RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Merge commit 'e90ae8649b147bc6e5a7657f6367ebc81b70e05d' into ControlCore

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This commit is contained in:
Pascal Serrarens 2025-03-04 16:31:59 +01:00
commit a40d0bf34b
12 changed files with 324 additions and 187 deletions
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64
LocalParticipant.cpp
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@ -3,14 +3,15 @@
#include "Thing.h"
#include "Arduino/ArduinoParticipant.h"
#include "Posix/PosixParticipant.h"
#include "Windows/WindowsParticipant.h"
#if defined(_WIN32) || defined(_WIN64)
#include "Windows/WindowsParticipant.h"
#include <winsock2.h>
#include <ws2tcpip.h>
#pragma comment(lib, "ws2_32.lib")
#elif defined(__unix__) || defined(__APPLE__)
#include "Posix/PosixParticipant.h"
#include <arpa/inet.h>
#include <fcntl.h> // For fcntl
#include <netinet/in.h>
@ -26,15 +27,31 @@ namespace RoboidControl {
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 = ipAddress; // maybe this is not needed anymore, keeping it to "0.0.0.0"
this->ipAddress = "0.0.0.0"; // ipAddress; // maybe this is not needed anymore, keeping it to "0.0.0.0"
this->port = port;
this->site = new Participant(ipAddress, 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);
}
@ -63,28 +80,32 @@ void LocalParticipant::Update(unsigned long currentTimeMs) {
#endif
}
if (this->connected == false)
begin();
if (this->isIsolated == false) {
if (this->connected == false)
begin();
if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
ParticipantMsg* msg = new ParticipantMsg(this->networkId);
if (this->site == nullptr)
this->Publish(msg);
else
this->Send(this->site, msg);
delete msg;
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->nextPublishMe = currentTimeMs + this->publishInterval;
}
this->ReceiveUDP();
}
this->ReceiveUDP();
for (Thing* thing : this->things) {
if (thing != nullptr) {
thing->Update(currentTimeMs);
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
for (Participant* sender : this->senders)
this->Send(sender, poseMsg);
delete poseMsg;
if (this->isIsolated == false) {
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
for (Participant* sender : this->senders)
this->Send(sender, poseMsg);
delete poseMsg;
}
}
}
}
@ -273,8 +294,13 @@ void LocalParticipant::Process(Participant* sender, NameMsg* msg) {
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";

44
LocalParticipant.h
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@ -25,16 +25,45 @@
namespace RoboidControl {
/// @brief A participant is device which can communicate with other participants
/// @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 (@sa RoboidControl::Thing::Thing()). In that case an hidden isolated participant is created which can be
/// obtained using RoboidControl::LocalParticipant::Isolated().
class LocalParticipant : public Participant {
public:
char buffer[1024];
/// @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;
Participant* site = nullptr;
/// @brief The remote site when this participant is connected to a site
Participant* remoteSite = nullptr;
#if defined(ARDUINO)
const char* remoteIpAddress = nullptr;
@ -44,9 +73,7 @@ class LocalParticipant : public Participant {
WiFiUDP udp;
#else
#if defined(_WIN32) || defined(_WIN64)
SOCKET sock;
#elif defined(__unix__) || defined(__APPLE__)
#if defined(__unix__) || defined(__APPLE__)
int sock;
#endif
sockaddr_in remote_addr;
@ -55,9 +82,6 @@ class LocalParticipant : public Participant {
#endif
LocalParticipant(int port = 7681);
LocalParticipant(const char* ipAddress, int port = 7681);
void begin();
bool connected = false;
@ -77,6 +101,8 @@ class LocalParticipant : public Participant {
protected:
unsigned long nextPublishMe = 0;
char buffer[1024];
void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
Participant* GetParticipant(const char* ipAddress, int port);

