From 7344fa676b8b19bc8c6274c24a40a3e8f162bdb5 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Mon, 24 Feb 2025 09:45:26 +0100
Subject: [PATCH] Fix namespace issues

---
 Arduino/Participant.cpp       | 14 ++++++++------
 Messages/LowLevelMessages.cpp |  2 +-
 Messages/Messages.h           |  1 -
 Participant.cpp               |  3 ++-
 4 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/Arduino/Participant.cpp b/Arduino/Participant.cpp
index fbba67b..30f22f6 100644
--- a/Arduino/Participant.cpp
+++ b/Arduino/Participant.cpp
@@ -3,8 +3,10 @@
 #if defined(ARDUINO)
 #if defined(ARDUINO_ARCH_ESP8266)
 #include <ESP8266WiFi.h>
+
 #elif defined(ESP32)
 #include <WiFi.h>
+
 #endif
 #endif
 
@@ -12,7 +14,7 @@ namespace RoboidControl {
 namespace Arduino {
 
 void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
-#if ARDUINO
+#if defined(ARDUINO)
   this->remoteIpAddress = remoteIpAddress;
   this->remotePort = remotePort;
   GetBroadcastAddress();
@@ -28,7 +30,7 @@ void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePo
 }
 
 void Participant::GetBroadcastAddress() {
-#if ARDUINO
+#if defined(ARDUINO)
   IPAddress broadcastAddress = WiFi.localIP();
   broadcastAddress[3] = 255;
   String broadcastIpString = broadcastAddress.toString();
@@ -39,7 +41,7 @@ void Participant::GetBroadcastAddress() {
 }
 
 void Participant::Receive() {
-#if ARDUINO
+#if defined(ARDUINO)
   int packetSize = udp.parsePacket();
   while (packetSize > 0) {
     udp.read(buffer, packetSize);
@@ -66,9 +68,9 @@ void Participant::Receive() {
 }
 
 bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
-#if ARDUINO
+#if defined(ARDUINO)
   udp.beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
-  udp.write(buffer, bufferSize);
+  udp.write((unsigned char*)buffer, bufferSize);
   udp.endPacket();
 
   //   std::cout << "Sent to " << this->remoteIpAddress << ":"
@@ -84,7 +86,7 @@ bool Participant::Publish(IMessage* msg) {
     return true;
 
   udp.beginPacket(this->broadcastIpAddress, this->remotePort);
-  udp.write(buffer, bufferSize);
+  udp.write((unsigned char*)buffer, bufferSize);
   udp.endPacket();
 
   //   std::cout << "Publish to " << this->broadcastIpAddress << ":"
diff --git a/Messages/LowLevelMessages.cpp b/Messages/LowLevelMessages.cpp
index e951e1b..3f2d9d8 100644
--- a/Messages/LowLevelMessages.cpp
+++ b/Messages/LowLevelMessages.cpp
@@ -1,6 +1,6 @@
 #include "LowLevelMessages.h"
 
-#include "float16.h"
+#include "LinearAlgebra/float16.h"
 
 namespace RoboidControl {
 
diff --git a/Messages/Messages.h b/Messages/Messages.h
index 1e96b1b..3624c5d 100644
--- a/Messages/Messages.h
+++ b/Messages/Messages.h
@@ -3,7 +3,6 @@
 #include "LinearAlgebra/Spherical.h"
 #include "LinearAlgebra/SwingTwist.h"
 #include "Thing.h"
-#include "float16.h"
 
 namespace RoboidControl {
 
diff --git a/Participant.cpp b/Participant.cpp
index bcecf6e..014e3e3 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -253,7 +253,8 @@ void Participant::Process(RemoteParticipant* sender, NameMsg* msg) {
     int nameLength = msg->nameLength;
     int stringLen = nameLength + 1;
     char* thingName = new char[stringLen];
-    strcpy_s(thingName, stringLen, msg->name);
+    // Use strncpy with bounds checking for other platforms (Arduino, POSIX, ESP-IDF)
+    strncpy(thingName, msg->name, stringLen - 1);  // Leave space for null terminator
     thingName[nameLength] = '\0';
     thing->name = thingName;
     std::cout << "thing name = " << thing->name << " length = " << nameLength << "\n";