diff --git a/EspIdf/EspIdfParticipant.cpp b/EspIdf/EspIdfParticipant.cpp
index b0f7974..22e8160 100644
--- a/EspIdf/EspIdfParticipant.cpp
+++ b/EspIdf/EspIdfParticipant.cpp
@@ -132,8 +132,8 @@ void ParticipantUDP::Receive() {
bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(IDF_VER)
- std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
- << remoteParticipant->port << "\n";
+ // std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
+ // << remoteParticipant->port << "\n";
int err = sendto(this->sockfd, buffer, bufferSize, 0,
(struct sockaddr*)&dest_addr, sizeof(dest_addr));
diff --git a/Messages/ModelUrlMsg.cpp b/Messages/ModelUrlMsg.cpp
index 0753750..df003be 100644
--- a/Messages/ModelUrlMsg.cpp
+++ b/Messages/ModelUrlMsg.cpp
@@ -4,16 +4,6 @@
namespace RoboidControl {
-// ModelUrlMsg::ModelUrlMsg(unsigned char networkId, unsigned char thingId,
-// unsigned char urlLength, const char *url,
-// float scale) {
-// this->networkId = networkId;
-// this->thingId = thingId;
-// this->urlLength = urlLength;
-// this->url = url;
-// this->scale = scale;
-// }
-
ModelUrlMsg::ModelUrlMsg(unsigned char networkId, Thing* thing) {
this->networkId = networkId;
this->thingId = thing->id;
@@ -22,8 +12,6 @@ ModelUrlMsg::ModelUrlMsg(unsigned char networkId, Thing* thing) {
else
this->urlLength = (unsigned char)strlen(thing->modelUrl);
- // this->url = thing->modelUrl; // dangerous!
-
// the url string in the buffer is not \0 terminated!
char* url = new char[this->urlLength + 1];
for (int i = 0; i < this->urlLength; i++)
diff --git a/Messages/ModelUrlMsg.h b/Messages/ModelUrlMsg.h
index 3c35e68..7c493eb 100644
--- a/Messages/ModelUrlMsg.h
+++ b/Messages/ModelUrlMsg.h
@@ -15,7 +15,7 @@ class ModelUrlMsg : public IMessage {
/// @brief The ID of the thing
unsigned char thingId;
- /// @brief The length of the url st5ring, excluding the null terminator
+ /// @brief The length of the url string, excluding the null terminator
unsigned char urlLength;
/// @brief The url of the model, not terminated by a null character
const char* url;
diff --git a/Participant.cpp b/Participant.cpp
index 80b484f..65a1f51 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -39,8 +39,8 @@ Thing* Participant::Get(unsigned char thingId) {
if (thing->id == thingId)
return thing;
}
- std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
- << "[" << (int)thingId << "]\n";
+ // std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
+ // << "[" << (int)thingId << "]\n";
return nullptr;
}
diff --git a/Participants/ParticipantUDP.cpp b/Participants/ParticipantUDP.cpp
index a406449..f643587 100644
--- a/Participants/ParticipantUDP.cpp
+++ b/Participants/ParticipantUDP.cpp
@@ -88,7 +88,6 @@ void ParticipantUDP::Update(unsigned long currentTimeMs) {
if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
ParticipantMsg* msg = new ParticipantMsg(this->networkId);
- std::cout << "Send Participant\n";
if (this->remoteSite == nullptr)
this->Publish(msg);
else
@@ -160,7 +159,7 @@ Participant* ParticipantUDP::AddParticipant(const char* ipAddress, int port) {
void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
Thing* thing) {
- std::cout << "Send thing info [" << (int)thing->id << "] \n";
+ // std::cout << "Send thing info [" << (int)thing->id << "] \n";
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Send(remoteParticipant, thingMsg);
delete thingMsg;
@@ -253,12 +252,11 @@ bool ParticipantUDP::Publish(IMessage* msg) {
void ParticipantUDP::ReceiveData(unsigned char packetSize,
char* senderIpAddress,
unsigned int senderPort) {
- Participant* sender =
- this->GetParticipant(senderIpAddress, senderPort);
+ Participant* sender = this->GetParticipant(senderIpAddress, senderPort);
