First steps

Arduino/ArduinoUtils.cpp

@@ -1,11 +1,42 @@
 #include "ArduinoUtils.h"
+
 #if defined(ARDUINO)
+
 #include <Arduino.h>
+#include <HTTPClient.h>
+
+#if defined(ARDUINO_ARCH_ESP8266)
 #include <ESP8266WiFi.h>
 #include <ESP8266httpUpdate.h>
+#elif defined(ESP32)
+#include <HTTPUpdate.h>
+#include <WiFi.h>
+#endif
 
-bool StartWifi(const char *wifiSsid, const char *wifiPassword,
-               bool hotspotFallback) {
+const char* hotspotSSID = "Roboid";
+const char* hotspotPassword = "alchemy7000";
+
+#if ESP32
+// Flash storage
+#include "Preferences.h"
+
+#define PREFERENCES_NAMESPACE "roboidControl"
+Preferences wifiPreferences;
+
+#define STORAGE_KEY_WIFI "rc/wifi"
+struct WifiCredentials {
+  char ssid[32] = "\0";
+  char password[32] = "\0";
+} credentials;
+
+#define STORAGE_KEY_NSS "rc/nss"
+struct NssServer {
+  char ipAddress[16] = "127.0.0.1\0";
+  unsigned short port = 7681;
+} nssServer;
+#endif
+
+bool StartWifi(const char* wifiSsid, const char* wifiPassword, bool hotspotFallback) {
 #if UNO_R4 || ARDUINO_ARCH_RP2040
   if (WiFi.status() == WL_NO_MODULE) {
     Serial.println("WiFi not present, WiFiSync is disabled");
@@ -83,10 +114,8 @@ bool StartWifi(const char *wifiSsid, const char *wifiPassword,
 #if ESP32
     printf("Checking credentials in flash\n");
     wifiPreferences.begin(PREFERENCES_NAMESPACE);
-    wifiPreferences.getBytes(STORAGE_KEY_WIFI, &credentials,
-                             sizeof(credentials));
-    if (strcmp(wifiSsid, credentials.ssid) != 0 ||
-        strcmp(wifiPassword, credentials.password) != 0) {
+    wifiPreferences.getBytes(STORAGE_KEY_WIFI, &credentials, sizeof(credentials));
+    if (strcmp(wifiSsid, credentials.ssid) != 0 || strcmp(wifiPassword, credentials.password) != 0) {
       printf("Updating credentials in flash...");
       const int ssidLen = strlen(wifiSsid);
       if (ssidLen < 32) {
@@ -99,8 +128,7 @@ bool StartWifi(const char *wifiSsid, const char *wifiPassword,
         memcpy(credentials.password, wifiPassword, pwdLen);
         credentials.password[pwdLen] = '\0';
       }
-      wifiPreferences.putBytes(STORAGE_KEY_WIFI, &credentials,
-                               sizeof(credentials));
+      wifiPreferences.putBytes(STORAGE_KEY_WIFI, &credentials, sizeof(credentials));
       printf(" completed.\n");
     }
     wifiPreferences.end();
@@ -132,18 +160,26 @@ void CheckFirmware(String url, String FIRMWARE_NAME, int FIRMWARE_VERSION) {
       Serial.println("Preparing to update firmware.");
 
       String firmwareURL = url + FIRMWARE_NAME + ".bin";
+#if defined(ESP32)
+      t_httpUpdate_return ret = httpUpdate.update(client, firmwareURL);
+#else
       t_httpUpdate_return ret = ESPhttpUpdate.update(client, firmwareURL);
+#endif
       switch (ret) {
-      case HTTP_UPDATE_FAILED:
-        Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s",
-                      ESPhttpUpdate.getLastError(),
-                      ESPhttpUpdate.getLastErrorString().c_str());
-        break;
-      case HTTP_UPDATE_NO_UPDATES:
-        Serial.println("HTTP_UPDATE_NO_UPDATES");
-        break;
-      case HTTP_UPDATE_OK:
-        break;
+        case HTTP_UPDATE_FAILED:
+#if defined(ESP32)
+          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s", httpUpdate.getLastError(),
+                        httpUpdate.getLastErrorString().c_str());
+#else
+          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s", ESPhttpUpdate.getLastError(),
+                        ESPhttpUpdate.getLastErrorString().c_str());
+#endif
+          break;
+        case HTTP_UPDATE_NO_UPDATES:
+          Serial.println("HTTP_UPDATE_NO_UPDATES");
+          break;
+        case HTTP_UPDATE_OK:
+          break;
       }
     } else {
       Serial.println("No Firmware update necessary.");

