Reduced the use of raw pointers

CMakeLists.txt

@@ -19,13 +19,13 @@ if(ESP_PLATFORM)
         REQUIRES esp_netif esp_wifi
     )
 else() 
+    set(CMAKE_CXX_STANDARD 17)      # Enable c++11 standard
+    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
     project(RoboidControl)
     add_subdirectory(LinearAlgebra)
     add_subdirectory(Examples)
 
-    set(CMAKE_CXX_STANDARD 17)      # Enable c++11 standard
-    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
     add_compile_definitions(GTEST)
     include(FetchContent)
     FetchContent_Declare(

LinearAlgebra/Direction.cpp

@@ -9,6 +9,7 @@
 
 #include <math.h>
 
+namespace LinearAlgebra {
 template <typename T>
 DirectionOf<T>::DirectionOf() {
   this->horizontal = AngleOf<T>();
@@ -98,5 +99,6 @@ void DirectionOf<T>::Normalize() {
   }
 }
 
-template class DirectionOf<float>;
-template class DirectionOf<signed short>;
+template class LinearAlgebra::DirectionOf<float>;
+template class LinearAlgebra::DirectionOf<signed short>;
+}

LinearAlgebra/Direction.h

@@ -99,6 +99,4 @@ using Direction = DirectionSingle;
 
 }  // namespace LinearAlgebra
 
-using namespace LinearAlgebra;
-
 #endif

LinearAlgebra/Polar.cpp

@@ -175,5 +175,5 @@ PolarOf<T> PolarOf<T>::Rotate(const PolarOf& v, AngleOf<T> angle) {
   return r;
 }
 
-template class PolarOf<float>;
-template class PolarOf<signed short>;
+template class LinearAlgebra::PolarOf<float>;
+template class LinearAlgebra::PolarOf<signed short>;

LinearAlgebra/Spherical.cpp

@@ -5,6 +5,8 @@
 
 #include <math.h>
 
+namespace LinearAlgebra {
+
 template <typename T>
 SphericalOf<T>::SphericalOf() {
   this->distance = 0.0f;
@@ -301,3 +303,5 @@ SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T>& v,
 
 template class SphericalOf<float>;
 template class SphericalOf<signed short>;
+
+}  // namespace LinearAlgebra

LinearAlgebra/Spherical.h

@@ -186,7 +186,6 @@ using Spherical = SphericalSingle;
 #endif
 
 }  // namespace LinearAlgebra
-using namespace LinearAlgebra;
 
 #include "Polar.h"
 #include "Vector3.h"

LinearAlgebra/SwingTwist.cpp

@@ -4,6 +4,8 @@
 
 #include "SwingTwist.h"
 
+namespace LinearAlgebra {
+
 template <typename T>
 SwingTwistOf<T>::SwingTwistOf() {
   this->swing = DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
@@ -166,3 +168,5 @@ void SwingTwistOf<T>::Normalize() {
 
 template class SwingTwistOf<float>;
 template class SwingTwistOf<signed short>;
+
+}

LinearAlgebra/test/Direction_test.cc

@@ -6,6 +6,8 @@
 
 #include "Direction.h"
 
+using namespace LinearAlgebra;
+
 #define FLOAT_INFINITY std::numeric_limits<float>::infinity()
 
 TEST(Direction16, Compare) {

Participant.cpp

@@ -8,6 +8,8 @@ namespace RoboidControl {
 
 ParticipantRegistry Participant::registry;
 
+Participant LocalParticipant = Participant("0.0.0.0", 0);
+
 Participant::Participant(const char* ipAddress, int port) {
   // make a copy of the ip address string
   int addressLength = (int)strlen(ipAddress);

Participant.h

@@ -33,17 +33,17 @@ class ParticipantRegistry {
 
  private:
 #if defined(NO_STD)
-public:
+ public:
   Participant** GetAll() const;
   int count = 0;
-private:
+ private:
   Participant** participants;
 #else
-public:
+ public:
   /// @brief Get all participants
   /// @return All participants
   const std::list<Participant*>& GetAll() const;
-private:
+ private:
   /// @brief The list of known participants
   std::list<Participant*> participants;
 #endif
@@ -72,6 +72,8 @@ class Participant {
   /// @brief Destructor for the participant
   ~Participant();
 
+  static Participant LocalParticipant;
+
  public:
 #if defined(NO_STD)
   unsigned char thingCount = 0;

Posix/PosixParticipant.cpp

@@ -11,7 +11,7 @@
 namespace RoboidControl {
 namespace Posix {
 
-void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
+void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(__unix__) || defined(__APPLE__)
 
   // Create a UDP socket
@@ -63,7 +63,7 @@ void Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #endif
 }
 