if (sender == nullptr) {
sender = this->AddParticipant(senderIpAddress, senderPort);
- std::cout << "New remote participant " << sender->ipAddress
- << ":" << sender->port << std::endl;
+ std::cout << "New remote participant " << sender->ipAddress << ":"
+ << sender->port << std::endl;
}
ReceiveData(packetSize, sender);
@@ -267,7 +265,7 @@ void ParticipantUDP::ReceiveData(unsigned char packetSize,
void ParticipantUDP::ReceiveData(unsigned char bufferSize,
Participant* sender) {
unsigned char msgId = this->buffer[0];
- std::cout << "receive msg " << (int)msgId << "\n";
+ // std::cout << "receive msg " << (int)msgId << "\n";
// std::cout << " buffer size = " <<(int) bufferSize << "\n";
switch (msgId) {
case ParticipantMsg::id: {
@@ -325,13 +323,18 @@ void ParticipantUDP::ReceiveData(unsigned char bufferSize,
}
void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
- std::cout << this->name << ": Process Participant " << (int)msg->networkId
+#if defined(DEBUG)
+ std::cout << this->name << ": Process ParticipantMsg " << (int)msg->networkId
<< "\n";
+#endif
}
void ParticipantUDP::Process(Participant* sender, SiteMsg* msg) {
- std::cout << this->name << ": process Site Id " << (int)this->networkId
- << "->" << (int)msg->networkId << "\n";
+#if defined(DEBUG)
+ std::cout << this->name << ": process SiteMsg " << (int)this->networkId
+ << " -> " << (int)msg->networkId << "\n";
+#endif
+
if (this->networkId != msg->networkId) {
this->networkId = msg->networkId;
// std::cout << this->things.size() << " things\n";
@@ -340,16 +343,25 @@ void ParticipantUDP::Process(Participant* sender, SiteMsg* msg) {
}
}
-void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {}
+void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {
+#if defined(DEBUG)
+ std::cout << this->name << ": Process InvestigateMsg [" << (int)msg->networkId
+ << "/" << (int)msg->thingId << "]\n";
+#endif
+}
void ParticipantUDP::Process(Participant* sender, ThingMsg* msg) {
- std::cout << this->name << ": process Thing [" << (int)msg->networkId << "/"
- << (int)msg->thingId << "]\n";
+#if defined(DEBUG)
+ std::cout << this->name << ": process ThingMsg [" << (int)msg->networkId
+ << "/" << (int)msg->thingId << "] " << (int)msg->thingType << " " << (int)msg->parentId << "\n";
+#endif
}
void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
- std::cout << this->name << ": process Name [" << (int)msg->networkId << "/"
+#if defined(DEBUG)
+ std::cout << this->name << ": process NameMsg [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "] ";
+#endif
Thing* thing = sender->Get(msg->thingId);
if (thing != nullptr) {
@@ -374,18 +386,25 @@ void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
}
void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
- std::cout << this->name << ": process model url [" << (int)msg->networkId
+#if defined(DEBUG)
+ std::cout << this->name << ": process ModelUrlMsg [" << (int)msg->networkId
<< "/" << (int)msg->thingId << "]\n";
+#endif
}
void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
- std::cout << this->name << ": process Pose [" << (int)this->networkId << "/"
- << (int)msg->networkId << "]\n";
+#if defined(DEBUG)
+ std::cout << this->name << ": process PoseMsg [" << (int)this->networkId
+ << "/" << (int)msg->networkId << "]\n";
+#endif
}
void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
- std::cout << this->name << ": process Binary [" << (int)msg->networkId << "/"
- << (int)msg->thingId << "] ";
+#if defined(DEBUG)
+ std::cout << this->name << ": process BinaryMsg [" << (int)msg->networkId
+ << "/" << (int)msg->thingId << "] ";
+#endif
+
Thing* thing = sender->Get(msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->data);