RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Fixes to make it work againg, but failing at udp.begin()

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This commit is contained in:
Pascal Serrarens 2025-04-17 12:50:49 +02:00
parent 0317ac5094
commit a17c933908
9 changed files with 61 additions and 530 deletions
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17
Arduino/ArduinoParticipant.cpp
View File

@ -19,12 +19,8 @@
namespace RoboidControl {
namespace Arduino {
void ParticipantUDP::Setup(int localPort,
const char* remoteIpAddress,
int remotePort) {
void ParticipantUDP::Setup() {
#if defined(ARDUINO) && defined(HAS_WIFI)
this->remoteIpAddress = remoteIpAddress;
this->remotePort = remotePort;
GetBroadcastAddress();
#if defined(UNO_R4)
@ -38,9 +34,14 @@ void ParticipantUDP::Setup(int localPort,
return;
}
#endif
udp.begin(localPort);
std::cout << "UDP.begin " << this->port << std::endl;
std::cout << "Wifi sync started to port " << this->remotePort << "\n";
udp.begin(this->port);
std::cout << "Wifi sync started local " << this->port;
if (this->remoteSite != nullptr)
std::cout << ", remote " << this->remoteSite->ipAddress << ":"
<< this->remoteSite->port << "\n";
#endif
}
@ -112,7 +113,7 @@ bool ParticipantUDP::Publish(IMessage* msg) {
if (bufferSize <= 0)
return true;
udp.beginPacket(this->broadcastIpAddress, this->remotePort);
udp.beginPacket(this->broadcastIpAddress, this->port);
udp.write((unsigned char*)buffer, bufferSize);
udp.endPacket();

4
Arduino/ArduinoParticipant.h
View File

@ -11,15 +11,13 @@ namespace Arduino {
class ParticipantUDP : public RoboidControl::ParticipantUDP {
public:
void Setup(int localPort, const char* remoteIpAddress, int remotePort);
void Setup();
void Receive();
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
#if defined(HAS_WIFI)
const char* remoteIpAddress = nullptr;
unsigned short remotePort = 0;
char* broadcastIpAddress = nullptr;
WiFiUDP udp;

18
Arduino/Things/DRV8833.cpp
View File

@ -5,18 +5,27 @@
namespace RoboidControl {
namespace Arduino {
DRV8833Motor::DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse)
#if (ESP32)
uint8_t DRV8833Motor::nextAvailablePwmChannel = 0;
#endif
DRV8833Motor::DRV8833Motor(Participant* participant,
unsigned char pinIn1,
unsigned char pinIn2,
bool reverse)
: Thing(participant) {
this->pinIn1 = pinIn1;
this->pinIn2 = pinIn2;
#if (ESP32)
in1Ch = nextAvailablePwmChannel++;
in1Ch = DRV8833Motor::nextAvailablePwmChannel++;
ledcSetup(in1Ch, 500, 8);
ledcAttachPin(pinIn1, in1Ch);
in2Ch = nextAvailablePwmChannel++;
in2Ch = DRV8833Motor::nextAvailablePwmChannel++;
ledcSetup(in2Ch, 500, 8);
ledcAttachPin(pinIn2, in2Ch);
#else
pinMode(pinIn1, OUTPUT); // configure the in1 pin to output mode
pinMode(pinIn2, OUTPUT); // configure the in1 pin to output mode
@ -47,7 +56,8 @@ void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
if (this->reverse)
motorSpeed = -motorSpeed;
// std::cout << "ang speed " << this->name << " = " << angularSpeed << " rpm " << rpm
// std::cout << "ang speed " << this->name << " = " << angularSpeed << " rpm
// " << rpm
// << ", motor signal = " << (int)motorSignal << "\n";
#if (ESP32)

12
Arduino/Things/DRV8833.h
View File

@ -1,5 +1,6 @@
#pragma once
#include <Arduino.h>
#include "Thing.h"
#include "Things/DifferentialDrive.h"
@ -16,7 +17,10 @@ class DRV8833Motor : public Thing {
/// @param pinIn1 the pin number for the in1 signal
/// @param pinIn2 the pin number for the in2 signal
/// @param direction the forward turning direction of the motor
DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse = false);
DRV8833Motor(Participant* participant,
unsigned char pinIn1,
unsigned char pinIn2,
bool reverse = false);
void SetMaxRPM(unsigned int rpm);
virtual void SetAngularVelocity(Spherical velocity) override;
@ -27,6 +31,12 @@ class DRV8833Motor : public Thing {
unsigned char pinIn1 = 255;
unsigned char pinIn2 = 255;
unsigned int maxRpm = 200;
#if (ESP32)
uint8_t in1Ch;
uint8_t in2Ch;
static uint8_t nextAvailablePwmChannel;
#endif
};
class DRV8833 : public Thing {

