Object creation/destruction works

Arduino/Things/DRV8833.cpp

@@ -123,9 +123,9 @@ DRV8833::DRV8833(Participant* participant,
     pinMode(pinStandby, OUTPUT);
 
   this->motorA = new DRV8833Motor(this, pinAIn1, pinAIn2, reverseA);
-  this->motorA->name = "Motor A";
+  this->motorA->SetName("Motor A");
   this->motorB = new DRV8833Motor(this, pinBIn1, pinBIn2, reverseB);
-  this->motorB->name = "Motor B";
+  this->motorB->SetName("Motor B");
 }
 
 DRV8833::DRV8833(Thing* parent,

Messages/NameMsg.cpp

@@ -7,15 +7,16 @@ namespace RoboidControl {
 NameMsg::NameMsg(unsigned char networkId, Thing* thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
-  if (thing->name == nullptr)
+  const char* thingName = thing->GetName();
+  if (thingName == nullptr)
     this->nameLength = 0;
   else
-    this->nameLength = (unsigned char)strlen(thing->name);
+    this->nameLength = (unsigned char)strlen(thingName);
 
   // 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] = thing->name[i];
+    name[i] = thingName[i];
   name[this->nameLength] = '\0';
   this->name = name;
 }

Participant.cpp

@@ -151,22 +151,9 @@ void Participant::Remove(Thing* thing) {
   this->thingCount = lastThingIx;
 #else
   this->things.remove_if([thing](Thing* obj) { return obj == thing; });
-  std::cout << "Removing [" << (int)thing->networkId << "/" << (int)thing->id
+  // std::cout << "Removing [" << (int)thing->networkId << "/" << (int)thing->id
-            << "] list size = " << this->things.size() << "\n";
+  //           << "] list size = " << this->things.size() << "\n";
 #endif
 }
 
-// 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);
-//     }
-//   }
-// }
-
 }  // namespace RoboidControl

Participants/ParticipantUDP.cpp

@@ -80,6 +80,8 @@ void ParticipantUDP::SetupUDP(int localPort,
   this->connected = true;
 }
 
+#pragma region Update
+
 void ParticipantUDP::Update(unsigned long currentTimeMs) {
   if (currentTimeMs == 0)
     currentTimeMs = Thing::GetTimeMs();
@@ -112,12 +114,17 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
       continue;
 
     if (thing->hierarchyChanged) {
-      std::cout << "thing hierarchy changed " << (int)thing->id << std::endl;
       if (!(this->isIsolated || this->networkId == 0)) {
-          ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
+        ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
-          this->Send(this->remoteSite, thingMsg);
+        this->Send(this->remoteSite, thingMsg);
-          delete thingMsg;
+        delete thingMsg;
+        
+        if (thing->nameChanged) {
+          NameMsg* nameMsg = new NameMsg(this->networkId, thing);
+          this->Send(this->remoteSite, nameMsg);
+          delete nameMsg;
         }
+      }
     }
 
     // Why don't we do recursive?
@@ -127,12 +134,17 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
     thing->Update(currentTimeMs, false);
 
     if (!(this->isIsolated || this->networkId == 0)) {
-      if (thing->isTerminated) {
+      if (thing->terminate) {
         DestroyMsg* destroyMsg = new DestroyMsg(this->networkId, thing);
         this->Send(this->remoteSite, destroyMsg);
         delete destroyMsg;
       } else {
         //  Send to remote site
+        if (thing->nameChanged) {
+          NameMsg* nameMsg = new NameMsg(this->networkId, thing);
+          this->Send(this->remoteSite, nameMsg);
+          delete nameMsg;
+        }
         PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
         this->Send(this->remoteSite, poseMsg);
         delete poseMsg;
@@ -141,7 +153,7 @@ void ParticipantUDP::UpdateMyThings(unsigned long currentTimeMs = 0) {
         delete binaryMsg;
       }
     }
-    if (thing->isTerminated)
+    if (thing->terminate)
       this->Remove(thing);
   }
 }
@@ -151,7 +163,7 @@ void ParticipantUDP::UpdateOtherThings(unsigned long currentTimeMs = 0) {
     if (participant == nullptr || participant == this)
       continue;
 
