static participant list

Participant.cpp

@@ -4,6 +4,8 @@
 
 namespace RoboidControl {
 
+std::list<Participant*> Participant::participants;
+
 Participant::Participant() {}
 
 Participant::Participant(const char* ipAddress, int port) {
@@ -34,12 +36,63 @@ void Participant::Update(unsigned long currentTimeMs) {
   }
 }
 
+Participant* Participant::GetParticipant(const char* ipAddress,
+                                         unsigned int port) {
+  for (Participant* participant : Participant::participants) {
+    if (participant == nullptr)
+      continue;
+    if (strcmp(participant->ipAddress, ipAddress) == 0 &&
+        participant->port == port)
+      return participant;
+  }
+  std::cout << "Could not find participant " << ipAddress << ":" << (int)port
+            << std::endl;
+  return nullptr;
+}
+
+Participant* Participant::GetParticipant(unsigned char participantId) {
+  for (Participant* participant : Participant::participants) {
+    if (participant == nullptr)
+      continue;
+    if (participant->networkId == participantId)
+      return participant;
+  }
+  std::cout << "Could not find participant " << (int)participantId << std::endl;
+  return nullptr;
+}
+
+Participant* Participant::AddParticipant(const char* ipAddress, unsigned int port) {
+  Participant* participant = new Participant(ipAddress, port);
+  Participant::AddParticipant(participant);
+  return participant;
+}
+
+void Participant::AddParticipant(Participant* participant) {
+  Participant* foundParticipant =
+      Participant::GetParticipant(participant->networkId);
+  if (foundParticipant == nullptr) {
+#if defined(NO_STD)
+    this->things[this->thingCount++] = thing;
+#else
+    Participant::participants.push_back(participant);
+#endif
+    std::cout << "Add participant " << participant->ipAddress << ":"
+              << participant->port << "[" << (int)participant->networkId
+              << "]\n";
+  } else {
+    std::cout << "Did not add, existing thing " << participant->ipAddress << ":"
+              << participant->port << "[" << (int)participant->networkId
+              << "]\n";
+  }
+}
+
 Thing* Participant::Get(unsigned char thingId) {
   for (Thing* thing : this->things) {
     if (thing->id == thingId)
       return thing;
   }
-  // std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
+  // std::cout << "Could not find thing " << this->ipAddress << ":" <<
+  // this->port
   //           << "[" << (int)thingId << "]\n";
   return nullptr;
 }
@@ -64,7 +117,8 @@ void Participant::Add(Thing* thing, bool checkId) {
 #else
       this->things.push_back(thing);
 #endif
-      // std::cout << "Add thing " << this->ipAddress << ":" << this->port << "["
+      // std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
+      // "["
       //           << (int)thing->id << "]\n";
     } else {
       // std::cout << "Did not add, existing thing " << this->ipAddress << ":"

Participant.h

@@ -18,7 +18,7 @@ class Participant {
   const char* ipAddress = "0.0.0.0";
   /// @brief The port number for UDP communication with the participant. This is
   /// 0 for isolated participants.
-  int port = 0;
+  unsigned int port = 0;
 
   /// @brief The network Id to identify the participant.
   /// @note This field is likely to disappear in future versions
@@ -40,11 +40,19 @@ class Participant {
   unsigned char thingCount = 0;
   Thing* things[MAX_THING_COUNT];
 #else
+  /// @brief The list of known participants
+  static std::list<Participant*> participants;
+
   /// @brief The list of things managed by this participant
   std::list<Thing*> things;
 #endif
 
  public:
+  static Participant* GetParticipant(const char* ipAddress, unsigned int port);
+  static Participant* GetParticipant(unsigned char participantId);
+  static Participant* AddParticipant(const char* ipAddress, unsigned int port);
+  static void AddParticipant(Participant* participant);
+
   /// @brief Find a thing managed by this participant
   /// @param networkId The network ID for the thing
   /// @param thingId The ID of the thing

Participants/ParticipantUDP.cpp

@@ -31,6 +31,7 @@ ParticipantUDP::ParticipantUDP(int port) {
   this->remoteSite = nullptr;
   if (this->port == 0)
     this->isIsolated = true;
+  Participant::AddParticipant(this);
 }
 
 ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
@@ -39,6 +40,7 @@ ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
     this->isIsolated = true;
   else
     this->remoteSite = new Participant(ipAddress, port);
+  Participant::AddParticipant(this);
 }
 
 static ParticipantUDP* isolatedParticipant = nullptr;
@@ -135,27 +137,6 @@ void ParticipantUDP::ReceiveUDP() {
 #endif
 }
 
