Improved wifi code (but still not working)

EspIdf/EspIdfParticipant.cpp

@@ -22,26 +22,25 @@ void ParticipantUDP::Setup(int localPort,
   }
 
   // Create a UDP socket
-  this->sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-  if (this->sockfd < 0) {
+  this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+  if (this->sock < 0) {
     std::cout << "Unable to create UDP socket: errno " << errno << "\n";
     vTaskDelete(NULL);
     return;
   }
 
-  // Set up the server address structure
+  // Set up the receiving address
   struct sockaddr_in local_addr;
   memset(&local_addr, 0, sizeof(local_addr));
   local_addr.sin_family = AF_INET;
-  local_addr.sin_port = htons(this->port);
+  local_addr.sin_port = htons(localPort);
   local_addr.sin_addr.s_addr =
       htonl(INADDR_ANY);  // Listen on all available network interfaces
 
-  // Bind the socket to the address and port
-  if (bind(this->sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) <
-      0) {
+  // Bind the socket to the receiving address
+  if (bind(this->sock, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
     std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
-    close(sockfd);
+    close(sock);
     vTaskDelete(NULL);
     return;
   }
@@ -54,7 +53,7 @@ void ParticipantUDP::Setup(int localPort,
   inet_pton(AF_INET, this->remoteSite->ipAddress,
             &this->dest_addr.sin_addr.s_addr);
 
-  std::cout << "Wifi sync started local " << this->port << ", remote "
+  std::cout << "Wifi sync started local " << localPort << ", remote "
             << this->remoteSite->ipAddress << ":" << this->remoteSite->port
             << "\n";
 #endif  // IDF_VER
@@ -86,7 +85,7 @@ void ParticipantUDP::GetBroadcastAddress() {
 void ParticipantUDP::Receive() {
 #if defined(IDF_VER)
   struct pollfd fds[1];
-  fds[0].fd = sockfd;
+  fds[0].fd = sock;
   fds[0].events = POLLIN;  // We're looking for data available to read
 
   // Use poll() with a timeout of 0 to return immediately
@@ -103,7 +102,7 @@ void ParticipantUDP::Receive() {
   char sender_ipAddress[INET_ADDRSTRLEN];
 
   while (ret > 0 && fds[0].revents & POLLIN) {
-    int packetSize = recvfrom(this->sockfd, buffer, sizeof(buffer) - 1, 0,
+    int packetSize = recvfrom(this->sock, buffer, sizeof(buffer) - 1, 0,
                               (struct sockaddr*)&source_addr, &addr_len);
     if (packetSize < 0) {
       std::cout << "recvfrom() error\n";
@@ -132,10 +131,10 @@ void ParticipantUDP::Receive() {
 
 bool ParticipantUDP::SendTo(Participant* remoteParticipant, int bufferSize) {
 #if defined(IDF_VER)
-  // std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
-  //           << remoteParticipant->port << "\n";
+  std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
+            << remoteParticipant->port << "\n";
 
-  int err = sendto(this->sockfd, buffer, bufferSize, 0,
+  int err = sendto(this->sock, buffer, bufferSize, 0,
                    (struct sockaddr*)&dest_addr, sizeof(dest_addr));
   if (errno != 0)
     std::cout << "Send error " << err << " or " << errno << "\n";
@@ -154,7 +153,7 @@ bool ParticipantUDP::Publish(IMessage* msg) {
   dest_addr.sin_family = AF_INET;
   dest_addr.sin_port = htons(this->port);
   inet_pton(AF_INET, this->broadcastIpAddress, &dest_addr.sin_addr.s_addr);
-  int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+  int err = sendto(sock, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
                    sizeof(dest_addr));
   if (err != 0)
     std::cout << "Publish error\n";

EspIdf/EspIdfParticipant.h

@@ -20,7 +20,7 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
 #if defined(IDF_VER)
   char broadcastIpAddress[INET_ADDRSTRLEN];
 
-  int sockfd;
+  int sock;
   struct sockaddr_in dest_addr;
   // struct sockaddr_in src_addr;
 #endif

