Merge branch 'main' of http://gitlab.passervr.com/passer/controlcore/controlcore_cpp

Messages/NameMsg.cpp

@@ -10,8 +10,12 @@ NameMsg::NameMsg(const char *buffer) {
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
   this->nameLength = buffer[ix++];
-  this->name = &buffer[ix]; // dangerous! name should not be used anymore after
-                            // buffer has been re-used...
+  // the name string in the buffer is not \0 terminated!
+  char* name = new char[this->nameLength+1];
+  for (int i = 0; i < this->nameLength; i++)
+    name[i] = buffer[ix++];
+  name[this->nameLength] = '\0';
+  this->name = name;
 }
 
 NameMsg::NameMsg(unsigned char networkId, Thing *thing) {
@@ -24,15 +28,9 @@ NameMsg::NameMsg(unsigned char networkId, Thing *thing) {
   this->name = thing->name; // dangerous!
 }
 
-// NameMsg::NameMsg(unsigned char networkId, unsigned char thingId,
-//                  const char *name, unsigned char nameLength) {
-//   this->networkId = networkId;
-//   this->thingId = thingId;
-//   this->name = name;
-//   this->nameLength = nameLength;
-// }
-
-NameMsg::~NameMsg() {}
+NameMsg::~NameMsg() {
+  delete[] this->name;
+}
 
 unsigned char NameMsg::Serialize(char *buffer) {
   if (this->nameLength == 0 || this->name == nullptr)

Participant.cpp

@@ -28,7 +28,7 @@ Participant::Participant(int port) {
   this->ipAddress = "0.0.0.0";
   this->port = port;
 
-  this->participants.push_back(this);
+  this->senders.push_back(this);
 
   // int randomPort = (rand() % (65535 - 49152 + 1)) + 49152;
   this->localPort = port;
@@ -39,7 +39,7 @@ Participant::Participant(const char *ipAddress, int port) {
   this->ipAddress = ipAddress;
   this->port = port;
 
-  this->participants.push_back(this);
+  this->senders.push_back(this);
 
   // int randomPort = (rand() % (65535 - 49152 + 1)) + 49152;
   this->localPort = port; // randomPort;
@@ -90,7 +90,6 @@ void Participant::Update(unsigned long currentTimeMs) {
   this->ReceiveUDP();
 
   this->UpdateAll(currentTimeMs);
-  this->UpdateAll(currentTimeMs);
 }
 
 void Participant::ReceiveUDP() {
@@ -107,32 +106,34 @@ void Participant::ReceiveUDP() {
 }
 
 Participant *Participant::GetParticipant(const char *ipAddress, int port) {
-  for (Participant *participant : this->participants) {
-    if (participant->ipAddress == ipAddress && participant->port == port)
-      return participant;
+  for (Participant *sender : this->senders) {
+    if (sender->ipAddress == ipAddress && sender->port == port)
+      return sender;
   }
   return nullptr;
 }
 
 Participant *Participant::AddParticipant(const char *ipAddress, int port) {
+  std::cout << "New Participant " << ipAddress << ":" << port << "\n";
   Participant *participant = new Participant(ipAddress, port);
-  participant->networkId = (unsigned char)this->participants.size();
-  this->participants.push_back(participant);
+  participant->networkId = (unsigned char)this->senders.size();
+  this->senders.push_back(participant);
   return participant;
 }
 
 #pragma region Send
 
-void Participant::SendThingInfo(Thing *thing) {
+void Participant::SendThingInfo(RemoteParticipant *remoteParticipant,
+                                Thing *thing) {
   std::cout << "Send thing info\n";
   ThingMsg *thingMsg = new ThingMsg(this->networkId, thing);
-  this->Send(thingMsg);
+  this->Send(remoteParticipant, thingMsg);
   delete thingMsg;
   NameMsg *nameMsg = new NameMsg(this->networkId, thing);
-  this->Send(nameMsg);
+  this->Send(remoteParticipant, nameMsg);
   delete nameMsg;
   ModelUrlMsg *modelMsg = new ModelUrlMsg(this->networkId, thing);
-  this->Send(modelMsg);
+  this->Send(remoteParticipant, modelMsg);
   delete modelMsg;
 }
 