16
LinearAlgebra/Matrix.cpp
View File

@ -1,5 +1,7 @@
#include "Matrix.h"
#if !defined(NO_STD)
#include <iostream>
#endif
namespace LinearAlgebra {
@ -61,7 +63,9 @@ Matrix2::Matrix2(const Matrix2& m)
this->data = nullptr;
else {
this->data = new float[this->nValues];
std::copy(m.data, m.data + nValues, this->data);
for (int ix = 0; ix < this->nValues; ++ix)
this->data[ix] = m.data[ix];
}
}
@ -76,7 +80,8 @@ Matrix2& Matrix2::operator=(const Matrix2& m) {
this->data = nullptr;
else {
this->data = new float[this->nValues];
std::copy(m.data, m.data + this->nValues, this->data);
for (int ix = 0; ix < this->nValues; ++ix)
this->data[ix] = m.data[ix];
}
}
return *this;
@ -89,7 +94,8 @@ Matrix2::~Matrix2() {
Matrix2 Matrix2::Clone() const {
Matrix2 r = Matrix2(this->nRows, this->nCols);
std::copy(this->data, this->data + this->nValues, r.data);
for (int ix = 0; ix < this->nValues; ++ix)
r.data[ix] = this->data[ix];
return r;
}
@ -158,8 +164,8 @@ Matrix2 Matrix2::SkewMatrix(const Vector3& v) {
Matrix2 Matrix2::Transpose() const {
Matrix2 r = Matrix2(this->nCols, this->nRows);
for (uint rowIx = 0; rowIx < this->nRows; rowIx++) {
for (uint colIx = 0; colIx < this->nCols; colIx++)
for (int rowIx = 0; rowIx < this->nRows; rowIx++) {
for (int colIx = 0; colIx < this->nCols; colIx++)
r.data[colIx * this->nCols + rowIx] =
this->data[rowIx * this->nCols + colIx];
}