-    //participant->Update(currentTimeMs);
+    participant->Update(currentTimeMs);
     if (this->isIsolated)
       continue;
 
@@ -166,24 +178,8 @@ void ParticipantUDP::UpdateOtherThings(unsigned long currentTimeMs = 0) {
   }
 }
 
-void ParticipantUDP::ReceiveUDP() {
+// Update
-#if defined(_WIN32) || defined(_WIN64)
+#pragma endregion
-  Windows::ParticipantUDP* thisWindows =
-      static_cast<Windows::ParticipantUDP*>(this);
-  thisWindows->Receive();
-#elif defined(__unix__) || defined(__APPLE__)
-  Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
-  thisPosix->Receive();
-#elif defined(ARDUINO)
-  Arduino::ParticipantUDP* thisArduino =
-      static_cast<Arduino::ParticipantUDP*>(this);
-  thisArduino->Receive();
-#elif defined(IDF_VER)
-  EspIdf::ParticipantUDP* thisEspIdf =
-      static_cast<EspIdf::ParticipantUDP*>(this);
-  thisEspIdf->Receive();
-#endif
-}
 
 #pragma region Send
 
@@ -283,6 +279,25 @@ bool ParticipantUDP::Publish(IMessage* msg) {
 
 #pragma region Receive
 
+void ParticipantUDP::ReceiveUDP() {
+#if defined(_WIN32) || defined(_WIN64)
+  Windows::ParticipantUDP* thisWindows =
+      static_cast<Windows::ParticipantUDP*>(this);
+  thisWindows->Receive();
+#elif defined(__unix__) || defined(__APPLE__)
+  Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
+  thisPosix->Receive();
+#elif defined(ARDUINO)
+  Arduino::ParticipantUDP* thisArduino =
+      static_cast<Arduino::ParticipantUDP*>(this);
+  thisArduino->Receive();
+#elif defined(IDF_VER)
+  EspIdf::ParticipantUDP* thisEspIdf =
+      static_cast<EspIdf::ParticipantUDP*>(this);
+  thisEspIdf->Receive();
+#endif
+}
+
 void ParticipantUDP::ReceiveData(unsigned char packetSize,
                                  char* senderIpAddress,
                                  unsigned int senderPort) {
@@ -420,10 +435,10 @@ void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
             nameLength);  // Leave space for null terminator
 #endif
     thingName[nameLength] = '\0';
-    thing->name = thingName;
+    thing->SetName(thingName);
 
 #if !defined(NO_STD)
-    std::cout << thing->name;
+    std::cout << thing->GetName();
 #endif
   }
 #if !defined(NO_STD)

Participants/SiteServer.cpp

@@ -9,6 +9,8 @@
 
 namespace RoboidControl {
 
+#pragma region Init
+
 SiteServer::SiteServer(int port) {
   this->name = "Site Server";
   this->publishInterval = 0;
@@ -19,6 +21,10 @@ SiteServer::SiteServer(int port) {
   SetupUDP(port, ipAddress, 0);
 }
 
+#pragma endregion Init
+
+#pragma region Update
+
 void SiteServer::UpdateMyThings(unsigned long currentTimeMs) {
   for (Thing* thing : this->things) {
     if (thing == nullptr)
@@ -43,8 +49,12 @@ void SiteServer::UpdateMyThings(unsigned long currentTimeMs) {
   }
 }
 