37
Participant.cpp
View File

@ -11,7 +11,11 @@ Participant::Participant(const char* ipAddress, int port) {
int addressLength = strlen(ipAddress);
int stringLength = addressLength + 1;
char* addressString = new char[stringLength];
#if defined(_WIN32) || defined(_WIN64)
strncpy_s(addressString, stringLength, ipAddress, addressLength); // Leave space for null terminator
#else
strncpy(addressString, ipAddress, addressLength);
#endif
addressString[addressLength] = '\0';
this->ipAddress = addressString;
@ -24,21 +28,22 @@ Participant::~Participant() {
Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
for (Thing* thing : this->things) {
//if (thing->networkId == networkId && thing->id == thingId)
// if (thing->networkId == networkId && thing->id == thingId)
if (thing->id == thingId)
return thing;
}
// std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
// << "[" << (int)networkId << "/" << (int)thingId << "]\n";
// std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
// << "[" << (int)networkId << "/" << (int)thingId << "]\n";
return nullptr;
}
void Participant::Add(Thing* thing, bool checkId) {
if (checkId && thing->id == 0) {
// allocate a new thing ID
thing->id = this->things.size() + 1;
thing->id = (unsigned char)this->things.size() + 1;
this->things.push_back(thing);
// std::cout << "Add thing with generated ID " << this->ipAddress << ":" << this->port << "[" << (int)thing->networkId << "/"
// std::cout << "Add thing with generated ID " << this->ipAddress << ":" << this->port << "[" <<
// (int)thing->networkId << "/"
// << (int)thing->id << "]\n";
} else {
Thing* foundThing = Get(thing->networkId, thing->id);
@ -46,7 +51,7 @@ void Participant::Add(Thing* thing, bool checkId) {
this->things.push_back(thing);
// std::cout << "Add thing " << this->ipAddress << ":" << this->port << "[" << (int)thing->networkId << "/"
// << (int)thing->id << "]\n";
}
}
// else
// std::cout << "Did not add, existing thing " << this->ipAddress << ":" << this->port << "["
// << (int)thing->networkId << "/" << (int)thing->id << "]\n";
@ -58,16 +63,16 @@ void Participant::Remove(Thing* thing) {
std::cout << "Removing " << thing->networkId << "/" << thing->id << " list size = " << this->things.size() << "\n";
}
void Participant::UpdateAll(unsigned long currentTimeMs) {
// Not very efficient, but it works for now.
// void Participant::UpdateAll(unsigned long currentTimeMs) {
// // Not very efficient, but it works for now.
for (Thing* thing : this->things) {
if (thing != nullptr && thing->GetParent() == nullptr) { // update all root things
// std::cout << " update " << (int)ix << " thingid " << (int)thing->id
// << "\n";
thing->Update(currentTimeMs);
}
}
}
// for (Thing* thing : this->things) {
// if (thing != nullptr && thing->GetParent() == nullptr) { // update all root things
// // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
// // << "\n";
// thing->Update(currentTimeMs);
// }
// }
// }
} // namespace RoboidControl

27
Participant.h
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@ -3,25 +3,50 @@
namespace RoboidControl {
/// @brief A participant is a device which manages things.
/// It can communicate with other participant to synchronise the state of things.
/// This class is used to register the things the participant is managing.
/// It also maintains the communcation information to contact the participant.
/// It is used as a basis for the local participant, but also as a reference to remote participants.
class Participant {
public:
/// @brief The Ip Address of a participant. When the participant is local, this contains 0.0.0.0
const char *ipAddress = "0.0.0.0";
/// @brief The port number for UDP communication with the participant. This is 0 for isolated participants.
int port = 0;
/// @brief The network Id to identify the participant.
/// @note This field is likely to disappear in future versions
unsigned char networkId = 0;
/// @brief Default constructor
Participant();
/// @brief Create a new participant with the given communcation info
/// @param ipAddress The IP address of the participant
/// @param port The port of the participant
Participant(const char *ipAddress, int port);
/// @brief Destructor for the participant
~Participant();
protected:
/// @brief The list of things managed by this participant
std::list<Thing *> things;
public:
/// @brief Find a thing managed by this participant
/// @param networkId The network ID for the thing
/// @param thingId The ID of the thing
/// @return The thing if found or nullptr when no thing has been found
/// @note The use of the network ID is likely to disappear in future versions.
Thing *Get(unsigned char networkId, unsigned char thingId);
/// @brief Add a new thing for this participant.
/// @param thing The thing to add
/// @param checkId Checks the thing ID of the thing. If it is 0, a new thing Id will be assigned.
void Add(Thing *thing, bool checkId = true);
/// @brief Remove a thing for this participant
/// @param thing The thing to remove
void Remove(Thing *thing);
void UpdateAll(unsigned long currentTimeMs);
};
} // namespace Control