@@ -154,16 +155,20 @@ void Passer::RoboidControl::Participant::PublishThingInfo(Thing *thing) {
   delete customMsg;
 }
 
-bool Participant::Send(IMessage *msg) {
+bool Participant::Send(RemoteParticipant *remoteParticipant, IMessage *msg) {
+  int bufferSize = msg->Serialize(this->buffer);
+  if (bufferSize <= 0)
+    return true;
+
 #if defined(_WIN32) || defined(_WIN64)
   UdpWindows *thisWindows = static_cast<UdpWindows *>(this);
-  return thisWindows->Send(msg);
+  return thisWindows->Send(remoteParticipant, bufferSize);
 #elif defined(__unix__) || defined(__APPLE__)
   UdpPosix *thisPosix = static_cast<UdpPosix *>(this);
-  return thisPosix->Send(msg);
+  return thisPosix->Send(remoteParticipant, bufferSize);
 #elif defined(ARDUINO)
   UdpArduino *thisArduino = static_cast<UdpArduino *>(this);
-  return thisArduino->Send(msg);
+  return thisArduino->Send(remoteParticipant, bufferSize);
 #endif
 }
 
@@ -186,7 +191,7 @@ bool Participant::Publish(IMessage *msg) {
 #pragma region Receive
 
 void Participant::ReceiveData(unsigned char bufferSize,
-                              Participant *remoteParticipant) {
+                              RemoteParticipant *remoteParticipant) {
   unsigned char msgId = this->buffer[0];
   // std::cout << "receive msg " << (int)msgId << "\n";
   switch (msgId) {
@@ -194,7 +199,7 @@ void Participant::ReceiveData(unsigned char bufferSize,
     ClientMsg *msg = new ClientMsg(this->buffer);
     Process(remoteParticipant, msg);
     delete msg;
-  }
+  } break;
   case NetworkIdMsg::id: {
     NetworkIdMsg *msg = new NetworkIdMsg(this->buffer);
     Process(remoteParticipant, msg);
@@ -202,59 +207,50 @@ void Participant::ReceiveData(unsigned char bufferSize,
   } break;
   case InvestigateMsg::id: {
     InvestigateMsg *msg = new InvestigateMsg(this->buffer);
-    Process(msg);
+    Process(remoteParticipant, msg);
     delete msg;
   } break;
   case ThingMsg::id: {
     ThingMsg *msg = new ThingMsg(this->buffer);
-    Process(msg);
+    Process(remoteParticipant, msg);
     delete msg;
   } break;
   case NameMsg::id: {
     NameMsg *msg = new NameMsg(this->buffer);
-    Process(msg);
+    Process(remoteParticipant, msg);
     delete msg;
   } break;
   case PoseMsg::id: {
     PoseMsg *msg = new PoseMsg(this->buffer);
-    Process(msg);
+    Process(remoteParticipant, msg);
     delete msg;
   } break;
   case CustomMsg::id: {
     CustomMsg *msg = new CustomMsg(this->buffer);
-    Process(msg);
+    Process(remoteParticipant, msg);
     delete msg;
   } break;
   };
 }
 
-void Participant::Process(Participant *sender, ClientMsg *msg) {}
+void Participant::Process(RemoteParticipant *sender, ClientMsg *msg) {}
 