-void Receive() {
+void ParticipantUDP::Receive() {
 #if defined(__unix__) || defined(__APPLE__)
   sockaddr_in client_addr;
   socklen_t len = sizeof(client_addr);
@@ -90,7 +90,7 @@ void Receive() {
 #endif
 }
 
-bool Send(Participant* remoteParticipant, int bufferSize) {
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(__unix__) || defined(__APPLE__)
   // std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
   //           << "\n";
@@ -113,7 +113,7 @@ bool Send(Participant* remoteParticipant, int bufferSize) {
   return true;
 }
 
-bool Publish(IMessage* msg) {
+bool ParticipantUDP::Publish(IMessage* msg) {
 #if defined(__unix__) || defined(__APPLE__)
   int bufferSize = msg->Serialize(this->buffer);
   if (bufferSize <= 0)

Posix/PosixParticipant.h

@@ -11,6 +11,11 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
   void Receive();
   bool Send(Participant* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
+
+ protected:
+  sockaddr_in remote_addr;
+  sockaddr_in server_addr;
+  sockaddr_in broadcast_addr;
 };
 
 }  // namespace Posix

Thing.cpp

@@ -20,7 +20,7 @@ namespace RoboidControl {
 
 #pragma region Init
 
-Thing Root = Thing(Thing::Type::Undetermined, Root);
+Thing Thing::Root = Thing(Thing::Type::Undetermined, Root);
 
 Thing::Thing(unsigned char thingType, Thing& parent) {
   this->type = thingType;
@@ -38,6 +38,7 @@ Thing::Thing(unsigned char thingType, Thing& parent) {
   //           << this->owner->ipAddress << ":" << this->owner->port <<
   //           std::endl;
   this->owner->Add(this, true);
+  this->SetParent(&parent);
 }
 
 Thing::Thing(Participant* owner, unsigned char thingType) {
@@ -63,10 +64,10 @@ Thing::Thing(Participant* owner, unsigned char thingType) {
   this->owner->Add(this, true);
 }
 
-Thing::Thing(Thing* parent, unsigned char thingType) //, unsigned char thingId)
-    : Thing(parent->owner, thingType) { //}, thingId) {
-  this->SetParent(parent);
-}
+// Thing::Thing(Thing* parent, unsigned char thingType) //, unsigned char thingId)
+//     : Thing(parent->owner, thingType) { //}, thingId) {
+//   this->SetParent(parent);
+// }
 
 Thing Thing::Reconstruct(Participant* owner, unsigned char thingType, unsigned char thingId) {
   Thing thing = Thing(owner, thingType);

Thing.h

@@ -41,18 +41,17 @@ class Thing {
   };
 
 #pragma region Init
-  static Thing Root;  // = Thing(Type::Undetermined, Root);
+  static Thing Root;
 
-  Thing(unsigned char thingType = Type::Undetermined, Thing& parent = Root);
+  Thing(unsigned char thingType = Thing::Type::Undetermined, Thing& parent = Root);
 
   /// @brief Create a new thing for a participant
   /// @param owner The owning participant
   /// @param thingType The type of thing (can use Thing::Type)
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  Thing(Participant* owner = nullptr,
-        unsigned char thingType = Type::Undetermined);
-  // unsigned char thingId = 0);
+  Thing(Participant* owner,
+        unsigned char thingType = Thing::Type::Undetermined);
 
   /// @brief Create a new child thing
   /// @param parent The parent thing
@@ -60,8 +59,6 @@ class Thing {
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
   /// @note The owner will be the same as the owner of the parent thing
-  Thing(Thing* parent,
-        unsigned char thingType = 0);  //, unsigned char thingId = 0);
 
   static Thing Reconstruct(Participant* owner,
                            unsigned char thingType,

Things/DifferentialDrive.cpp

@@ -16,7 +16,11 @@ DifferentialDrive::DifferentialDrive(Participant* owner) : Thing(owner, Type::Di
   this->leftWheel = new Motor();
   this->rightWheel = new Motor();
 }
-DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent, Type::DifferentialDrive) {
+// DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent, Type::DifferentialDrive) {
+//   this->leftWheel = new Motor();
+//   this->rightWheel = new Motor();
+// }
+DifferentialDrive::DifferentialDrive(Thing& parent) : Thing(Type::DifferentialDrive, parent) {
   this->leftWheel = new Motor();
   this->rightWheel = new Motor();
 }

Things/DifferentialDrive.h

@@ -16,13 +16,14 @@ class DifferentialDrive : public Thing {
   /// @param participant The local participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DifferentialDrive(Participant* participant = nullptr); //,
+  DifferentialDrive(Participant* participant); //,
                     //unsigned char thingId = 0);
   /// @brief Create a new child differential drive
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DifferentialDrive(Thing* parent); //, unsigned char thingId = 0);
+  // DifferentialDrive(Thing* parent); //, unsigned char thingId = 0);
+  DifferentialDrive(Thing& parent = Thing::Root);
 
