Added thing test, but not correcrt results yet

Participant.cpp

@@ -341,12 +341,15 @@ void Participant::Process(Participant *sender, NetworkIdMsg *msg) {
             << " " << (int)msg->networkId << "\n";
   if (this->networkId != msg->networkId) {
     this->networkId = msg->networkId;
-    Thing **allThings = Thing::GetAllThings();
+    // Thing **allThings = Thing::GetAllThings();
-    for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
+    // for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
-      Thing *thing = allThings[ix];
+    //   Thing *thing = allThings[ix];
-      if (thing == nullptr)
+    //   if (thing == nullptr)
-        continue;
+    //     continue;
 
+    //   sender->SendThingInfo(thing);
+    // }
+    for (Thing* thing : allThings) {
       sender->SendThingInfo(thing);
     }
   }

Thing.cpp

@@ -5,8 +5,8 @@
 #include <string.h>
 
 Thing::Thing(unsigned char networkId, unsigned char thingType) {
-  this->position = Spherical16::zero;
+  // this->position = Spherical16::zero;
-  this->orientation = SwingTwist16::identity;
+  // this->orientation = SwingTwist16::identity;
 
   this->type = thingType;
   this->networkId = networkId;
@@ -152,44 +152,60 @@ Spherical16 Thing::GetLinearVelocity() { return this->linearVelocity; }
 Spherical16 Thing::GetAngularVelocity() { return this->angularVelocity; }
 
 // All things
-Thing *Thing::allThings[THING_STORE_SIZE] = {nullptr};
+// Thing *Thing::allThings[THING_STORE_SIZE] = {nullptr};
 
-Thing **Passer::Control::Thing::GetAllThings() { return allThings; }
+// Thing **Passer::Control::Thing::GetAllThings() { return allThings; }
 
 Thing *Thing::Get(unsigned char networkId, unsigned char thingId) {
-  for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
+  // for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
-    Thing *thing = allThings[ix];
+  //   Thing *thing = allThings[ix];
-    if (thing == nullptr)
+  //   if (thing == nullptr)
-      continue;
+  //     continue;
-    if (thing->networkId == networkId && thing->id == thingId)
+  //   if (thing->networkId == networkId && thing->id == thingId)
-      return thing;
+  //     return thing;
-  }
+  // }
-  return nullptr;
+  // return nullptr;
+  std::find_if(allThings.begin(), allThings.end(), [networkId, thingId](Thing* thing){
+    return thing->networkId == networkId && thing->id == thingId;
+  });
 }
 
 int Thing::Add(Thing *newThing) {
   // Exclude 0 because that value is reserved for 'no thing'
-  for (uint16_t ix = 1; ix < THING_STORE_SIZE; ix++) {
+  // for (uint16_t ix = 1; ix < THING_STORE_SIZE; ix++) {
-    Thing *thing = allThings[ix];
+  //   Thing *thing = allThings[ix];
-    if (thing == nullptr) {
+  //   if (thing == nullptr) {
-      allThings[ix] = newThing;
+  //     allThings[ix] = newThing;
 
   //     std::cout << " Add new thing " << (int)ix << "\n";
-      return ix;
+  //     return ix;
+  //   }
+  // }
+  for (Thing* thing : allThings) {
+    if (thing == newThing)
+      return thing->id;
   }
-  }
+  allThings.push_back(newThing);
-  return -1;
 }
 
 void Thing::Remove(Thing *thing) {
   // std::cout << " remove " << (int)thing->id << "\n";
-  allThings[thing->id] = nullptr;
+  // allThings[thing->id] = nullptr;
+  allThings.remove_if([thing](Thing* obj) { return obj == thing; });
 }
 
 void Thing::UpdateAll(unsigned long currentTimeMs) {
   // Not very efficient, but it works for now.
-  for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
+  // for (uint16_t ix = 0; ix < THING_STORE_SIZE; ix++) {
-    Thing *thing = allThings[ix];
+  //   Thing *thing = allThings[ix];
+  //   if (thing != nullptr &&
+  //       thing->parent == nullptr) { // update all root things
+  //     // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
+  //     //           << "\n";
+  //     thing->Update(currentTimeMs);
+  //   }
+  // }
+  for (Thing* thing : allThings) {
     if (thing != nullptr &&
         thing->parent == nullptr) { // update all root things
       // std::cout << " update " << (int)ix << " thingid " << (int)thing->id

Thing.h

@@ -2,6 +2,7 @@
 #include "LinearAlgebra/Spherical.h"
 #include "LinearAlgebra/SwingTwist.h"
 #include <iostream>
+#include <list>
 
 namespace Passer {
 namespace Control {
@@ -123,16 +124,18 @@ protected:
 
   //------------ All things
 public:
-  static Thing **GetAllThings();
+  // static Thing **GetAllThings();
   static Thing *Get(unsigned char networkId, unsigned char thingId);
   static int Add(Thing *thing);
   static void Remove(Thing *thing);
   static void UpdateAll(unsigned long currentTimeMs);
 
-private:
+//private:
-  static Thing *allThings[];
+  // static Thing *allThings[];
 };
 
+static std::list<Thing *> allThings;
+
 } // namespace Control
 } // namespace Passer
 using namespace Passer::Control;

test/thing_test.cc

@@ -77,5 +77,23 @@ TEST_F(ControlCoreSuite, SiteParticipant) {
   ASSERT_EQ(1, 1);
 }
 
+TEST_F(ControlCoreSuite, Thing) {
+  SiteServer site = SiteServer(7681);
+  Participant participant = Participant("127.0.0.1", 7681);
+  Thing thing = Thing();
+
+  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);
+}
+
+
 } // namespace Passer
 #endif