updated
-  void Terminate();
   bool terminate = false;
 
 #pragma region Properties