-void Participant::Process(Participant *sender, NetworkIdMsg *msg) {
-  std::cout << this->name << " receive network id " << (int)this->networkId
-            << " " << (int)msg->networkId << "\n";
+void Participant::Process(RemoteParticipant *sender, NetworkIdMsg *msg) {
+  std::cout << this->name << ": process NetworkId [" << (int)this->networkId
+            << "/" << (int)msg->networkId << "]\n";
   if (this->networkId != msg->networkId) {
     this->networkId = msg->networkId;
-    // Thing **allThings = Thing::GetAllThings();
-    // for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
-    //   Thing *thing = allThings[ix];
-    //   if (thing == nullptr)
-    //     continue;
-
-    //   sender->SendThingInfo(thing);
-    // }
-    for (Thing *thing : this->things) {
-      sender->SendThingInfo(thing);
-    }
+    for (Thing *thing : this->things)
+      this->SendThingInfo(sender, thing);
   }
 }
 
-void Participant::Process(InvestigateMsg *msg) {}
+void Participant::Process(RemoteParticipant *sender, InvestigateMsg *msg) {}
 
-void Participant::Process(ThingMsg *msg) {}
+void Participant::Process(RemoteParticipant *sender, ThingMsg *msg) {}
 
-void Participant::Process(NameMsg *msg) {
-  Thing *thing = this->Get(msg->networkId, msg->thingId);
+void Participant::Process(RemoteParticipant *sender, NameMsg *msg) {
+  Thing *thing = sender->Get(msg->networkId, msg->thingId);
   if (thing != nullptr) {
     int nameLength = msg->nameLength;
     char *thingName = new char[nameLength + 1];
@@ -266,69 +262,21 @@ void Participant::Process(NameMsg *msg) {
   }
 }
 
-void Participant::Process(PoseMsg *msg) {}
+void Participant::Process(RemoteParticipant *sender, PoseMsg *msg) {}
 
-void Participant::Process(CustomMsg *msg) {
-  Thing *thing = this->Get(msg->networkId, msg->thingId);
+void Participant::Process(RemoteParticipant *sender, CustomMsg *msg) {
+  // std::cout << this->name << ": process Binary [" << (int)this->networkId << "/"
+  //           << (int)msg->networkId << "]\n";
+  Thing *thing = sender->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 << "Processed custom msg\n";
 }
 
 // Receive
 #pragma endregion
 
-#pragma region Things
-
-Thing *Participant::Get(unsigned char networkId, unsigned char thingId) {
-  // std::cout << "Get " << (int)networkId << "/" << (int)thingId << " from "
-  //           << this->things.size() << " things\n";
-  for (auto &thing : this->things) {
-    // std::cout << "  ? " << (int)thing->networkId << "/" << (int)thing->id
-    //           << "\n";
-    if (thing->networkId == networkId && thing->id == thingId) {
-      return thing;
-    }
-  }
-  return nullptr;
-}
-
-int Participant::Add(Thing *newThing) {
-  for (Thing *thing : this->things) {
-    if (thing == newThing) {
-      std::cout << "Thing already exists, not adding\n";
-      return thing->id;
-    }
-  }
-  std::cout << "Adding " << (int)newThing->networkId << "/" << (int)newThing->id
-            << "\n";
-  this->things.push_back(newThing);
-  return this->things.size();
-}
-
-void Participant::Remove(Thing *thing) {
-  this->things.remove_if([thing](Thing *obj) { return obj == thing; });
-  std::cout << "Removing " << thing->networkId << "/" << thing->id
-            << " list size = " << this->things.size() << "\n";
-}
-
-void Participant::UpdateAll(unsigned long currentTimeMs) {
-  // Not very efficient, but it works for now.
-
-  for (Thing *thing : this->things) {
-    if (thing != nullptr &&
-        thing->GetParent() == nullptr) { // update all root things
-      // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
-      //           << "\n";
-      thing->Update(currentTimeMs);
-    }
-  }
-}
-
-#pragma endregion
-
 } // namespace Control
 } // namespace Passer

Participant.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Messages.h"
+//#include "Messages/"
 #include "Messages/ClientMsg.h"
 #include "Messages/CustomMsg.h"
 #include "Messages/InvestigateMsg.h"
@@ -9,6 +9,7 @@
 #include "Messages/NetworkIdMsg.h"
 #include "Messages/PoseMsg.h"
 #include "Messages/ThingMsg.h"
+#include "RemoteParticipant.h"
 