   /// @brief Configures the dimensions of the drive
   /// @param wheelDiameter The diameter of the wheels in meters

Things/DigitalSensor.cpp

@@ -12,7 +12,8 @@ namespace RoboidControl {
 
 DigitalSensor::DigitalSensor(Participant* owner) : Thing(owner, Type::Switch) {}
 
-DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent, Type::Switch) {}
+// DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent, Type::Switch) {}
+DigitalSensor::DigitalSensor(Thing& parent) : Thing(Type::Switch, parent) {}
 
 int DigitalSensor::GenerateBinary(char* bytes, unsigned char* ix) {
   bytes[(*ix)++] = state ? 1 : 0;

Things/DigitalSensor.h

@@ -18,7 +18,8 @@ class DigitalSensor : public Thing {
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  DigitalSensor(Thing* parent); //, unsigned char thingId = 0);
+  // DigitalSensor(Thing* parent); //, unsigned char thingId = 0);
+  DigitalSensor(Thing& parent = Thing::Root);
 
   /// @brief The sigital state
   bool state = 0;

Things/Motor.cpp

@@ -1,9 +1,17 @@
 #include "Motor.h"
 
-RoboidControl::Motor::Motor(Participant* owner) : Thing(owner, Type::UncontrolledMotor) {}
+namespace RoboidControl {
 
-RoboidControl::Motor::Motor(Thing* parent) : Thing(parent, Type::UncontrolledMotor) {}
+RoboidControl::Motor::Motor(Participant* owner)
+    : Thing(owner, Type::UncontrolledMotor) {}
+
+// RoboidControl::Motor::Motor(Thing* parent)
+//     : Thing(parent, Type::UncontrolledMotor) {}
+
+Motor::Motor(Thing& parent) : Thing(Type::UncontrolledMotor, parent) {}
 
 void RoboidControl::Motor::SetTargetSpeed(float targetSpeed) {
-    this->targetSpeed = targetSpeed;
+  this->targetSpeed = targetSpeed;
 }
+
+}  // namespace RoboidControl

Things/Motor.h

@@ -6,8 +6,9 @@ namespace RoboidControl {
 
 class Motor : public Thing {
  public:
-  Motor(Participant* owner = nullptr);
-  Motor(Thing* parent);
+  Motor(Participant* owner);
+  // Motor(Thing* parent);
+  Motor(Thing& parent = Thing::Root);
 
   /// @brief Motor turning direction
   enum class Direction { Clockwise = 1, CounterClockwise = -1 };

Things/RelativeEncoder.cpp

@@ -4,8 +4,8 @@ namespace RoboidControl {
 
 RelativeEncoder::RelativeEncoder(Participant* owner)
     : Thing(owner, Type::IncrementalEncoder) {}
-RelativeEncoder::RelativeEncoder(Thing* parent)
-    : Thing(parent, Type::IncrementalEncoder) {}
+// RelativeEncoder::RelativeEncoder(Thing* parent)
+//     : Thing(parent, Type::IncrementalEncoder) {}
 
 float RelativeEncoder::GetRotationSpeed() {
   return rotationSpeed;

Things/RelativeEncoder.h

@@ -15,7 +15,8 @@ class RelativeEncoder : public Thing {
   /// @param distancePerRevolution The distance a wheel travels per full
   /// rotation
   RelativeEncoder(Participant* owner);
-  RelativeEncoder(Thing* parent);
+  // RelativeEncoder(Thing* parent);
+  RelativeEncoder(Thing& parent);
 
   /// @brief Get the rotation speed 
   /// @return The speed in revolutions per second

Things/TemperatureSensor.cpp

@@ -10,7 +10,9 @@ namespace RoboidControl {
 
 TemperatureSensor::TemperatureSensor(Participant* owner) : Thing(owner, Type::TemperatureSensor) {}
 
-TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent, Type::TemperatureSensor) {}
+TemperatureSensor::TemperatureSensor(Thing& parent) : Thing(Type::TemperatureSensor, parent) {}
+
+// TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent, Type::TemperatureSensor) {}
 
 void TemperatureSensor::SetTemperature(float temp) {
   this->temperature = temp;

Things/TemperatureSensor.h

@@ -13,7 +13,8 @@ class TemperatureSensor : public Thing {
   /// @param networkId The network ID of the sensor
   /// @param thingId The ID of the thing
   TemperatureSensor(Participant* participant); //, unsigned char thingId);
-  TemperatureSensor(Thing* parent);
+  // TemperatureSensor(Thing* parent);
+  TemperatureSensor(Thing& parent = Thing::Root);
 
