ESP-IDF sending now works

EspIdf/EspIdfParticipant.cpp

@@ -10,7 +10,6 @@ namespace RoboidControl {
 void ParticipantUDP::SetupUDP(int localPort,
                            const char* remoteIpAddress,
                            int remotePort) {
-#if defined(IDF_VER)
   std::cout << "Set up UDP\n";
   GetBroadcastAddress();
 
@@ -56,23 +55,23 @@ void ParticipantUDP::SetupUDP(int localPort,
   // inet_pton(AF_INET, this->remoteSite->ipAddress,
   //           &this->dest_addr.sin_addr.s_addr);
 
+    this->connected = true;
+
   std::cout << "Wifi sync started local " << localPort << ", remote "
             << this->remoteSite->ipAddress << ":" << this->remoteSite->port
             << "\n";
 
-  std::cout << "socket: " << (int)this->sock << std::endl;
+  // std::cout << "socket: " << (int)this->sock << std::endl;
-  ParticipantMsg* msg = new ParticipantMsg(this->networkId);
+  // ParticipantMsg* msg = new ParticipantMsg(this->networkId);
-  int bufferSize = msg->Serialize(this->buffer);
+  // int bufferSize = msg->Serialize(this->buffer);
-  int err = sendto(this->sock, buffer, bufferSize, 0,
+  // int err = sendto(this->sock, buffer, bufferSize, 0,
-                   (struct sockaddr*)&dest_addr, sizeof(dest_addr));
+  //                  (struct sockaddr*)&dest_addr, sizeof(dest_addr));
-  if (errno != 0)
+  // if (errno != 0)
-    std::cout << "AASend error " << err << " or " << errno << "\n";
+  //   std::cout << "AASend error " << err << " or " << errno << "\n";
-  else
+  // else
-    std::cout << "AASend SUCCESS\n";
+  //   std::cout << "AASend SUCCESS\n";
 
-  SendTest();
+  //SendTest();
-
-#endif  // IDF_VER
 }
 
 void ParticipantUDP::GetBroadcastAddress() {
@@ -151,20 +150,36 @@ ParticipantUDP::ParticipantUDP(int port) : ParticipantUDPGeneric(port) {}
 ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
     : ParticipantUDPGeneric(ipAddress, port, localPort) {}
 
-bool ParticipantUDP::SendTest() {
+// bool ParticipantUDP::SendTest() {
-#if defined(IDF_VER)
+// #if defined(IDF_VER)
-  std::cout << "socket: " << (int)this->sock << std::endl;
+//   // std::cout << "socket: " << (int)this->sock << std::endl;
-  ParticipantMsg* msg = new ParticipantMsg(this->networkId);
+//   // UBaseType_t stack_size = uxTaskGetStackHighWaterMark(NULL);  // NULL to check the main task
-  int bSize = msg->Serialize(this->buffer);
+//   // size_t free_heap = xPortGetFreeHeapSize();
-  int err = sendto(this->sock, buffer, bSize, 0, (struct sockaddr*)&dest_addr,
+//   // std::cout <<  "Stack High Water Mark: " << stack_size << " heap " << free_heap << std::endl;
-                   sizeof(dest_addr));
-  if (errno != 0)
-    std::cout << "BBSend error " << err << " or " << errno << "\n";
-  else
-    std::cout << "BBSend SUCCESS\n";
 