 #include <list>
 
@@ -27,16 +28,16 @@ namespace Passer {
 namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
-class Participant {
+class Participant : public RemoteParticipant {
 public:
   char buffer[1024];
   long publishInterval = 3000; // 3 seconds
-  unsigned char networkId = 0;
+  // unsigned char networkId = 0;
 
   const char *name = "Participant";
 
-  const char *ipAddress = "0.0.0.0";
-  int port = 0;
+  // const char *ipAddress = "0.0.0.0";
+  // int port = 0;
   int localPort = 0;
 
 #if defined(ARDUINO)
@@ -67,22 +68,22 @@ public:
 
   virtual void Update(unsigned long currentTimeMs = 0);
 
-  std::list<Thing *> things;
-  Thing *Get(unsigned char networkId, unsigned char thingId);
-  int Add(Thing *thing);
-  void Remove(Thing *thing);
-  void UpdateAll(unsigned long currentTimeMs);
+  // std::list<Thing *> things;
+  // Thing *Get(unsigned char networkId, unsigned char thingId);
+  // int Add(Thing *thing);
+  // void Remove(Thing *thing);
+  // void UpdateAll(unsigned long currentTimeMs);
 
-  void SendThingInfo(Thing *thing);
+  void SendThingInfo(RemoteParticipant* remoteParticipant, Thing *thing);
   void PublishThingInfo(Thing *thing);
 
-  bool Send(IMessage *msg);
+  bool Send(RemoteParticipant* remoteParticipant, IMessage *msg);
   bool Publish(IMessage *msg);
 
-  void ReceiveData(unsigned char bufferSize, Participant *remoteParticipant);
+  void ReceiveData(unsigned char bufferSize, RemoteParticipant *remoteParticipant);
 
 protected:
-  std::list<Participant *> participants;
+  std::list<Participant *> senders;
 
   unsigned long nextPublishMe = 0;
 
@@ -93,13 +94,13 @@ protected:
 
   void ReceiveUDP();
 
-  virtual void Process(Participant *sender, ClientMsg *msg);
-  virtual void Process(Participant *sender, NetworkIdMsg *msg);
-  virtual void Process(InvestigateMsg *msg);
-  virtual void Process(ThingMsg *msg);
-  virtual void Process(NameMsg *msg);
-  virtual void Process(PoseMsg *msg);
-  virtual void Process(CustomMsg *msg);
+  virtual void Process(RemoteParticipant *sender, ClientMsg *msg);
+  virtual void Process(RemoteParticipant *sender, NetworkIdMsg *msg);
+  virtual void Process(RemoteParticipant* sender, InvestigateMsg *msg);
+  virtual void Process(RemoteParticipant* sender, ThingMsg *msg);
+  virtual void Process(RemoteParticipant* sender, NameMsg *msg);
+  virtual void Process(RemoteParticipant* sender, PoseMsg *msg);
+  virtual void Process(RemoteParticipant* sender, CustomMsg *msg);
 };
 