Arduino/Participant.cpp

@@ -1,8 +1,13 @@
-#include "UdpArduino.h"
+#include "Participant.h"
 
 #if defined(ARDUINO)
+#if defined(ARDUINO_ARCH_ESP8266)
 #include <ESP8266WiFi.h>
+#elif defined(ESP32)
+#include <WiFi.h>
 #endif
+#endif
+
 namespace Passer {
 namespace RoboidControl {
 namespace Arduino {
@@ -45,7 +50,7 @@ void Participant::Receive() {
     senderAddress.toCharArray(sender_ipAddress, 16);
     int sender_port = udp.remotePort();
 
-    Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
+    RoboidControl::Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
     if (remoteParticipant == nullptr) {
       remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
       // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
@@ -75,7 +80,7 @@ bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
 
 bool Participant::Publish(IMessage* msg) {
 #ifdef ARDUINO
-  int bufferSize = msg->Serialize(this->buffer);
+  int bufferSize = msg->Serialize((char*)this->buffer);
   if (bufferSize <= 0)
     return true;
 

Arduino/Participant.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Participant.h"
+#include "../Participant.h"
 
 namespace Passer {
 namespace RoboidControl {

Participant.cpp

@@ -2,7 +2,7 @@
 
 #include "Thing.h"
 
-#include "Arduino/UdpArduino.h"
+#include "Arduino/Participant.h"
 #include "Posix/Participant.h"
 #include "Windows/Participant.h"
 

Participant.h

@@ -30,7 +30,7 @@ namespace RoboidControl {
 /// @brief A participant is device which can communicate with other participants
 class Participant : public RemoteParticipant {
 public:
-  char buffer[1024];
+  unsigned char buffer[1024];
   long publishInterval = 3000; // 3 seconds
   // unsigned char networkId = 0;
 

Sensors/DigitalSensor.cpp

@@ -0,0 +1,11 @@
+#include "DigitalSensor.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+DigitalSensor::DigitalSensor() {}
+
+DigitalSensor::DigitalSensor(unsigned char networkId, unsigned char thingId) {}
+
+}  // namespace RoboidControl
+}  // namespace Passer

Sensors/DigitalSensor.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include "Thing.h"
+
+namespace Passer {
+namespace RoboidControl {
+
+/// @brief A digital (on/off, 1/0, true/false) sensor
+class DigitalSensor : public Thing {
+ public:
+  /// @brief The sigital state
+  bool state = 0;
+
+  /// @brief The default constructor
+  DigitalSensor();
+  /// @brief Create a temperature sensor with the given ID
+  /// @param networkId The network ID of the sensor
+  /// @param thingId The ID of the thing
+  DigitalSensor(unsigned char networkId, unsigned char thingId);
+};
+
+}  // namespace RoboidControl
+}  // namespace Passer

Thing.cpp

@@ -6,6 +6,9 @@
 #include <list>
 #include <string.h>
 
+namespace Passer {
+  namespace RoboidControl {
+
 Thing::Thing(Type thingType) : Thing((unsigned char)thingType) {}
 
 Thing::Thing(unsigned char thingType) {
@@ -142,6 +145,12 @@ Thing *Thing::GetChildByIndex(unsigned char ix) { return this->children[ix]; }
 
 void Thing::SetModel(const char *url) { this->modelUrl = url; }
 
+#if defined(ARDUINO)
+void Thing::Update() {
+  Update(millis());
+}
+#endif
+
 void Thing::GenerateBinary(char *buffer, unsigned char *ix) {
   (void)buffer;
   (void)ix;
@@ -210,4 +219,5 @@ Spherical16 Thing::GetAngularVelocity() { return this->angularVelocity; }
 //       thing->Update(currentTimeMs);
 //     }
 //   }
-//}
+//}
+  }}

Thing.h

@@ -154,6 +154,10 @@ public:
   /// the only official supported model format is .obj
   void SetModel(const char *url);
 
+  #if defined(ARDUINO)
+  void Update();
+  #endif
+  
   /// @brief Updates the state of the thing
   /// @param currentTimeMs The current clock time in milliseconds
   virtual void Update(unsigned long currentTimeMs) { (void)currentTimeMs; };