7
README.md
View File

@ -5,7 +5,10 @@ Supporting:
- Windows
- MacOS
- Linux
- Arduino (using PlatformIO)
- Arduino (using PlatformIO). The following microcontrollers are tested and supported:
- ESP8266
- ESP32
- UNO R4 WiFi
- ESP8266
- ESP32
- UNO R4 WiFi
@ -13,5 +16,5 @@ Supporting:
# Basic components
- RoboidControl::Thing
- RoboidControl::Participant
- RoboidControl::LocalParticipant
- RoboidControl::SiteServer

39
Thing.cpp
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@ -4,14 +4,26 @@
#include <algorithm>
#include <iostream>
#include <list>
#include <chrono>
#include "LocalParticipant.h"
namespace RoboidControl {
// LocalParticipant* Thing::CheckHiddenParticipant() {
// if (isolatedParticipant == nullptr)
// isolatedParticipant = new LocalParticipant(0);
// return isolatedParticipant;
// }
Thing::Thing(int thingType) : Thing(LocalParticipant::Isolated(), thingType) {
}
Thing::Thing(Participant* owner, Type thingType) : Thing(owner, (unsigned char)thingType) {}
Thing::Thing(Participant* owner, unsigned char thingType) {
this->participant = owner;
Thing::Thing(Participant* owner, int thingType) {
this->owner = owner;
this->id = 0;
this->type = thingType;
this->networkId = 0;
@ -28,7 +40,7 @@ Thing::Thing(Participant* owner, unsigned char thingType) {
Thing::Thing(Participant* owner, unsigned char networkId, unsigned char thingId, Type thingType) {
// no participant reference yet..
this->participant = owner;
this->owner = owner;
this->networkId = networkId;
this->id = thingId;
this->type = (unsigned char)thingType;
@ -153,11 +165,20 @@ void Thing::SetModel(const char* url) {
this->modelUrl = url;
}
#if defined(ARDUINO)
void Thing::Update() {
Update(millis());
unsigned long Thing::GetTimeMs() {
auto now = std::chrono::steady_clock::now();
auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
now.time_since_epoch());
return static_cast<unsigned long>(ms.count());
}
void Thing::Update() {
#if defined(ARDUINO)
Update(millis());
#else
Update(GetTimeMs());
#endif
}
#endif
void Thing::Update(unsigned long currentTimeMs) {
(void)currentTimeMs;
@ -168,6 +189,10 @@ void Thing::Update(unsigned long currentTimeMs) {
}
void Thing::UpdateThings(unsigned long currentTimeMs) {
LocalParticipant::Isolated()->Update(currentTimeMs);
}
void Thing::GenerateBinary(char* buffer, unsigned char* ix) {
(void)buffer;
(void)ix;