 } // namespace Control

RemoteParticipant.cpp

@@ -0,0 +1,54 @@
+#include "RemoteParticipant.h"
+
+namespace Passer {
+namespace Control {
+
+RemoteParticipant::RemoteParticipant() {}
+
+RemoteParticipant::RemoteParticipant(const char *ipAddress, int port) {
+  this->ipAddress = ipAddress;
+  this->port = port;
+}
+
+Thing *RemoteParticipant::Get(unsigned char networkId, unsigned char thingId) {
+  for (Thing *thing : this->things) {
+    if (thing->networkId == networkId && thing->id == thingId)
+      return thing;
+  }
+//   std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
+//             << "[" << (int)networkId << "/" << (int)thingId << "]\n";
+  return nullptr;
+}
+
+void RemoteParticipant::Add(Thing *thing) {
+  Thing *foundThing = Get(thing->networkId, thing->id);
+  if (foundThing == nullptr) {
+    this->things.push_back(thing);
+    std::cout << "Add thing " << this->ipAddress << ":" << this->port << "["
+              << (int)thing->networkId << "/" << (int)thing->id << "]\n";
+  } else
+    std::cout << "Did not add, existing thing " << this->ipAddress << ":" << this->port << "["
+              << (int)thing->networkId << "/" << (int)thing->id << "]\n";
+}
+
+void RemoteParticipant::Remove(Thing *thing) {
+  this->things.remove_if([thing](Thing *obj) { return obj == thing; });
+  std::cout << "Removing " << thing->networkId << "/" << thing->id
+            << " list size = " << this->things.size() << "\n";
+}
+
+void RemoteParticipant::UpdateAll(unsigned long currentTimeMs) {
+  // Not very efficient, but it works for now.
+
+  for (Thing *thing : this->things) {
+    if (thing != nullptr &&
+        thing->GetParent() == nullptr) { // update all root things
+      // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
+      //           << "\n";
+      thing->Update(currentTimeMs);
+    }
+  }
+}
+
+} // namespace Control
+} // namespace Passer

RemoteParticipant.h

@@ -0,0 +1,28 @@
+#pragma once
+#include "Thing.h"
+
+namespace Passer {
+namespace Control {
+
+class RemoteParticipant {
+public:
+  const char *ipAddress = "0.0.0.0";
+  int port = 0;
+
+  unsigned char networkId = 0;
+
+  RemoteParticipant();
+  RemoteParticipant(const char *ipAddress, int port);
+
+protected:
+  std::list<Thing *> things;
+
+public:
+  Thing *Get(unsigned char networkId, unsigned char thingId);
+  void Add(Thing *thing);
+  void Remove(Thing *thing);
+  void UpdateAll(unsigned long currentTimeMs);
+};
+
+} // namespace Control
+} // namespace Passer

Sensors/TemperatureSensor.cpp

@@ -1,6 +1,6 @@
 #include "TemperatureSensor.h"
 
-#include "LowLevelMessages.h"
+#include "Messages/LowLevelMessages.h"
 
 namespace Passer {
 namespace RoboidControl {

SiteServer.cpp

@@ -15,40 +15,37 @@ SiteServer::SiteServer(int port) {
   this->ipAddress = "0.0.0.0";
   this->port = port;
 
-  this->participants.push_back(this);
+  this->senders.push_back(this);
 
   SetupUDP(port, ipAddress, 0);
 
   Register<TemperatureSensor>((unsigned char)Thing::Type::TemperatureSensor);
 }
 
-void SiteServer::Process(Participant *sender, ClientMsg *msg) {
+void SiteServer::Process(RemoteParticipant *sender, ClientMsg *msg) {
   if (msg->networkId == 0) {
     std::cout << this->name << " received New Client -> " << sender->ipAddress
               << "  " << (int)sender->networkId << "\n";
     NetworkIdMsg *msg = new NetworkIdMsg(sender->networkId);
-    sender->Send(msg);
+    //sender->Send(msg);
+    this->Send(sender, msg);
     delete msg;
   }
 }
 
-void SiteServer::Process(Participant *sender, NetworkIdMsg *msg) {}
+void SiteServer::Process(RemoteParticipant *sender, NetworkIdMsg *msg) {}
 