366
LocalParticipant.cpp
View File

@ -1,366 +0,0 @@
#include "LocalParticipant.h"
#include "Thing.h"
#include "Arduino/ArduinoParticipant.h"
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#include <ws2tcpip.h>
#include "Windows/WindowsParticipant.h"
#pragma comment(lib, "ws2_32.lib")
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <fcntl.h> // For fcntl
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#include <chrono>
#include "Posix/PosixParticipant.h"
#endif
#include <string.h>
namespace RoboidControl {
// LocalParticipant::LocalParticipant() {}
LocalParticipant::LocalParticipant(int port) {
this->ipAddress = "0.0.0.0";
this->port = port;
if (this->port == 0)
this->isIsolated = true;
}
LocalParticipant::LocalParticipant(const char* ipAddress, int port) {
this->ipAddress = "0.0.0.0"; // ipAddress; // maybe this is not needed
// anymore, keeping it to "0.0.0.0"
this->port = port;
if (this->port == 0)
this->isIsolated = true;
else
this->remoteSite = new Participant(ipAddress, port);
}
static LocalParticipant* isolatedParticipant = nullptr;
LocalParticipant* LocalParticipant::Isolated() {
if (isolatedParticipant == nullptr)
isolatedParticipant = new LocalParticipant(0);
return isolatedParticipant;
}
void LocalParticipant::begin() {
if (this->isIsolated)
return;
SetupUDP(this->port, this->ipAddress, this->port);
}
void LocalParticipant::SetupUDP(int localPort,
const char* remoteIpAddress,
int remotePort) {
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
thisWindows->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
thisPosix->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
thisArduino->Setup(localPort, remoteIpAddress, remotePort);
#endif
this->connected = true;
}
void LocalParticipant::Update(unsigned long currentTimeMs) {
if (currentTimeMs == 0) {
currentTimeMs = Thing::GetTimeMs();
// #if defined(ARDUINO)
// currentTimeMs = millis();
// #elif defined(__unix__) || defined(__APPLE__)
// auto now = std::chrono::steady_clock::now();
// auto ms =
// std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch());
// currentTimeMs = static_cast<unsigned long>(ms.count());
// #endif
}
if (this->isIsolated == false) {
if (this->connected == false)
begin();
if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
ParticipantMsg* msg = new ParticipantMsg(this->networkId);
if (this->remoteSite == nullptr)
this->Publish(msg);
else
this->Send(this->remoteSite, msg);
delete msg;
this->nextPublishMe = currentTimeMs + this->publishInterval;
}
this->ReceiveUDP();
}
for (Thing* thing : this->things) {
if (thing != nullptr) {
thing->Update(currentTimeMs);
if (this->isIsolated == false) {
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
for (Participant* sender : this->senders)
this->Send(sender, poseMsg);
delete poseMsg;
}
}
}
}
void LocalParticipant::ReceiveUDP() {
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
thisWindows->Receive();
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
thisPosix->Receive();
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
thisArduino->Receive();
#endif
}
Participant* LocalParticipant::GetParticipant(const char* ipAddress, int port) {
for (Participant* sender : this->senders) {
if (strcmp(sender->ipAddress, ipAddress) == 0 && sender->port == port)
return sender;
}
return nullptr;
}
Participant* LocalParticipant::AddParticipant(const char* ipAddress, int port) {
// std::cout << "New Participant " << ipAddress << ":" << port << "\n";
Participant* participant = new Participant(ipAddress, port);
#if defined(NO_STD)
participant->networkId = this->senderCount;
this->senders[this->senderCount++] = participant;
#else
participant->networkId = (unsigned char)this->senders.size();
this->senders.push_back(participant);
#endif
return participant;
}
#pragma region Send
void LocalParticipant::SendThingInfo(Participant* remoteParticipant,
Thing* thing) {
// std::cout << "Send thing info " << (int)thing->id << " \n";
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Send(remoteParticipant, thingMsg);
delete thingMsg;
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Send(remoteParticipant, nameMsg);
delete nameMsg;
ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Send(remoteParticipant, modelMsg);
delete modelMsg;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
this->Send(remoteParticipant, poseMsg);
delete poseMsg;
BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
this->Send(remoteParticipant, customMsg);
delete customMsg;
}
bool LocalParticipant::Send(Participant* remoteParticipant, IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
return thisWindows->Send(remoteParticipant, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
return thisPosix->Send(remoteParticipant, bufferSize);
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
return thisArduino->Send(remoteParticipant, bufferSize);
#endif
}
void LocalParticipant::PublishThingInfo(Thing* thing) {
// std::cout << "Publish thing info" << thing->networkId << "\n";
// Strange, when publishing, the network id is irrelevant, because it is
// connected to a specific site...
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Publish(thingMsg);
delete thingMsg;
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Publish(nameMsg);
delete nameMsg;
ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Publish(modelMsg);
delete modelMsg;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
this->Publish(poseMsg);
delete poseMsg;
BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
this->Publish(customMsg);
delete customMsg;
}
bool LocalParticipant::Publish(IMessage* msg) {
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
return thisWindows->Publish(msg);
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
return thisPosix->Publish(msg);
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
return thisArduino->Publish(msg);
#endif
}
// Send
#pragma endregion
#pragma region Receive
void LocalParticipant::ReceiveData(unsigned char packetSize,
char* senderIpAddress,
unsigned int senderPort) {
Participant* remoteParticipant =
this->GetParticipant(senderIpAddress, senderPort);
if (remoteParticipant == nullptr) {
remoteParticipant = this->AddParticipant(senderIpAddress, senderPort);
// std::cout << "New sender " << sender_ipAddress << ":" << sender_port
// << "\n";
// std::cout << "New remote participant " << remoteParticipant->ipAddress
// << ":" << remoteParticipant->port << " "
// << (int)remoteParticipant->networkId << "\n";
}
ReceiveData(packetSize, remoteParticipant);
}
void LocalParticipant::ReceiveData(unsigned char bufferSize,
Participant* remoteParticipant) {
unsigned char msgId = this->buffer[0];
// std::cout << "receive msg " << (int)msgId << "\n";
switch (msgId) {
case ParticipantMsg::id: {
ParticipantMsg* msg = new ParticipantMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case SiteMsg::id: {
SiteMsg* msg = new SiteMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case InvestigateMsg::id: {
InvestigateMsg* msg = new InvestigateMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case ThingMsg::id: {
ThingMsg* msg = new ThingMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case NameMsg::id: {
NameMsg* msg = new NameMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case PoseMsg::id: {
PoseMsg* msg = new PoseMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case BinaryMsg::id: {
BinaryMsg* msg = new BinaryMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
};
}
void LocalParticipant::Process(Participant* sender, ParticipantMsg* msg) {}
void LocalParticipant::Process(Participant* sender, SiteMsg* msg) {
// std::cout << this->name << ": process NetworkId [" << (int)this->networkId
// << "/" << (int)msg->networkId << "]\n";
if (this->networkId != msg->networkId) {
this->networkId = msg->networkId;
// std::cout << this->things.size() << " things\n";
for (Thing* thing : this->things)
this->SendThingInfo(sender, thing);
}
}
void LocalParticipant::Process(Participant* sender, InvestigateMsg* msg) {}
void LocalParticipant::Process(Participant* sender, ThingMsg* msg) {}
void LocalParticipant::Process(Participant* sender, NameMsg* msg) {
Thing* thing = sender->Get(msg->networkId, msg->thingId);
if (thing != nullptr) {
int nameLength = msg->nameLength;
int stringLen = nameLength + 1;
char* thingName = new char[stringLen];
#if defined(_WIN32) || defined(_WIN64)
strncpy_s(thingName, stringLen, msg->name,
stringLen - 1); // Leave space for null terminator
#else
// Use strncpy with bounds checking for other platforms (Arduino, POSIX,
// ESP-IDF)
strncpy(thingName, msg->name,
stringLen - 1); // Leave space for null terminator
thingName[stringLen - 1] = '\0'; // Ensure null termination
#endif
thingName[nameLength] = '\0';
thing->name = thingName;
// std::cout << "thing name = " << thing->name << " length = " << nameLength
// << "\n";
}
}
void LocalParticipant::Process(Participant* sender, PoseMsg* msg) {}
void LocalParticipant::Process(Participant* sender, BinaryMsg* msg) {
// std::cout << this->name << ": process Binary [" << (int)this->networkId <<
// "/"
// << (int)msg->networkId << "]\n";
Thing* thing = sender->Get(msg->networkId, msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->bytes);
else {
thing = this->Get(msg->networkId, msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->bytes);
// else
// std::cout << "custom msg for unknown thing [" << (int)msg->networkId
// << "/" << (int)msg->thingId << "]\n";
}
}
// Receive
#pragma endregion
} // namespace RoboidControl