-#endif
+//   ParticipantMsg* msg = new ParticipantMsg(this->networkId);
-  return true;
+//   int bSize = msg->Serialize(this->buffer);
+//   // std::cout << "buffer size " << bSize << std::endl;
+//   int err = sendto(this->sock, buffer, bSize, 0, (struct sockaddr*)&dest_addr,
+//                    sizeof(dest_addr));
+//   if (errno != 0)
+//     std::cout << "BBSend error " << err << " or " << errno << "\n";
+//   else
+//     std::cout << "BBSend SUCCESS\n";
+
+// #endif
+//   return true;
+// }
+
+bool ParticipantUDP::Send(IMessage* msg) {
+  int bufferSize = msg->Serialize(this->buffer);
+  if (bufferSize <= 0)
+    return true;
+
+  std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
+            << " to " << this->remoteSite->ipAddress << std::endl;
+
+  return this->SendTo(this->remoteSite, bufferSize);
 }
 
 bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
@@ -174,7 +189,7 @@ bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
 
   char ip_str[INET_ADDRSTRLEN];
   inet_ntop(AF_INET, &dest_addr.sin_addr, ip_str, sizeof(ip_str));
-  std::cout << "Sending to " << ip_str << ":" << port << "\n";
+  std::cout << "Sending " << bufferSize << " bytes to " << ip_str << ":" << port << "\n";
 
   // Print the IP address and port
   // printf("IP Address: %s\n", ip_str);
@@ -183,10 +198,9 @@ bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
   this->dest_addr.sin_port = htons(remoteParticipant->port);
   this->dest_addr.sin_addr.s_addr = inet_addr(remoteParticipant->ipAddress);
 
-  std::cout << "socket: " << (int)this->sock << std::endl;
   int err = sendto(this->sock, buffer, bufferSize, 0,
                    (struct sockaddr*)&this->dest_addr, sizeof(this->dest_addr));
-  if (errno != 0)
+  if (errno < 0)
     std::cout << "Send error " << err << " or " << errno << "\n";
 
 #endif

EspIdf/EspIdfParticipant.h

@@ -9,7 +9,7 @@ namespace RoboidControl {
 
 class ParticipantUDP : public ParticipantUDPGeneric {
  public:
-   /// @brief Create a participant without connecting to a site
+  /// @brief Create a participant without connecting to a site
   /// @param port The port on which the participant communicates
   /// These participant typically broadcast Participant messages to let site
   /// servers on the local network know their presence. Alternatively they can
@@ -19,19 +19,22 @@ class ParticipantUDP : public ParticipantUDPGeneric {
   /// @param ipAddress The IP address of the site
   /// @param port The port used by the site
   /// @param localPort The port used by the local participant
-  ParticipantUDP(const char* ipAddress,
+  ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
-                        int port = 7681,
-                        int localPort = 7681);
 
   void Setup(int localPort, const char* remoteIpAddress, int remotePort);
   void Receive();
   bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
 
-    bool SendTest();
+  // bool SendTest();
 
-  //bool Send(IMessage* msg) override;
+  /// @brief Sens a message to the remote site (if set)
-  void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) override;
+  /// @param msg The message to send
+  /// @return True if a message could be sent.
+  bool Send(IMessage* msg) override;
+  void SetupUDP(int localPort,
+                const char* remoteIpAddress,
+                int remotePort) override;
   void ReceiveUDP() override;
 
  protected:
@@ -46,7 +49,6 @@ class ParticipantUDP : public ParticipantUDPGeneric {
   void GetBroadcastAddress();
 };
 
-
 }  // namespace RoboidControl
 
 #endif

Participants/ParticipantUDP.cpp

@@ -231,18 +231,18 @@ void ParticipantUDPGeneric::Update(bool recurse) {
     if (this->connected == false)
       begin();
 
-    // EspIdf::ParticipantUDP* thisEspIdf =
+    ParticipantUDP* thisEspIdf =
-    //     static_cast<EspIdf::ParticipantUDP*>(this);
+        static_cast<ParticipantUDP*>(this);
     // thisEspIdf->SendTest();
 
     if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
       ParticipantMsg* msg = new ParticipantMsg(this->networkId);
 
+      // thisEspIdf->SendTest();
       if (this->remoteSite == nullptr)
         this->Publish(msg);
       else
         this->Send(msg);
-      // thisEspIdf->SendTest();
 
       delete msg;
       this->nextPublishMe = currentTimeMs + this->publishInterval;