-void SiteServer::Process(ThingMsg *msg) {
-
-  Thing *thing = this->Get(msg->networkId, msg->thingId);
+void SiteServer::Process(RemoteParticipant *sender, ThingMsg *msg) {
+  Thing *thing = sender->Get(msg->networkId, msg->thingId);
   if (thing == nullptr) {
-    std::cout << "could not find thing " << (int)msg->networkId << "/"
-              << (int)msg->thingId << "\n";
     auto thingMsgProcessor = thingMsgProcessors.find(msg->thingType);
-    if (thingMsgProcessor != thingMsgProcessors.end()) { // found item
-      Thing *newThing = thingMsgProcessor->second(msg->networkId, msg->thingId);
-      this->Add(newThing);
-    } else {
-      Thing *newThing = new Thing(this, msg->networkId, msg->thingId,
-                                  (Thing::Type)msg->thingType);
-      this->Add(newThing);
-    }
+    Thing *newThing;
+    if (thingMsgProcessor != thingMsgProcessors.end()) // found item
+      newThing = thingMsgProcessor->second(msg->networkId, msg->thingId);
+    else
+      newThing = new Thing(sender, msg->networkId, msg->thingId,
+                           (Thing::Type)msg->thingType);
+    sender->Add(newThing);
   }
 }
 

SiteServer.h

@@ -26,9 +26,9 @@ public:
 protected:
   unsigned long nextPublishMe = 0;
 
-  virtual void Process(Participant *sender, ClientMsg *msg) override;
-  virtual void Process(Participant *sender, NetworkIdMsg *msg) override;
-  virtual void Process(ThingMsg *msg) override;
+  virtual void Process(RemoteParticipant *sender, ClientMsg *msg) override;
+  virtual void Process(RemoteParticipant *sender, NetworkIdMsg *msg) override;
+  virtual void Process(RemoteParticipant* sender, ThingMsg *msg) override;
 
   using ThingConstructor =
       std::function<Thing *(unsigned char networkId, unsigned char thingId)>;

Thing.cpp

@@ -15,49 +15,29 @@ Thing::Thing(unsigned char thingType) {
   this->id = 0;
   this->type = thingType;
   this->networkId = 0;
-  this->Init();
-
-  // int thingId = Thing::Add(this);
-
-  // if (thingId < 0) {
-  //   std::cout << "ERROR: Thing store is full\n";
-  //   this->id = 0; // what to do when we cannot store any more things?
-  // } else
-  //   this->id = thingId;
 
   this->linearVelocity = Spherical16::zero;
   this->angularVelocity = Spherical16::zero;
 }
 
-Passer::RoboidControl::Thing::Thing(Participant *participant,
-                                    unsigned char networkId,
-                                    unsigned char thingId, Type thingType) {
+Passer::Control::Thing::Thing(RemoteParticipant *participant, unsigned char networkId,
+                              unsigned char thingId, Type thingType) {
   // no participant reference yet..
+  this->participant = participant;
   this->networkId = networkId;
   this->id = thingId;
   this->type = (unsigned char)thingType;
-  this->Init();
-
-  // thingId = Thing::Add(this);
-
-  // if (thingId < 0) {
-  //   std::cout << "ERROR: Thing store is full\n";
-  //   this->id = 0; // what to do when we cannot store any more things?
-  // } else
-  // this->id = thingId;
 
   this->linearVelocity = Spherical16::zero;
   this->angularVelocity = Spherical16::zero;
-  std::cout << "Created thing " << (int)this->networkId << "/" << (int)this->id
-            << "\n";
+  // std::cout << "Created thing " << (int)this->networkId << "/" << (int)this->id
+  //           << "\n";
 }
 
 void Thing::Terminate() {
   // Thing::Remove(this);
 }
 
-void Thing::Init() {}
-
 Thing *Thing::FindThing(const char *name) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     Thing *child = this->children[childIx];

Thing.h

@@ -7,7 +7,7 @@
 namespace Passer {
 namespace RoboidControl {
 
-class Participant;
+class RemoteParticipant;
 
 #define THING_STORE_SIZE 256
 // IMPORTANT: values higher than 256 will need to change the Thing::id type
@@ -16,9 +16,7 @@ class Participant;
 /// @brief A thing is the primitive building block
 class Thing {
 public:
-  // RemoteParticipant *client;
-
-  /// @brief The network ID of this thing
+  RemoteParticipant *participant;
   unsigned char networkId = 0;
   /// @brief The ID of the thing
   unsigned char id = 0;
@@ -54,7 +52,7 @@ public:
   /// @param networkId The network ID of the thing
   /// @param thingId The ID of the thing
   /// @param thingType The type of thing
-  Thing(Participant *participant, unsigned char networkId,
+  Thing(RemoteParticipant *participant, unsigned char networkId,
         unsigned char thingId, Type thingType = Type::Undetermined);
 