44
Thing.h
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@ -7,6 +7,7 @@
namespace RoboidControl {
class Participant;
class LocalParticipant;
#define THING_STORE_SIZE 256
// IMPORTANT: values higher than 256 will need to change the Thing::id type
@ -15,13 +16,8 @@ class Participant;
/// @brief A thing is the primitive building block
class Thing {
public:
Participant* participant; // -> owner
unsigned char networkId = 0;
/// @brief The ID of the thing
unsigned char id = 0;
/// @brief Predefined thing types
enum class Type {
enum Type {
Undetermined,
// Sensor,
Switch,
@ -38,24 +34,34 @@ class Thing {
Humanoid,
ExternalSensor,
};
/// @brief The type of Thing
unsigned char type = 0;
/// @brief Create a new thing using an implicit local participant
/// @param thingType The type of thing
Thing(int thingType = Type::Undetermined);
/// @brief Create a new thing of the given type
/// @param thingType The predefined type of thing
Thing(Participant* participant, Type thingType = Type::Undetermined);
/// @brief Create a new thing of the give type
/// @param thingType The custom type of the thing
Thing(Participant* participant, unsigned char thingType);
Thing(Participant* participant, int thingType);
/// @brief Create a new thing for the given participant
/// @param participant The participant for which this thing is created
/// @param networkId The network ID of the thing
/// @param thingId The ID of the thing
/// @param thingType The type of thing
Thing(Participant* participant,
unsigned char networkId,
unsigned char thingId,
Type thingType = Type::Undetermined);
Thing(Participant* participant, unsigned char networkId, unsigned char thingId, Type thingType = Type::Undetermined);
/// @brief The participant managing this thing
Participant* owner;
/// @brief The network ID of this thing
/// @note This field will likely disappear in future versions
unsigned char networkId = 0;
/// @brief The ID of the thing
unsigned char id = 0;
/// @brief The type of Thing
/// This can be either a Thing::Type of a byte value for custom types
unsigned char type = 0;
/// @brief Find a thing by name
/// @param name Rhe name of the thing
@ -117,7 +123,7 @@ class Thing {
/// @return The orienation in local space
SwingTwist16 GetOrientation();
/// @brief The scale of the thing (deprecated I think)
float scale = 1; // assuming uniform scale
//float scale = 1; // assuming uniform scale
/// @brief boolean indicating if the position was updated
bool positionUpdated = false;
@ -126,7 +132,7 @@ class Thing {
/// @brief Set the linear velocity of the thing
/// @param linearVelocity The new linear velocity in local space, in meters per second
virtual void SetLinearVelocity(Spherical16 linearVelocity);
void SetLinearVelocity(Spherical16 linearVelocity);
/// @brief Get the linear velocity of the thing
/// @return The linear velocity in local space, in meters per second
virtual Spherical16 GetLinearVelocity();
@ -165,13 +171,15 @@ class Thing {
/// the only official supported model format is .obj
void SetModel(const char* url);
#if defined(ARDUINO)
static unsigned long GetTimeMs();
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; };
virtual void Update(unsigned long currentTimeMs); // { (void)currentTimeMs; };
static void UpdateThings(unsigned long currentTimeMs);
/// @brief Function used to generate binary data for this thing
/// @param buffer The byte array for thw binary data

1
Windows/WindowsParticipant.cpp
View File

@ -4,6 +4,7 @@
#include <winsock2.h>
#include <ws2tcpip.h>
#pragma comment(lib, "ws2_32.lib")
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <fcntl.h> // For fcntl

5
Windows/WindowsParticipant.h
View File

@ -11,6 +11,11 @@ class LocalParticipant : public RoboidControl::LocalParticipant {
void Receive();
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
#if defined(_WIN32) || defined(_WIN64)
SOCKET sock;
#endif
};
} // namespace Windows

114
test/participant_test.cc Normal file
View File

@ -0,0 +1,114 @@
#if GTEST
// #include <gmock/gmock.h>
// not supported using Visual Studio 2022 compiler...
#include <gtest/gtest.h>
#include <chrono>
#include <thread>
// #include <ws2tcpip.h>
#include "Participant.h"
#include "SiteServer.h"
#include "Thing.h"
using namespace RoboidControl;
// Function to get the current time in milliseconds as unsigned long
unsigned long get_time_ms() {
auto now = std::chrono::steady_clock::now();
auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
now.time_since_epoch());
return static_cast<unsigned long>(ms.count());
}
// class RoboidControlSuite : public ::testing::test {
// TEST_F(RoboidControlSuite, HiddenParticipant) {
// Thing thing = Thing();
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// Thing.Update(milliseconds);
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// }
class ParticipantSuite : public ::testing::Test {
protected:
// SetUp and TearDown can be used to set up and clean up before/after each
// test
void SetUp() override {
// Initialize test data here
}
void TearDown() override {
// Clean up test data here
}
};
// TEST_F(ParticipantSuite, LocalParticipant) {
// LocalParticipant* participant = new LocalParticipant("127.0.0.1", 7681);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// participant->Update(milliseconds);
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// TEST_F(ParticipantSuite, SiteServer) {
// SiteServer site = SiteServer(7681);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// site.Update(milliseconds);
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// TEST_F(ParticipantSuite, SiteParticipant) {
// SiteServer site = SiteServer(7681);
// LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// site.Update(milliseconds);
// participant.Update(milliseconds);
// std::this_thread::sleep_for(std::chrono::milliseconds(100));
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
// TEST_F(ParticipantSuite, Thing) {
// SiteServer site = SiteServer(7681);
// LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
// Thing thing = Thing(&participant);
// unsigned long milliseconds = get_time_ms();
// unsigned long startTime = milliseconds;
// while (milliseconds < startTime + 1000) {
// site.Update(milliseconds);
// participant.Update(milliseconds);
// std::this_thread::sleep_for(std::chrono::milliseconds(100));
// milliseconds = get_time_ms();
// }
// ASSERT_EQ(1, 1);
// }
#endif

