fix NO_STD issues

Arduino/ArduinoParticipant.cpp

@@ -1,5 +1,9 @@
 #include "ArduinoParticipant.h"
 
+#if !defined(NO_STD)
+#include <iostream>
+#endif
+
 #if defined(ARDUINO)
 #if defined(ARDUINO_ARCH_ESP8266)
 #include <ESP8266WiFi.h>
@@ -29,7 +33,9 @@ void ParticipantUDP::Setup() {
 
 #if defined(UNO_R4)
   if (WiFi.status() == WL_NO_MODULE) {
+#if !defined(NO_STD)
     std::cout << "No network available!\n";
+#endif
     return;
   }
 #else
@@ -42,11 +48,13 @@ void ParticipantUDP::Setup() {
   udp = new WiFiUDP();
   udp->begin(this->port);
 
+#if !defined(NO_STD)
   std::cout << "Wifi sync started local " << this->port;
   if (this->remoteSite != nullptr)
     std::cout << ", remote " << this->remoteSite->ipAddress << ":"
               << this->remoteSite->port << "\n";
 #endif
+#endif
 }
 
 void ParticipantUDP::GetBroadcastAddress() {
@@ -57,8 +65,10 @@ void ParticipantUDP::GetBroadcastAddress() {
   this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
   broadcastIpString.toCharArray(this->broadcastIpAddress,
                                 broadcastIpString.length() + 1);
+#if !defined(NO_STD)
   std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
 #endif
+#endif
 }
 
 void ParticipantUDP::Receive() {
@@ -99,7 +109,9 @@ bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
   int n = 0;
   do {
     if (n > 0) {
+#if !defined(NO_STD)
       std::cout << "Retry sending\n";
+#endif
       delay(10);
     }
     n++;

Messages/NetworkIdMsg.cpp

@@ -1,5 +1,7 @@
 #include "NetworkIdMsg.h"
 
+#include <iostream>
+
 namespace RoboidControl {
 
 NetworkIdMsg::NetworkIdMsg(const char* buffer) {

Messages/ParticipantMsg.cpp

@@ -1,5 +1,9 @@
 #include "ParticipantMsg.h"
 
+#if !defined(NO_STD)
+#include <iostream>
+#endif
+
 namespace RoboidControl {
 
 ParticipantMsg::ParticipantMsg(char networkId) {
@@ -13,7 +17,7 @@ ParticipantMsg::ParticipantMsg(const char* buffer) {
 ParticipantMsg::~ParticipantMsg() {}
 
 unsigned char ParticipantMsg::Serialize(char* buffer) {
-#if defined(DEBUG)
+#if defined(DEBUG) && !defined(NO_STD)
   std::cout << "Send ParticipantMsg [" << (int)this->networkId << "] "
             << std::endl;
 #endif

Messages/TextMsg.cpp

@@ -1,5 +1,9 @@
 #include "TextMsg.h"
 
+#if !defined(NO_STD)
+#include <iostream>
+#endif
+
 namespace RoboidControl {
 
 TextMsg::TextMsg(const char* text, unsigned char textLength) {
@@ -24,7 +28,7 @@ unsigned char TextMsg::Serialize(char* buffer) {
   if (this->textLength == 0 || this->text == nullptr)
     return 0;
 
-#if defined(DEBUG)
+#if defined(DEBUG) && !defined(NO_STD)
   std::cout << "Send TextMsg " << (int)this->textLength << " " << this->text << std::endl;
 #endif
   unsigned char ix = 0;

Participant.cpp

@@ -113,6 +113,7 @@ void Participant::Remove(Thing* thing) {
 
 Participant* ParticipantRegistry::Get(const char* ipAddress,
                                       unsigned int port) {
+#if !defined(NO_STD)
   for (Participant* participant : ParticipantRegistry::participants) {
     if (participant == nullptr)
       continue;
@@ -125,10 +126,12 @@ Participant* ParticipantRegistry::Get(const char* ipAddress,
   }
   std::cout << "Could not find participant " << ipAddress << ":" << (int)port
             << std::endl;
+#endif
   return nullptr;
 }
 
 Participant* ParticipantRegistry::Get(unsigned char participantId) {
+#if !defined(NO_STD)  
   for (Participant* participant : ParticipantRegistry::participants) {
     if (participant == nullptr)
       continue;
@@ -136,6 +139,7 @@ Participant* ParticipantRegistry::Get(unsigned char participantId) {
       return participant;
   }
   std::cout << "Could not find participant " << (int)participantId << std::endl;
+#endif  
   return nullptr;
 }
 