       /// @brief The measured temperature
       float temperature = 0;

Things/TouchSensor.cpp

@@ -15,7 +15,8 @@ namespace RoboidControl {
 TouchSensor::TouchSensor(Participant* owner)
     : Thing(owner, Type::TouchSensor) {}
 
-TouchSensor::TouchSensor(Thing* parent) : Thing(parent, Type::TouchSensor) {}
+// TouchSensor::TouchSensor(Thing* parent) : Thing(parent, Type::TouchSensor) {}
+TouchSensor::TouchSensor(Thing& parent) : Thing(Type::TouchSensor, parent) {}
 
 int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
   bytes[(*ix)++] = touchedSomething ? 1 : 0;

Things/TouchSensor.h

@@ -14,12 +14,13 @@ class TouchSensor : public Thing {
   /// @param owner The owning participant
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  TouchSensor(Participant* owner = nullptr); //, unsigned char thingId = 0);
+  TouchSensor(Participant* owner); //, unsigned char thingId = 0);
   /// @brief Create a new child touch sensor
   /// @param parent The parent thing
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
-  TouchSensor(Thing* parent); //, unsigned char thingId = 0);
+  // TouchSensor(Thing* parent); //, unsigned char thingId = 0);
+  TouchSensor(Thing& parent = Thing::Root);
 
   /// @brief Value which is true when the sensor is touching something, false
   /// otherwise

examples/BB2B.cpp

@@ -17,26 +17,26 @@ using namespace RoboidControl;
 
 int main() {
   // The robot's propulsion is a differential drive
-  DifferentialDrive* bb2b = new DifferentialDrive();
+  DifferentialDrive bb2b = DifferentialDrive();
   // Is has a touch sensor at the front left of the roboid
-  TouchSensor* touchLeft = new TouchSensor(bb2b);
+  TouchSensor touchLeft = TouchSensor(bb2b);
   // and other one on the right
-  TouchSensor* touchRight = new TouchSensor(bb2b);
+  TouchSensor touchRight = TouchSensor(bb2b);
 
   // Do forever:
   while (true) {
     // The left wheel turns forward when nothing is touched on the right side
     // and turn backward when the roboid hits something on the right
-    float leftWheelSpeed = (touchRight->touchedSomething) ? -600.0f : 600.0f;
+    float leftWheelSpeed = (touchRight.touchedSomething) ? -600.0f : 600.0f;
     // The right wheel does the same, but instead is controlled by
     // touches on the left side
-    float rightWheelSpeed = (touchLeft->touchedSomething) ? -600.0f : 600.0f;
+    float rightWheelSpeed = (touchLeft.touchedSomething) ? -600.0f : 600.0f;
     // When both sides are touching something, both wheels will turn backward
     // and the roboid will move backwards
-    bb2b->SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
+    bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
 
     // Update the roboid state
-    bb2b->Update(true);
+    bb2b.Update(true);
 
     // and sleep for 100ms
 #if defined(ARDUINO)

test/participant_test.cc

@@ -7,6 +7,9 @@
 #include "Participants/SiteServer.h"
 #include "Thing.h"
 
+#include <chrono>
+#include <thread>
+
 using namespace RoboidControl;
 
 TEST(Participant, Participant) {
@@ -15,7 +18,7 @@ TEST(Participant, Participant) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 7000) {
-    participant->Update(milliseconds);
+    participant->Update();
     
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     milliseconds = Thing::GetTimeMs();
@@ -29,7 +32,7 @@ TEST(Participant, SiteServer) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 7000) {
-    siteServer->Update(milliseconds);
+    siteServer->Update();
     
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     milliseconds = Thing::GetTimeMs();
@@ -44,8 +47,8 @@ TEST(Participant, SiteParticipant) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 7000) {
-    siteServer->Update(milliseconds);
-    participant->Update(milliseconds);
+    siteServer->Update();
+    participant->Update();
 
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     milliseconds = Thing::GetTimeMs();
@@ -63,8 +66,8 @@ TEST(Participant, ThingMsg) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 7000) {
-    siteServer->Update(milliseconds);
-    participant->Update(milliseconds);
+    siteServer->Update();
+    participant->Update();
 
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     milliseconds = Thing::GetTimeMs();

test/thing_test.cc

@@ -15,7 +15,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 1000) {
-    Thing::UpdateThings(milliseconds);
+    Thing::UpdateThings();
 
     milliseconds = Thing::GetTimeMs();
   }
@@ -29,7 +29,7 @@ TEST(RoboidControlSuite, IsolatedParticipant) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 1000) {
-    participant->Update(milliseconds);
+    participant->Update();
 
     milliseconds = Thing::GetTimeMs();
   }