43
test/second_test.cc
View File

@ -1,43 +0,0 @@
#if GTEST
// #include <gmock/gmock.h>
// not supported using Visual Studio 2022 compiler...
#include <gtest/gtest.h>
#include <chrono>
#include "Participant.h"
#include "Thing.h"
using namespace RoboidControl;
class ControlCoreSuite2 : public ::testing::Test {
protected:
// SetUp and TearDown can be used to set up and clean up before/after each
// test
void SetUp() override {
// Initialize test data here
}
void TearDown() override {
// Clean up test data here
}
};
TEST_F(ControlCoreSuite2, Dummytest2) {
LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
ASSERT_EQ(1, 1);
}
TEST_F(ControlCoreSuite2, Basic2) {
// Thing t = Thing();
// unsigned long milliseconds = (unsigned long)std::chrono::steady_clock::now()
// .time_since_epoch()
// .count();
// // Thing::UpdateAll(milliseconds);
// t.Update(milliseconds);
}
#endif

86
test/thing_test.cc
View File

@ -4,94 +4,36 @@
// not supported using Visual Studio 2022 compiler...
#include <gtest/gtest.h>
#include <chrono>
#include <thread>
// #include <ws2tcpip.h>
#include "Participant.h"
#include "SiteServer.h"
#include "LocalParticipant.h"
#include "Thing.h"
using namespace RoboidControl;
// Function to get the current time in milliseconds as unsigned long
unsigned long get_time_ms() {
auto now = std::chrono::steady_clock::now();
auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
now.time_since_epoch());
return static_cast<unsigned long>(ms.count());
}
TEST(RoboidControlSuite, HiddenParticipant) {
Thing* thing = new Thing();
class ControlCoreSuite : public ::testing::Test {
protected:
// SetUp and TearDown can be used to set up and clean up before/after each
// test
void SetUp() override {
// Initialize test data here
}
void TearDown() override {
// Clean up test data here
}
};
TEST_F(ControlCoreSuite, LocalParticipant) {
LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
unsigned long milliseconds = get_time_ms();
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 1000) {
participant.Update(milliseconds);
Thing::UpdateThings(milliseconds);
milliseconds = get_time_ms();
milliseconds = Thing::GetTimeMs();
}
ASSERT_EQ(1, 1);
SUCCEED();
}
TEST_F(ControlCoreSuite, SiteServer) {
SiteServer site = SiteServer(7681);
TEST(RoboidControlSuite, IsolatedParticipant) {
LocalParticipant* participant = LocalParticipant::Isolated();
Thing* thing = new Thing(participant);
unsigned long milliseconds = get_time_ms();
unsigned long milliseconds = Thing::GetTimeMs();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 1000) {
site.Update(milliseconds);
participant->Update(milliseconds);
milliseconds = get_time_ms();
milliseconds = Thing::GetTimeMs();
}
ASSERT_EQ(1, 1);
}
TEST_F(ControlCoreSuite, SiteParticipant) {
SiteServer site = SiteServer(7681);
LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
unsigned long milliseconds = get_time_ms();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 1000) {
site.Update(milliseconds);
participant.Update(milliseconds);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
milliseconds = get_time_ms();
}
ASSERT_EQ(1, 1);
}
TEST_F(ControlCoreSuite, Thing) {
SiteServer site = SiteServer(7681);
LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
Thing thing = Thing(&participant);
unsigned long milliseconds = get_time_ms();
unsigned long startTime = milliseconds;
while (milliseconds < startTime + 1000) {
site.Update(milliseconds);
participant.Update(milliseconds);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
milliseconds = get_time_ms();
}
ASSERT_EQ(1, 1);
SUCCEED();
}
#endif