140
LocalParticipant.h
View File

@ -1,140 +0,0 @@
#pragma once
#include "Messages/BinaryMsg.h"
#include "Messages/InvestigateMsg.h"
#include "Messages/ModelUrlMsg.h"
#include "Messages/NameMsg.h"
#include "Messages/ParticipantMsg.h"
#include "Messages/PoseMsg.h"
#include "Messages/SiteMsg.h"
#include "Messages/ThingMsg.h"
#include "Participant.h"
#if !defined(NO_STD)
#include <list>
#endif
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#elif defined(ARDUINO)
// #include <WiFiUdp.h>
#endif
namespace RoboidControl {
constexpr int MAX_SENDER_COUNT = 256;
/// @brief A local participant is the local device which can communicate with
/// other participants It manages all local things and communcation with other
/// participants. Each application has a local participant which is usually
/// explicit in the code. An participant can be isolated. In that case it is
/// standalong and does not communicate with other participants.
///
/// It is possible to work with an hidden participant by creating things without
/// specifying a participant in the constructor. In that case an hidden isolated
/// participant is created which can be obtained using
/// RoboidControl::LocalParticipant::Isolated().
/// @sa RoboidControl::Thing::Thing()
class LocalParticipant : public Participant {
public:
/// @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
/// broadcast information which can be used directly by other participants.
LocalParticipant(int port = 7681);
/// @brief Create a participant which will try to connect to a site.
/// @param ipAddress The IP address of the site
/// @param port The port used by the site
LocalParticipant(const char* ipAddress, int port = 7681);
// Note to self: one cannot specify the port used by the local participant
// now!!
/// @brief Isolated participant is used when the application is run without
/// networking
/// @return A participant without networking support
static LocalParticipant* Isolated();
/// @brief True if the participant is running isolated.
/// Isolated participants do not communicate with other participants
bool isIsolated = false;
/// The interval in milliseconds for publishing (broadcasting) data on the
/// local network
long publishInterval = 3000; // 3 seconds
/// @brief The name of the participant
const char* name = "LocalParticipant";
// int localPort = 0;
/// @brief The remote site when this participant is connected to a site
Participant* remoteSite = nullptr;
#if defined(ARDUINO)
// const char* remoteIpAddress = nullptr;
// unsigned short remotePort = 0;
// char* broadcastIpAddress = nullptr;
// WiFiUDP udp;
#else
#if defined(__unix__) || defined(__APPLE__)
int sock;
#endif
sockaddr_in remote_addr;
sockaddr_in server_addr;
sockaddr_in broadcast_addr;
#endif
void begin();
bool connected = false;
virtual void Update(unsigned long currentTimeMs = 0);
void SendThingInfo(Participant* remoteParticipant, Thing* thing);
void PublishThingInfo(Thing* thing);
bool Send(Participant* remoteParticipant, IMessage* msg);
bool Publish(IMessage* msg);
void ReceiveData(unsigned char bufferSize,
char* senderIpAddress,
unsigned int senderPort);
void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
#if defined(NO_STD)
unsigned char senderCount = 0;
Participant* senders[MAX_SENDER_COUNT];
#else
std::list<Participant*> senders;
#endif
protected:
unsigned long nextPublishMe = 0;
char buffer[1024];
void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
Participant* GetParticipant(const char* ipAddress, int port);
Participant* AddParticipant(const char* ipAddress, int port);
void ReceiveUDP();
virtual void Process(Participant* sender, ParticipantMsg* msg);
virtual void Process(Participant* sender, SiteMsg* msg);
virtual void Process(Participant* sender, InvestigateMsg* msg);
virtual void Process(Participant* sender, ThingMsg* msg);
virtual void Process(Participant* sender, NameMsg* msg);
virtual void Process(Participant* sender, PoseMsg* msg);
virtual void Process(Participant* sender, BinaryMsg* msg);
};
} // namespace RoboidControl