   /// @brief Find a thing by name
@@ -168,11 +166,8 @@ public:
   /// @param bytes The binary data
   virtual void ProcessBinary(char *bytes);
 
-protected:
-  virtual void Init();
 };
 
-
-} // namespace RoboidConttrol
+} // namespace Control
 } // namespace Passer
 using namespace Passer::RoboidControl;

UdpArduino.cpp

@@ -50,11 +50,11 @@ void UdpArduino::Receive() {
         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);
@@ -63,13 +63,9 @@ void UdpArduino::Receive() {
 #endif
 }
 
-bool UdpArduino::Send(IMessage *msg) {
+bool UdpArduino::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
 #if ARDUINO
-  int bufferSize = msg->Serialize(this->buffer);
-  if (bufferSize <= 0)
-    return true;
-
-  udp.beginPacket(this->remoteIpAddress, this->remotePort);
+  udp.beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
   udp.write(buffer, bufferSize);
   udp.endPacket();
 

UdpArduino.h

@@ -9,7 +9,7 @@ class UdpArduino : public Participant {
 public:
   void Setup(int localPort, const char *remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(IMessage *msg);
+  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
   bool Publish(IMessage *msg);
 
 protected:

UdpPosix.cpp

@@ -81,11 +81,11 @@ void UdpPosix::Receive() {
         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);
@@ -94,17 +94,20 @@ void UdpPosix::Receive() {
 #endif
 }
 
-bool UdpPosix::Send(
-    IMessage *msg) { // Send the message to the specified address and port
+bool UdpPosix::Send(RemoteParticipant *remoteParticipant, int bufferSize) {
 #if defined(__unix__) || defined(__APPLE__)
-  int bufferSize = msg->Serialize(this->buffer);
-  if (bufferSize <= 0)
-    return true;
+  // Set up the destination address
+  // char ip_str[INET_ADDRSTRLEN];
+  // inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
+  // std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
+  //           << "\n";
+  struct sockaddr_in dest_addr;
+  memset(&dest_addr, 0, sizeof(dest_addr));
+  dest_addr.sin_family = AF_INET;
+  dest_addr.sin_port = htons(remoteParticipant->port);
+  dest_addr.sin_addr.s_addr = inet_addr(remoteParticipant->ipAddress);
 
-  char ip_str[INET_ADDRSTRLEN];
-  inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
-            << "\n";
+  // Send the message
   int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
                           (struct sockaddr *)&remote_addr, sizeof(remote_addr));
   if (sent_bytes < 0) {

UdpPosix.h

@@ -9,7 +9,7 @@ class UdpPosix : public Participant {
 public:
   void Setup(int localPort, const char *remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(IMessage *msg);
+  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
   bool Publish(IMessage *msg);
 };
 

UdpWindows.cpp

@@ -144,14 +144,8 @@ void UdpWindows::Receive() {
 #endif
 }
 
-bool UdpWindows::Send(
-    IMessage *msg) { // Send the message to the specified address and port
+bool UdpWindows::Send(RemoteParticipant *remoteParticipant, int bufferSize) {
 #if defined(_WIN32) || defined(_WIN64)
-  int bufferSize = msg->Serialize(this->buffer);
-  // std::cout << "buffer size " << bufferSize << "\n";
-  if (bufferSize <= 0)
-    return true;
-
   char ip_str[INET_ADDRSTRLEN];
   inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
   std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)

UdpWindows.h

@@ -9,7 +9,7 @@ class UdpWindows : public Participant {
 public:
   void Setup(int localPort, const char *remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(IMessage *msg);
+  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
   bool Publish(IMessage *msg);
 };