Fixes to make it work againg, but failing at udp.begin()

Arduino/ArduinoParticipant.cpp

@@ -19,12 +19,8 @@
 namespace RoboidControl {
 namespace Arduino {
 
-void ParticipantUDP::Setup(int localPort,
+void ParticipantUDP::Setup() {
-                             const char* remoteIpAddress,
-                             int remotePort) {
 #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();
 

Arduino/ArduinoParticipant.h

@@ -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;

Arduino/Things/DRV8833.cpp

@@ -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)

Arduino/Things/DRV8833.h

@@ -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 {

LinearAlgebra/Matrix.cpp

@@ -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 (int rowIx = 0; rowIx < this->nRows; rowIx++) {
-    for (uint colIx = 0; colIx < this->nCols; colIx++)
+    for (int colIx = 0; colIx < this->nCols; colIx++)
       r.data[colIx * this->nCols + rowIx] =
           this->data[rowIx * this->nCols + colIx];
   }

LocalParticipant.cpp

@@ -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

LocalParticipant.h

@@ -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

Messages/BinaryMsg.cpp

@@ -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);
 }
 

Participants/ParticipantUDP.cpp

@@ -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