1
Messages/BinaryMsg.cpp
View File

@ -7,6 +7,7 @@ BinaryMsg::BinaryMsg(unsigned char networkId, Thing* thing) {
this->thingId = thing->id;
this->thing = thing;
unsigned char ix = BinaryMsg::length;
this->data = new char[255];
this->dataLength = this->thing->GenerateBinary(this->data, &ix);
}

17
Participants/ParticipantUDP.cpp
View File

@ -69,7 +69,7 @@ void ParticipantUDP::SetupUDP(int localPort,
#elif defined(ARDUINO)
Arduino::ParticipantUDP* thisArduino =
static_cast<Arduino::ParticipantUDP*>(this);
thisArduino->Setup(localPort, remoteIpAddress, remotePort);
thisArduino->Setup();
#elif defined(IDF_VER)
EspIdf::ParticipantUDP* thisEspIdf =
static_cast<EspIdf::ParticipantUDP*>(this);
@ -255,8 +255,10 @@ void ParticipantUDP::ReceiveData(unsigned char packetSize,
Participant* sender = this->GetParticipant(senderIpAddress, senderPort);
if (sender == nullptr) {
sender = this->AddParticipant(senderIpAddress, senderPort);
#if !defined(NO_STD)
std::cout << "New remote participant " << sender->ipAddress << ":"
<< sender->port << std::endl;
#endif
}
ReceiveData(packetSize, sender);
@ -317,9 +319,11 @@ void ParticipantUDP::ReceiveData(unsigned char bufferSize,
} break;
};
// Check if the buffer has been read completely
// Check if the buffer has been read completely
#if !defined(NO_STD)
if (bufferSize > 0)
std::cout << "Buffer not fully read, remaining " << (int)bufferSize << "\n";
#endif
}
void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
@ -353,7 +357,8 @@ void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {
void ParticipantUDP::Process(Participant* sender, ThingMsg* msg) {
#if defined(DEBUG)
std::cout << this->name << ": process ThingMsg [" << (int)msg->networkId
<< "/" << (int)msg->thingId << "] " << (int)msg->thingType << " " << (int)msg->parentId << "\n";
<< "/" << (int)msg->thingId << "] " << (int)msg->thingType << " "
<< (int)msg->parentId << "\n";
#endif
}
@ -380,9 +385,13 @@ void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
thingName[nameLength] = '\0';
thing->name = thingName;
#if !defined(NO_STD)
std::cout << thing->name;
#endif
}
#if !defined(NO_STD)
std::cout << std::endl;
#endif
}
void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
@ -408,11 +417,13 @@ void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
Thing* thing = sender->Get(msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->data);
#if !defined(NO_STD)
else {
std::cout << " unknown thing [" << (int)msg->networkId << "/"
<< (int)msg->thingId << "]";
}
std::cout << std::endl;
#endif
}
// Receive