From 417005b489f9274c5a4acc7f339c7ca90c00d10b Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Tue, 25 Feb 2025 17:42:27 +0100
Subject: [PATCH] touch sensor is receiving

---
 Arduino/Participant.cpp | 10 +++++-----
 Participant.cpp         |  8 ++++----
 RemoteParticipant.cpp   |  3 ++-
 Sensors/TouchSensor.cpp | 14 ++++++++++----
 4 files changed, 21 insertions(+), 14 deletions(-)

diff --git a/Arduino/Participant.cpp b/Arduino/Participant.cpp
index bb9142f..180a468 100644
--- a/Arduino/Participant.cpp
+++ b/Arduino/Participant.cpp
@@ -54,11 +54,11 @@ void Participant::Receive() {
     RemoteParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
     if (remoteParticipant == nullptr) {
       remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
-      std::cout << "New sender " << sender_ipAddress << ":" << sender_port
-                << "\n";
-      std::cout << "New remote participant " << remoteParticipant->ipAddress
-                << ":" << remoteParticipant->port << " "
-                << (int)remoteParticipant->networkId << "\n";
+      // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
+      //           << "\n";
+      // std::cout << "New remote participant " << remoteParticipant->ipAddress
+      //           << ":" << remoteParticipant->port << " "
+      //           << (int)remoteParticipant->networkId << "\n";
     }
 
     ReceiveData(packetSize, remoteParticipant);
diff --git a/Participant.cpp b/Participant.cpp
index 974d4fc..0bece41 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -118,7 +118,7 @@ void Participant::ReceiveUDP() {
 
 RemoteParticipant* Participant::GetParticipant(const char* ipAddress, int port) {
   for (RemoteParticipant* sender : this->senders) {
-    if (sender->ipAddress == ipAddress && sender->port == port)
+    if (strcmp(sender->ipAddress, ipAddress) == 0 && sender->port == port)
       return sender;
   }
   return nullptr;
@@ -135,7 +135,7 @@ RemoteParticipant* Participant::AddParticipant(const char* ipAddress, int port)
 #pragma region Send
 
 void Participant::SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thing) {
-  std::cout << "Send thing info\n";
+  std::cout << "Send thing info " << thing->id << " \n";
   ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
   this->Send(remoteParticipant, thingMsg);
   delete thingMsg;
@@ -280,11 +280,11 @@ void Participant::Process(RemoteParticipant* sender, PoseMsg* msg) {}
 void Participant::Process(RemoteParticipant* sender, BinaryMsg* msg) {
   // std::cout << this->name << ": process Binary [" << (int)this->networkId << "/"
   //           << (int)msg->networkId << "]\n";
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  Thing* thing = this->Get(msg->networkId, msg->thingId);
   if (thing != nullptr)
     thing->ProcessBinary(msg->bytes);
   else
-    std::cout << "custom msg for unknown thing " << (int)msg->networkId << ":" << (int)msg->thingId << "\n";
+    std::cout << "custom msg for unknown thing [" << (int)msg->networkId << "/" << (int)msg->thingId << "]\n";
 }
 
 // Receive
diff --git a/RemoteParticipant.cpp b/RemoteParticipant.cpp
index 52efd53..ee24bae 100644
--- a/RemoteParticipant.cpp
+++ b/RemoteParticipant.cpp
@@ -24,7 +24,8 @@ RemoteParticipant::~RemoteParticipant() {
 
 Thing* RemoteParticipant::Get(unsigned char networkId, unsigned char thingId) {
   for (Thing* thing : this->things) {
-    if (thing->networkId == networkId && thing->id == thingId)
+    //if (thing->networkId == networkId && thing->id == thingId)
+    if (thing->id == thingId)
       return thing;
   }
   //   std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
diff --git a/Sensors/TouchSensor.cpp b/Sensors/TouchSensor.cpp
index 508aa8c..3e007d4 100644
--- a/Sensors/TouchSensor.cpp
+++ b/Sensors/TouchSensor.cpp
@@ -3,14 +3,20 @@
 namespace RoboidControl {
 
 TouchSensor::TouchSensor(RemoteParticipant* participant) : Thing(participant) {
-    this->touchedSomething = false;
-    this->type = (unsigned char) Thing::Type::TouchSensor;
+  this->touchedSomething = false;
+  this->type = (unsigned char)Thing::Type::TouchSensor;
 }
 
-// TouchSensor::TouchSensor(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId) : Thing(participant, networkId, thingId) {
+// TouchSensor::TouchSensor(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId) :
+// Thing(participant, networkId, thingId) {
 //     this->touchedSomething = false;
 // }
 
 void TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {}
-void TouchSensor::ProcessBinary(char* bytes) {}
+void TouchSensor::ProcessBinary(char* bytes) {
+  this->touchedSomething = (bytes[0] == 1);
+  if (this->touchedSomething)
+    std::cout << "Touching something!\n";
+}
+
 }  // namespace RoboidControl
\ No newline at end of file