+#pragma endregion Update
+
+#pragma region Receive
+
 void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
-  if (msg->networkId == 0) {
+  if (msg->networkId != sender->networkId) {
     // std::cout << this->name << " received New Client -> " <<
     // sender->ipAddress
     //           << ":" << (int)sender->port << "\n";
@@ -59,21 +69,18 @@ void SiteServer::Process(Participant* sender, SiteMsg* msg) {}
 void SiteServer::Process(Participant* sender, ThingMsg* msg) {
   Thing* thing = sender->Get(msg->thingId);
   if (thing == nullptr) {
-    // #if defined(NO_STD)
     new Thing(sender, (Thing::Type)msg->thingType, msg->thingId);
-    // #else
+
-    //     auto thingMsgProcessor = thingMsgProcessors.find(msg->thingType);
+    if (msg->parentId != 0) {
-    //     //Thing* newThing;
+      thing->SetParent(Get(msg->parentId));
-    //     if (thingMsgProcessor != thingMsgProcessors.end())  // found item
+      if (thing->GetParent() != nullptr)
-    //       //newThing =
+        std::cout << "Could not find parent [" << (int)msg->networkId << "/"
-    //           thingMsgProcessor->second(sender, msg->networkId,
+                  << (int)msg->parentId << "]\n";
-    //           msg->thingId);
+    } else
-    //     else
+      thing->SetParent(nullptr);
-    //       //newThing =
-    //         new Thing(sender, msg->networkId, msg->thingId,
-    //                            (Thing::Type)msg->thingType);
-    // #endif
   }
 }
 
+#pragma endregion Receive
+
 }  // namespace RoboidControl

Thing.cpp

@@ -49,8 +49,13 @@ Thing::Thing(Thing* parent, int thingType, unsigned char thingId)
   this->SetParent(parent);
 }
 
-void Thing::Terminate() {
+void Thing::SetName(const char* name) {
-  this->isTerminated = true;
+  this->name = name;
+  this->nameChanged = true;
+}
+
+const char* Thing::GetName() const {
+  return this->name;
 }
 
 Thing* Thing::FindThing(const char* name) {
@@ -77,7 +82,6 @@ void Thing::SetParent(Thing* parent) {
     this->parent = nullptr;
   } else
     parent->AddChild(this);
-  std::cout << "setting parent for " << (int) this->id << std::endl;
   this->hierarchyChanged = true;
 }
 
@@ -164,6 +168,8 @@ void Thing::SetModel(const char* url) {
   this->modelUrl = url;
 }
 
+#pragma region Update
+
 unsigned long Thing::GetTimeMs() {
 #if defined(ARDUINO)
   return millis();
@@ -187,6 +193,7 @@ void Thing::Update(unsigned long currentTimeMs, bool recursive) {
   // this->linearVelocityUpdated = false;
   // this->angularVelocityUpdated = false;
   this->hierarchyChanged = false;
+  this->nameChanged = false;
 
   if (recursive) {
     for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
@@ -202,6 +209,8 @@ void Thing::UpdateThings(unsigned long currentTimeMs) {
   IsolatedParticipant::Isolated()->Update(currentTimeMs);
 }
 
+#pragma endregion Update
+
 int Thing::GenerateBinary(char* buffer, unsigned char* ix) {
   (void)buffer;
   (void)ix;

Thing.h

@@ -114,9 +114,14 @@ class Thing {
   Thing* parent = nullptr;
   Thing** children = nullptr;
 
- public:
   /// @brief The name of the thing
   const char* name = nullptr;
+
+ public:
+  void SetName(const char* name);
+  const char* GetName() const;
+  bool nameChanged = false;
+
   /// @brief An URL pointing to the location where a model of the thing can be
   /// found
   const char* modelUrl = nullptr;
@@ -177,7 +182,7 @@ class Thing {
  public:
   /// @brief Terminated things are no longer updated
   void Terminate();
-  bool isTerminated = false;
+  bool terminate = false;
 
   /// @brief Sets the location from where the 3D model of this Thing can be
   /// loaded from

Things/TouchSensor.cpp

@@ -16,7 +16,7 @@ int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
 
 void TouchSensor::ProcessBinary(char* bytes) {
   if (bytes[0] == 1)
-    std::cout << this->name << " is Touching something!\n";
+    std::cout << this->GetName() << " is Touching something!\n";
   this->touchedSomething |= (bytes[0] == 1);
 }