-Participant* ParticipantUDP::GetParticipant(const char* ipAddress, int port) {
-  for (Participant* sender : this->senders) {
-    if (strcmp(sender->ipAddress, ipAddress) == 0 && sender->port == port)
-      return sender;
-  }
-  return nullptr;
-}
-
-Participant* ParticipantUDP::AddParticipant(const char* ipAddress, int port) {
-  // std::cout << "New Participant " << ipAddress << ":" << port << "\n";
-  Participant* participant = new Participant(ipAddress, port);
-#if defined(NO_STD)
-  participant->networkId = this->senderCount;
-  this->senders[this->senderCount++] = participant;
-#else
-  participant->networkId = (unsigned char)this->senders.size();
-  this->senders.push_back(participant);
-#endif
-  return participant;
-}
-
 #pragma region Send
 
 void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
@@ -179,14 +160,12 @@ void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
 }
 
 bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
-  // std::cout << "send msg " << (int)this->buffer[0] << " to "
-  //           << remoteParticipant->ipAddress << std::endl;
   int bufferSize = msg->Serialize(this->buffer);
   if (bufferSize <= 0)
     return true;
 
-    std::cout << "send msg " << (int)this->buffer[0] << " to "
-    << remoteParticipant->ipAddress << std::endl;
+  // std::cout << "send msg " << (int)this->buffer[0] << " to "
+  // << remoteParticipant->ipAddress << std::endl;
 
 #if defined(_WIN32) || defined(_WIN64)
   Windows::ParticipantUDP* thisWindows =
@@ -259,6 +238,8 @@ bool ParticipantUDP::Publish(IMessage* msg) {
 void ParticipantUDP::ReceiveData(unsigned char packetSize,
                                  char* senderIpAddress,
                                  unsigned int senderPort) {
+  std::cout << "Receive data from " << senderIpAddress << ":" << senderPort
+            << std::endl;
   Participant* sender = this->GetParticipant(senderIpAddress, senderPort);
   if (sender == nullptr) {
     sender = this->AddParticipant(senderIpAddress, senderPort);
@@ -346,13 +327,13 @@ void ParticipantUDP::Process(Participant* sender, SiteMsg* msg) {
             << " -> " << (int)msg->networkId << "\n";
 #endif
 
-  if (this->networkId != msg->networkId) {
+  if (this->networkId != msg->networkId)
     this->networkId = msg->networkId;
+
   // std::cout << this->things.size() << " things\n";
   for (Thing* thing : this->things)
     this->SendThingInfo(sender, thing);
 }
-}
 
 void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {
 #if defined(DEBUG)
@@ -421,7 +402,9 @@ void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
             << "/" << (int)msg->thingId << "] ";
 #endif
 
-  Thing* thing = sender->Get(msg->thingId);
+  Participant* owner = Participant::GetParticipant(msg->networkId);
+  if (owner != nullptr) {
+    Thing* thing = owner->Get(msg->thingId);
     if (thing != nullptr)
       thing->ProcessBinary(msg->data);
 #if !defined(NO_STD)
@@ -432,6 +415,7 @@ void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
     std::cout << std::endl;
 #endif
   }
+}
 
 // Receive
 #pragma endregion

Participants/ParticipantUDP.h

@@ -112,12 +112,12 @@ class ParticipantUDP : public Participant {
                    unsigned int senderPort);
   void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
 
-#if defined(NO_STD)
-  unsigned char senderCount = 0;
-  Participant* senders[MAX_SENDER_COUNT];
-#else
-  std::list<Participant*> senders;
-#endif
+// #if defined(NO_STD)
+//   unsigned char senderCount = 0;
+//   Participant* senders[MAX_SENDER_COUNT];
+// #else
+//   std::list<Participant*> senders;
+// #endif
 
  protected:
   unsigned long nextPublishMe = 0;
@@ -126,8 +126,8 @@ class ParticipantUDP : public Participant {
 
   void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
 
-  Participant* GetParticipant(const char* ipAddress, int port);
-  Participant* AddParticipant(const char* ipAddress, int port);
+  //Participant* GetParticipant(const char* ipAddress, int port);
+  // Participant* AddParticipant(const char* ipAddress, int port);
 
   void ReceiveUDP();
 

Participants/SiteServer.cpp

@@ -16,11 +16,11 @@ SiteServer::SiteServer(int port) {
   this->ipAddress = "0.0.0.0";
   this->port = port;
 
-#if defined(NO_STD)
-  this->senders[this->senderCount++] = this;
-#else
-  this->senders.push_back(this);
-#endif
+// #if defined(NO_STD)
+//   this->senders[this->senderCount++] = this;
+// #else
+//   this->senders.push_back(this);
+// #endif
 
   SetupUDP(port, ipAddress, 0);