Participant.cpp

@@ -112,8 +112,8 @@ void Participant::Add(Thing* thing, bool checkId) {
     thing->id = highestIx + 1;
     this->things.push_back(thing);
 #endif
-    // std::cout << "Add thing with generated ID " << this->ipAddress << ":"
-    //           << this->port << "[" << (int)thing->id << "]\n";
+    std::cout << "Add thing with generated ID " << this->ipAddress << ":"
+              << this->port << "[" << (int)thing->id << "]\n";
   } else {
     Thing* foundThing = Get(thing->owner->networkId, thing->id);
     if (foundThing == nullptr) {
@@ -122,12 +122,12 @@ void Participant::Add(Thing* thing, bool checkId) {
 #else
       this->things.push_back(thing);
 #endif
-      // std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
-      // "["
-      //           << (int)thing->id << "]\n";
+      std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
+      "["
+                << (int)thing->id << "]\n";
     } else {
-      // std::cout << "Did not add, existing thing " << this->ipAddress << ":"
-      //           << this->port << "[" << (int)thing->id << "]\n";
+      std::cout << "Did not add, existing thing " << this->ipAddress << ":"
+                << this->port << "[" << (int)thing->id << "]\n";
     }
   }
 }

Participants/ParticipantUDP.cpp

@@ -8,9 +8,9 @@
 #include "Posix/PosixParticipant.h"
 #include "Windows/WindowsParticipant.h"
 
+#include "Things/DifferentialDrive.h"
 #include "Things/DistanceSensor.h"
 #include "Things/TouchSensor.h"
-#include "Things/DifferentialDrive.h"
 
 #include <string.h>
 
@@ -28,6 +28,7 @@ ParticipantUDP::ParticipantUDP(int port) : Participant("127.0.0.1", port) {
   this->root = Thing::LocalRoot();  //::LocalParticipant->root;
   this->root->owner = this;
   this->root->name = "UDP Root";
+  std::cout << "P2 " << (int)this->root << std::endl;
   this->Add(this->root);
 
   Participant::ReplaceLocalParticipant(*this);
@@ -45,6 +46,7 @@ ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
   this->root = Thing::LocalRoot();  // Participant::LocalParticipant->root;
   this->root->owner = this;
   this->root->name = "UDP Root";
+  std::cout << "P1 " << (int)this->root << std::endl;
   this->Add(this->root);
 
   Participant::ReplaceLocalParticipant(*this);
@@ -102,7 +104,6 @@ void ParticipantUDP::Update(bool recurse) {
         this->Send(msg);
 
       delete msg;
-
       this->nextPublishMe = currentTimeMs + this->publishInterval;
     }
 
@@ -114,10 +115,13 @@ void ParticipantUDP::Update(bool recurse) {
 }
 
 void ParticipantUDP::UpdateMyThings() {
+  std::cout << "# things = " << this->things.size() << std::endl;
   for (Thing* thing : this->things) {
+    std::cout << ".\n";
     if (thing == nullptr)  // || thing->GetParent() != nullptr)
       continue;
-
+    std::cout << (int)this->root << std::endl;
+    std::cout << thing->name << std::endl;
     // Why don't we do recursive?
     // Because when a thing creates a thing in the update,
     // that new thing is not sent out (because of hierarchyChanged)

Thing.cpp

@@ -42,7 +42,7 @@ Thing::Thing(Participant* owner) {
 
   this->owner = owner;
   this->owner->Add(this);
-  // std::cout << this->owner->name << ": New root thing " << std::endl;
+  std::cout << this->owner->name << ": New root thing " << std::endl;
 }
 
 void Thing::CreateRoot(Participant* owner) {
@@ -262,7 +262,7 @@ void Thing::Update(bool recursive) {
   this->nameChanged = false;
 
   if (recursive) {
-    // std::cout << "# children: " << (int)this->childCount << std::endl;
+     std::cout << "# children: " << (int)this->childCount << std::endl;
     for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
       Thing* child = this->children[childIx];
       if (child == nullptr)