@@ -152,19 +156,19 @@ void ParticipantRegistry::Add(Participant* participant) {
 
   if (foundParticipant == nullptr) {
 #if defined(NO_STD)
-    this->things[this->thingCount++] = thing;
+    //this->things[this->thingCount++] = thing;
 #else
     ParticipantRegistry::participants.push_back(participant);
 #endif
-    std::cout << "Add participant " << participant->ipAddress << ":"
+  //   std::cout << "Add participant " << participant->ipAddress << ":"
-              << participant->port << "[" << (int)participant->networkId
+  //             << participant->port << "[" << (int)participant->networkId
-              << "]\n";
+  //             << "]\n";
-    std::cout << "participants " << ParticipantRegistry::participants.size()
+  //   std::cout << "participants " << ParticipantRegistry::participants.size()
-              << "\n";
+  //             << "\n";
-  } else {
+  // } else {
-    std::cout << "Did not add, existing participant " << participant->ipAddress
+  //   std::cout << "Did not add, existing participant " << participant->ipAddress
-              << ":" << participant->port << "[" << (int)participant->networkId
+  //             << ":" << participant->port << "[" << (int)participant->networkId
-              << "]\n";
+  //             << "]\n";
   }
 }
 
@@ -172,9 +176,15 @@ void ParticipantRegistry::Remove(Participant* participant) {
   // participants.remove(participant);
 }
 
+#if defined(NO_STD)
+Participant** ParticipantRegistry::GetAll() const {
+  return ParticipantRegistry::participants;
+}
+#else
 const std::list<Participant*>& ParticipantRegistry::GetAll() const {
   return ParticipantRegistry::participants;
 }
+#endif
 
 #pragma endregion ParticipantRegistry
 

Participant.h

@@ -31,13 +31,19 @@ class ParticipantRegistry {
   /// @param participant The participant to remove
   void Remove(Participant* participant);
 
+ private:
+#if defined(NO_STD)
+public:
+  Participant** GetAll() const;
+  int count = 0;
+private:
+  Participant** participants;
+#else
+public:
   /// @brief Get all participants
   /// @return All participants
   const std::list<Participant*>& GetAll() const;
-
 private:
-#if defined(NO_STD)
-#else
   /// @brief The list of known participants
   std::list<Participant*> participants;
 #endif

Participants/ParticipantUDP.cpp

@@ -143,7 +143,13 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
 }
 
 void ParticipantUDP::UpdateOtherThings(unsigned long currentTimeMs = 0) {
+#if defined(NO_STD)
+  Participant** participants = Participant::registry.GetAll();
+  for (int ix = 0; ix < Participant::registry.count; ix++) {
+    Participant* participant = participants[ix];
+#else  
   for (Participant* participant : Participant::registry.GetAll()) {
+#endif    
     if (participant == nullptr || participant == this)
       continue;
 
@@ -441,7 +447,7 @@ void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
 }
 
 void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
-#if !defined(DEBUG)
+#if !defined(DEBUG) && !defined(NO_STD)
   std::cout << this->name << ": process PoseMsg [" << (int)this->networkId
             << "/" << (int)msg->networkId << "] " << (int)msg->poseType << "\n";
 #endif

Participants/SiteServer.cpp

@@ -31,7 +31,13 @@ void SiteServer::UpdateMyThings(unsigned long currentTimeMs) {
 
     if (this->isIsolated == false) {
       // Send to all other participants
+#if defined(NO_STD)
+      Participant** participants = Participant::registry.GetAll();
+      for (int ix = 0; ix < Participant::registry.count; ix++) {
+        Participant* participant = participants[ix];
+#else
       for (Participant* participant : Participant::registry.GetAll()) {
+#endif
         if (participant == nullptr || participant == this)
           continue;
 
@@ -71,8 +77,12 @@ void SiteServer::Process(Participant* sender, ThingMsg* msg) {
   if (msg->parentId != 0) {
     thing->SetParent(Get(msg->parentId));
     if (thing->GetParent() != nullptr)
+#if defined(NO_STD)
+      ;
+#else    
       std::cout << "Could not find parent [" << (int)msg->networkId << "/"
                 << (int)msg->parentId << "]\n";
+#endif                
   } else
     thing->SetParent(nullptr);
 }